Method, device and equipment for controlling vehicle during failure of brake electronic pedal and medium

Abstract

The invention discloses a method, a device, equipment and a medium for controlling a vehicle when a brake electronic pedal fails, and relates to the technical field of vehicle control, the method comprises the following steps: when the brake electronic pedal is in a failure state, generating first brake prompt information, the first brake prompt information is used for prompting a driver to perform deceleration control by stepping on a brake electronic pedal and an accelerator pedal; when it is detected that the driver triggers and steps on a brake electronic pedal and an accelerator pedal according to the first brake prompt information, a deceleration control instruction is generated; and controlling the vehicle to decelerate according to the deceleration control instruction. According to the method, when the brake electronic pedal fails, a driver can effectively control deceleration and acceleration of the vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a method, device, equipment and medium for controlling a vehicle when the electronic brake pedal fails. Background Technology

[0002] In the vehicle controller, when the driver applies the brakes by pressing the electronic brake pedal, the sensors built into the pedal send electrical signals back to the braking system. The braking system then calculates and executes wheel-end deceleration control based on these signals, thereby slowing the vehicle down. This process relies on the electronic signal transmission between the electronic brake pedal and the braking system, and is the core logic of the vehicle controller's braking function.

[0003] However, when the electronic brake pedal completely fails, it cannot transmit the driver's deceleration request, which will prevent the driver from controlling the deceleration. Summary of the Invention

[0004] This application provides a method, device, equipment, and medium for controlling a vehicle when the electronic brake pedal fails, which can achieve vehicle deceleration control when the electronic brake pedal fails.

[0005] To achieve the above objectives, this application adopts the following technical solution: In a first aspect, this application provides a method for controlling a vehicle when the electronic brake pedal fails, the method comprising: When the electronic brake pedal is in a malfunctioning state, a first brake warning message is generated, which prompts the driver to decelerate by pressing the electronic brake pedal and the accelerator pedal. When the driver is detected to have pressed the electronic brake pedal and the accelerator pedal in accordance with the first brake warning message, a deceleration control command is generated. The vehicle is then controlled to decelerate according to the deceleration control command.

[0006] In some possible implementations, after controlling the vehicle to decelerate, the method further includes: If the system detects that the driver has only pressed the accelerator pedal, it generates an acceleration control command and controls the vehicle to accelerate according to the acceleration control command.

[0007] In some possible implementations, the method further includes, in the event that the electronic brake pedal is in a disabled state: A second braking warning message is generated, which is used to notify the outside world of the vehicle that the vehicle has a braking malfunction.

[0008] In some possible implementations, the condition for the electronic brake pedal to be in a disabled state is: If the interaction signal between the vehicle controller and the electronic brake pedal fails, and the failure is not resolved after a preset number of repeated checks.

[0009] In some possible implementations, generating the deceleration control command includes: Obtain the first opening information of the accelerator pedal; based on the mapping relationship between the first opening information, the reference opening information and the reference deceleration, obtain the first deceleration corresponding to the first opening information; generate a deceleration control command based on the first deceleration. In some possible implementations, the method further includes, in the event that the electronic brake pedal is in a disabled state: Limit the vehicle's output power to be less than or equal to a power threshold.

[0010] In some possible implementations, the method further includes: When the electronic brake pedal changes from a failed state to a valid state, a third braking warning message is generated, which prompts the driver to decelerate by pressing the electronic brake pedal.

[0011] Secondly, this application provides a vehicle control device in the event of a brake electronic pedal failure, the device comprising: The downgrade module is used to generate a first braking warning message when the electronic brake pedal is in a malfunctioning state. The first braking warning message is used to prompt the driver to decelerate by pressing the electronic brake pedal and the accelerator pedal. The calculation module is used to generate a deceleration control command when it detects that the driver has triggered the operation of pressing the electronic brake pedal and the accelerator pedal according to the first braking prompt information; The control module is used to control the vehicle to decelerate according to the deceleration control command.

[0012] Thirdly, this application provides a computing device, including a memory and a processor; The memory stores one or more computer programs, the one or more computer programs including instructions; when the instructions are executed by the processor, the computing device performs the method as described in any one of the first aspects.

[0013] Fourthly, this application provides a computer-readable storage medium for storing a computer program for performing the method as described in any one of the first aspects.

[0014] Fifthly, this application provides a computer program product comprising one or more computer instructions, wherein when the computer instructions are executed by a computer, the computer performs the method as described in any one of the first aspects.

[0015] As can be seen from the above technical solution, this application has at least the following beneficial effects: In this application, when the electronic brake pedal is in a malfunctioning state, a first brake warning message is generated. This first brake warning message prompts the driver to decelerate by pressing both the electronic brake pedal and the accelerator pedal. Upon detecting that the driver has triggered the pressing of both the electronic brake pedal and the accelerator pedal based on the first brake warning message, a deceleration control command is generated. Based on the deceleration control command, the vehicle is controlled to decelerate. In existing technologies, when the electronic brake pedal completely fails, because the vehicle controller lacks a mechanical backup mode and a fault degradation strategy for this failure, the driver's deceleration request cannot be transmitted through the electronic brake pedal, resulting in a complete loss of deceleration control ability and posing a serious safety hazard.

[0016] As can be seen, this application, after determining that the electronic brake pedal has failed, uses preset control logic to put the vehicle into a specific fault response state. It uses the switch signal on the top of the electronic brake pedal to determine whether the driver has a deceleration request. After confirming that the driver has pressed the electronic brake pedal, it calculates the deceleration based on the accelerator pedal opening and implements deceleration control. At the same time, it prevents the vehicle from responding to the accelerator pedal acceleration request. This ensures that the driver can still effectively control the deceleration and acceleration of the vehicle even when the electronic brake pedal fails, thus improving the safety and reliability of the vehicle braking control.

[0017] It should be understood that the descriptions of technical features, technical solutions, beneficial effects, or similar language in this application do not imply that all features and advantages can be achieved in any single embodiment. Rather, it is understood that the description of a feature or beneficial effect means that a specific technical feature, technical solution, or beneficial effect is included in at least one embodiment. Therefore, the descriptions of technical features, technical solutions, or beneficial effects in this specification do not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions, and beneficial effects described in this embodiment can be combined in any suitable manner. Those skilled in the art will understand that embodiments can be implemented without one or more specific technical features, technical solutions, or beneficial effects of a particular embodiment. In other embodiments, additional technical features and beneficial effects may be identified in specific embodiments that do not embody all embodiments. Attached Figure Description

[0018] Figure 1 A flowchart illustrating a vehicle control method in the event of electronic brake pedal failure, provided as an embodiment of this application; Figure 2 A schematic diagram of a vehicle control system provided in an embodiment of this application; Figure 3 A schematic diagram of a vehicle control device provided in an embodiment of this application when the electronic brake pedal fails; Figure 4 This is a schematic diagram of a computing device provided in an embodiment of this application. Detailed Implementation

[0019] The terms "first," "second," and "third," etc., used in this application specification and accompanying drawings are used to distinguish different objects, not to limit a specific order.

[0020] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0021] To ensure clarity and conciseness in the description of the following embodiments, a brief introduction to the related technologies is given first: Currently, vehicle controllers are a key component of modern vehicles. Their working principle is that when the driver performs a braking operation, by pressing the electronic brake pedal, the sensors built into the pedal will collect electrical signals and feed them back to the braking system. The braking system calculates and executes wheel-end deceleration control based on the signals, thereby achieving vehicle deceleration.

[0022] However, existing vehicle controllers have technical shortcomings when faced with the complete failure of the electronic brake pedal. Because vehicle controllers typically lack a mechanical backup mode, if the electronic brake pedal experiences electronic or electrical failures, such as communication loss, signal invalidity, or a failure to interpret pedal opening information, the system will be unable to obtain the driver's braking intentions. This results in the driver completely losing control of the vehicle's deceleration, posing a significant threat to driving safety.

[0023] In view of this, embodiments of this application provide a method for controlling a vehicle when the electronic brake pedal fails. This method can be applied to a vehicle, or to an electronic control unit or integrated braking control system within the vehicle. The technical solution of this application will be described below using a vehicle as an example. In this method, when the electronic brake pedal is in a failed state, a first braking warning message is generated. This first braking warning message prompts the driver to decelerate by pressing both the electronic brake pedal and the accelerator pedal. Upon detecting that the driver has triggered the pressing of both the electronic brake pedal and the accelerator pedal according to the first braking warning message, a deceleration control command is generated. Based on the deceleration control command, the vehicle is controlled to decelerate. As can be seen, after determining that the electronic brake pedal has failed, this application uses preset control logic to put the vehicle into a specific fault response state. It uses the switch signal at the top of the electronic brake pedal to determine if the driver has requested deceleration. After confirming that the driver has pressed the electronic brake pedal, it calculates the deceleration based on the accelerator pedal opening and implements deceleration control. Simultaneously, it prevents the vehicle from responding to acceleration requests from the accelerator pedal, ensuring that the driver can still effectively control the vehicle's deceleration and acceleration even when the electronic brake pedal fails, thus improving the safety and reliability of the vehicle's braking control.

[0024] To make the technical solution of this application clearer and easier to understand, the following description, in conjunction with the accompanying drawings, introduces a method for controlling a vehicle when the electronic brake pedal fails, according to an embodiment of this application. Figure 1 As shown, this figure is a flowchart of a vehicle control method provided in an embodiment of this application when the electronic brake pedal fails. The vehicle control method when the electronic brake pedal fails includes: S101. When the electronic brake pedal is in a malfunctioning state, generate the first brake warning message.

[0025] A failure state refers to a situation where the vehicle does not decelerate after the electronic brake pedal is depressed. The criteria for determining a failure state are: the interaction signal between the vehicle controller and the electronic brake pedal fails. When the driver depresses the electronic brake pedal, the following fault conditions occur: the vehicle controller does not receive a deceleration signal from the electronic brake pedal, or the vehicle controller receives a first deceleration signal from the electronic brake pedal, but the first deceleration signal does not conform to a preset format. The vehicle will repeatedly check this fault state a preset number of times, such as 3 or 5 consecutive checks. The number of checks can be calibrated according to system reliability requirements. Only when the results of multiple checks are consistent, confirming that the fault has not resolved itself, is the electronic brake pedal ultimately determined to be in a failure state. This avoids abnormal switching of vehicle control logic caused by a single misjudgment.

[0026] When the vehicle determines that the electronic brake pedal is malfunctioning, it will activate a preset fault response control logic, which can be called a degraded mode. In this degraded mode, when both the electronic brake pedal and the accelerator pedal are pressed simultaneously, the vehicle will perform deceleration control. This design considers scenarios where the driver might convey braking intent through a double-pressing motion after pedal failure, associating unconventional operations with braking needs and filling the control gap after pedal failure.

[0027] Upon confirming that the electronic brake pedal is in a disabled state, the system triggers the generation and output of a first brake warning message. This first brake warning message prompts the driver to decelerate by pressing both the electronic brake pedal and the accelerator pedal.

[0028] The generation process of the first braking warning message includes: the vehicle controller retrieves the corresponding warning content from a preset warning information database based on the fault type and severity; simultaneously, the vehicle detects the current human-machine interaction environment, such as the instrument panel status, the central control screen's operating status, and the audio system status, and selects the appropriate warning output channel. For example, if the vehicle is in silent mode, visual warnings are prioritized; if the vehicle is driving in a noisy environment, the brightness or flashing frequency of the visual warnings is increased to ensure that the driver can notice them in time.

[0029] The specific output methods for the first braking warning message include, but are not limited to: displaying specific fault icons and text prompts on the instrument panel, such as "If the brake pedal fails, please press both the brake and accelerator pedals simultaneously to decelerate"; displaying a warning window on the central control screen and showing alternative operation instructions; playing a prompt voice message through the voice system; providing tactile feedback through vibration on the steering wheel or driver's seat; and projecting the warning message onto the head-up display. These various warning methods can be used individually or in combination to improve the perceptibility and understandability of the warning message.

[0030] The continuous output strategy for the first braking warning message is as follows: The first braking warning message will be continuously output throughout the entire period when the electronic brake pedal is in a malfunctioning state. However, to avoid excessive interference with the driver, it can be output intermittently, such as repeating the voice prompt every 30 seconds, or keeping the instrument panel warning light constantly illuminated while the text prompt flashes periodically. When the vehicle detects that the driver begins to perform a backup operation (i.e., pressing both the electronic brake pedal and the accelerator pedal), the first braking warning message automatically stops outputting, or switches to the second braking warning message. If the malfunction resolves itself, the first braking warning message also stops.

[0031] In addition, while generating the first braking warning message, the vehicle also records data such as the time of the fault occurrence, the fault type, the method of outputting the warning message, and the driver's response time, storing this data in the vehicle's fault log for subsequent diagnosis and system optimization. Simultaneously, the vehicle can upload fault information to a cloud service platform for remote monitoring and big data analysis, improving the accuracy of fault diagnosis and response strategies for subsequent models.

[0032] S102. When the driver is detected to have pressed the electronic brake pedal and accelerator pedal in accordance with the first braking prompt information, a deceleration control command is generated.

[0033] When the system detects that the driver has activated both the electronic brake pedal and the accelerator pedal in response to the first braking prompt, it acquires the first accelerator pedal opening information. Based on the mapping relationship between the first opening information, reference opening information, and reference deceleration, it obtains the first deceleration corresponding to the first opening information. Finally, it generates a deceleration control command based on the first deceleration. Specifically, the vehicle matches the acquired accelerator pedal opening information with a pre-built mapping table. Since the mapping table clearly defines the deceleration values ​​corresponding to different accelerator pedal openings, the first deceleration can be obtained by finding the corresponding entry in the table. For example, if the mapping table shows that an accelerator pedal opening of 30% corresponds to a deceleration of -2 m / s², when the first opening is acquired to be 30%, the first deceleration can be quickly determined to be -2 m / s², providing a clear and quantifiable deceleration target for subsequent braking control.

[0034] The pre-built mapping table refers to a parameter mapping table established based on the linear correspondence between the accelerator pedal opening and the vehicle deceleration. This table defines several sets of correspondences between reference opening information and reference deceleration, which are used to match the real-time acquired first accelerator pedal opening information with the reference opening information to determine the corresponding first deceleration.

[0035] After obtaining the first deceleration, the vehicle generates a deceleration control command based on the value of the first deceleration.

[0036] For special braking triggering conditions in degraded mode, the driver's operation range is converted into deceleration demand by collecting the accelerator pedal opening. This fills the gap in the traditional control logic after the electronic brake pedal fails, making the braking demand in degraded mode more in line with actual driving habits and ensuring the effectiveness of braking control.

[0037] The establishment of linear relationships and mapping tables provides clear and quantitative parameter references for deceleration control. The system can quickly and accurately calculate and execute the target deceleration based on the accelerator pedal opening, avoiding control deviations, improving braking control accuracy, making the vehicle deceleration process smooth and predictable, and enhancing driving safety and comfort.

[0038] This application reuses the accelerator pedal hardware signal without changing the core framework of the downgrade mode, expanding its function in braking control. It does not require the addition of complex sensors, making it easy to integrate into the existing vehicle controller architecture and improving the overall fault tolerance and control redundancy of the system.

[0039] S103. Control the vehicle to decelerate according to the deceleration control command.

[0040] Based on the deceleration control command, the braking force is adjusted to ensure the vehicle decelerates at the rate corresponding to the first deceleration. Simultaneously, the vehicle monitors its actual deceleration, speed, and other status parameters in real time, dynamically adjusting the braking force based on feedback information to ensure a smooth deceleration process that matches the calculated first deceleration, effectively meeting the driver's deceleration needs when the electronic brake pedal fails.

[0041] During the vehicle's fail-response state, the opening signal of the electronic brake pedal is continuously monitored. If the opening signal of the electronic brake pedal is detected to be normal again and the duration reaches the preset duration, it is determined that the electronic brake pedal has recovered from the fault state. Therefore, the vehicle exits the fail-response state and resumes the braking control logic that uses the electronic brake pedal to decelerate the vehicle, allowing the vehicle's braking system to return to normal operating mode and ensuring the convenience of subsequent braking operations. The normal state refers to the electronic brake pedal being able to output a valid opening signal to the vehicle that conforms to the preset format and range. The preset duration can be 2 seconds or 3 seconds, and can be set according to the system's signal stability requirements.

[0042] The exit logic for the failure response state can automatically identify the recovery status of the electronic brake pedal failure and switch back to normal braking control in a timely manner without the need for manual intervention by the driver. This ensures emergency braking under special conditions and can restore normal braking after the failure is repaired, thus enhancing the robustness of the system.

[0043] From deceleration calculation to braking execution and state switching, each step works closely together. The feedback mechanism dynamically adjusts control parameters to maintain vehicle deceleration stability, reduce braking impact, and ensure smooth transition of the vehicle in different states, thereby improving the overall reliability of vehicle braking control and user experience.

[0044] In some embodiments, when the electronic brake pedal is malfunctioning, a second braking warning message is generated to alert the outside world to the vehicle's braking failure. Specifically, the second braking warning message can be sent to surrounding vehicles and pedestrians via the vehicle's lighting system (such as hazard lights and flashing brake lights), sound system (such as horn and buzzer alarm), or external display device (such as an LED display behind the windshield showing "Brake Failure"). By proactively alerting the outside world to the vehicle's braking failure, the abnormal vehicle condition can be communicated to surrounding road users in advance, prompting other drivers and pedestrians to be alert and take appropriate evasive action, thereby effectively reducing the risk of collisions caused by brake failure and improving driving safety.

[0045] This application also dynamically limits the vehicle's output power when the electronic brake pedal is in a disabled state. Specifically, this application can calculate and set a dynamic power threshold in real time based on the current vehicle status, environmental factors, and traffic conditions to ensure that the vehicle's actual output power is less than or equal to the power threshold. By dynamically adjusting the power upper limit, while prioritizing braking efficiency, the application achieves vehicle controllability and power redundancy, avoiding the loss of basic driving ability of the vehicle under certain conditions (such as uphill, slippery roads, inclement weather, and congested sections) due to excessive power limitation.

[0046] The formula for calculating the dynamic power threshold is as follows:

[0047] in, Power threshold Based on the base power threshold, This is the vehicle speed correction factor. This is the road slope correction factor. This is the correction factor for the road surface adhesion coefficient. This is a correction factor for the severity of the fault. This is a weather correction factor. This is the road traffic density correction factor.

[0048]

[0049] in, , The coefficient representing the influence of vehicle speed. Current vehicle speed (km / h) Low speed threshold, High-speed threshold, This is the minimum speed correction factor. This factor reflects the difference in power limitation requirements at different vehicle speeds. The higher the vehicle speed, the greater the vehicle's kinetic energy, and the higher the risk of brake failure, thus requiring further power limitation.

[0050]

[0051] in, (When going downhill) <1, When going uphill >1), This is the slope influence coefficient. This is the road gradient angle. This coefficient is used to compensate for the impact of the slope on the vehicle's power demand. When going uphill, more power is needed to maintain speed, so the limit is appropriately relaxed; when going downhill, power should be further reduced to assist in deceleration.

[0052]

[0053] in, ; This is the minimum adhesion coefficient correction factor. The current road surface adhesion coefficient, For low adhesion coefficient threshold, This is the high adhesion coefficient threshold. This coefficient reflects the impact of different road surfaces on vehicle stability. On low-adhesion surfaces (such as ice, snow, and standing water), the drive wheels are prone to slippage, requiring further power limitation.

[0054]

[0055] in, ; This is the fault impact coefficient. This represents the severity level of the fault. This coefficient reflects the different power limiting requirements for different fault modes. The more severe the fault, the more stringent the power limiting should be.

[0056]

[0057] in, Base weather correction factor, Let be the influence coefficient of rainfall. Rainfall intensity level The influence coefficient of heavy fog, Fog concentration level The influence coefficient of snowfall is given. This represents the snowfall intensity level. This coefficient reflects the varying power limitation requirements under different weather conditions; the more severe the weather, the stricter the power limitation should be.

[0058] When only one type of severe weather predominates, the formula for calculating the weather correction factor is:

[0059] in, The comprehensive weather severity index (range [0,1]) is a weighted average of multiple weather factors. Value range: , The value is usually taken as 0.5 to 0.7.

[0060]

[0061] in, ,when Take the minimum value ; Traffic density influence coefficient, This represents the current road traffic density. This coefficient reflects the impact of the current road traffic density on driving risk. The higher the traffic density, the closer the distance between vehicles, and the higher the risk of collision in the event of brake failure, requiring further power limitation.

[0062] The dynamic power threshold model proposed in this application can intelligently adjust the upper limit of the vehicle's power output according to real-time operating conditions when the electronic brake pedal fails, ensuring safety and vehicle availability.

[0063] This model dynamically adjusts the power limit threshold by monitoring multiple factors in real time, including vehicle speed, road gradient, road surface adhesion coefficient, fault severity, weather conditions, and road traffic density. For example, it automatically tightens power at high speeds to reduce the risk of loss of control; it appropriately relaxes the limit on uphill sections to ensure climbing ability; and it further limits power on low-adhesion surfaces to prevent drive wheel slippage. This multi-dimensional collaborative control strategy makes the power limit no longer a static, fixed value, but an adaptive mechanism that can dynamically change according to the real-time environment.

[0064] In adverse weather and complex traffic conditions, the model can automatically reduce power output in low visibility conditions such as heavy rain, fog, and snow, reducing the risk of loss of control due to excessive power. At the same time, it further limits power in congested sections or high-density traffic flow to avoid rear-end collisions or accidents caused by rapid acceleration, and ensures that the vehicle can maintain a safe distance from surrounding road users even in emergency situations where brakes fail.

[0065] This model can strictly limit power to prioritize safety when the fault is severe; when the fault is minor or environmental conditions are good, the restrictions can be appropriately relaxed to retain necessary power output to maintain the vehicle's basic driving ability. This dynamic balancing mechanism avoids the vehicle losing its maneuverability in certain necessary conditions due to excessive power restriction, such as starting on an incline or merging into traffic, thus improving the driving experience in failure states.

[0066] When the vehicle determines that the electronic brake pedal has failed, and the failure response state is activated and the electronic brake pedal is depressed, in addition to deceleration, the drive system is also intervened. When the switch signal at the top of the electronic brake pedal changes from on to off, it is determined that the electronic brake pedal has been depressed, and a first signal is sent to the drive system. The first signal is used to instruct the drive system to no longer respond to the acceleration request from the accelerator pedal. In some embodiments, the first signal may refer to a signal degradation takeover signal. The specific form of this signal degradation takeover signal can be a hardware-level level signal or a specific message in the controller area network. There is no specific limitation here, as long as the instruction can realize the interruption of acceleration response function, it is acceptable. After receiving the first signal, the drive system stops responding to the acceleration request from the accelerator pedal and prioritizes the execution of braking demand to avoid conflict between acceleration and braking actions. This can prevent the driver from accidentally depressing the accelerator pedal and causing the vehicle to accelerate, which would conflict with the braking demand, and ensure the effectiveness of deceleration control.

[0067] During the vehicle's fail-safe state, the signal from the electronic brake pedal top switch is monitored in real time. If the signal remains off and two conditions are met: first, the off-state duration exceeds a preset time; second, the vehicle speed exceeds a preset speed threshold, a warning message is sent to the driver, alerting them to the continued pedal depressing and the vehicle's speed hazard, thus assisting the driver in making timely adjustments. Specifically, the preset duration can be set to 10 seconds. The preset speed threshold is set to 70 km / h, and the warning message can include audible and visual alarms, a central control screen warning, etc.

[0068] When the switch signal at the top of the electronic brake pedal changes from off to on, it is determined that the driver has released the electronic brake pedal. If the electronic brake pedal is not pressed, the signal sent to the drive system is stopped and a degraded takeover signal is sent, allowing the drive system to continue responding to the acceleration request of the accelerator pedal. Alternatively, a second signal is sent to the drive system to instruct it to continue responding to the acceleration request of the accelerator pedal. The vehicle returns to normal acceleration control logic, ensuring the continuity of driving operation.

[0069] By capturing the driver's intention to brake and release the brake through changes in the switch signal state, the drive system responds in a timely manner to take over or resume acceleration, avoiding operational conflicts between acceleration and braking, ensuring the effectiveness of braking control, and making the driving operation logic clear and the execution smooth.

[0070] In response to abnormal conditions such as prolonged and high-speed depressing of the electronic brake pedal, a safety warning is proactively triggered to provide the driver with additional information and help them detect abnormal vehicle conditions, such as accidental pressing or pedal sticking, allowing for early intervention to avoid risks and improve driving safety.

[0071] After the electronic brake pedal is released, the drive system automatically resumes acceleration response without requiring additional driver intervention. This maintains the natural continuity of the driving control process, reduces driver distraction, and optimizes the driving experience in failure response situations.

[0072] To make the technical solution of this application clearer and easier to understand, the following describes a vehicle control system provided by an embodiment of this application, in conjunction with the above-described method. Figure 2 As shown in the figure, this is a schematic diagram of a vehicle control system provided in an embodiment of this application. The system includes: a drive system 201, a vehicle controller 202, a brake electronic pedal top switch 203, a brake electronic pedal 204, an accelerator pedal 205, a motor control system 206, and four wheels: left front wheel 01, right front wheel 02, left rear wheel 03, and right rear wheel 04; The vehicle controller 202 is the control center, receiving signals from the brake electronic pedal 204 (including the brake electronic pedal top switch 203) and the accelerator pedal 205; the drive system 201 and the motor control system 206 respond in coordination, and the vehicle controller 202 outputs braking force commands to the four wheels to realize vehicle braking control, covering acceleration and deceleration and braking coordination in normal and failure response states, and is a microcosm of the architecture for realizing vehicle braking function.

[0073] Among them, the motor control system 206 is a key execution unit that receives instructions from the drive system 201 and controls the torque output of the drive motor to achieve functions such as vehicle acceleration and energy recovery.

[0074] When the vehicle is in normal operation, the driver presses the electronic brake pedal 204. The pedal's built-in opening sensor collects the pedal travel signal and sends it to the vehicle controller 202 via the vehicle network. The vehicle controller 202 calculates the target deceleration based on this signal and sends braking force commands to the brake actuators of the four wheels to achieve conventional braking control. At the same time, the switch 203 on top of the electronic brake pedal is in the off state, serving as an auxiliary basis for judging braking intention.

[0075] If the brake electronic pedal 204 malfunctions during vehicle operation, causing the vehicle controller 202 to be unable to receive a valid pedal opening signal, the vehicle controller 202 will initiate a fault detection program. If the signal abnormality is detected three times consecutively and the fault is not resolved, the brake electronic pedal 204 will be determined to be in a malfunctioning state.

[0076] Upon entering the failure state, the vehicle controller 202 immediately generates a first braking warning message and displays the text "Brake pedal failure, please press both the brake and accelerator pedals simultaneously to decelerate" on the instrument panel, while simultaneously playing a voice reminder. After seeing the warning, the driver follows the instructions and simultaneously presses the electronic brake pedal 204 and the accelerator pedal 205.

[0077] When the driver presses the electronic brake pedal 204, the switch 203 on top of the electronic brake pedal changes from on to off. The vehicle controller 202 detects this signal change and confirms the driver's intention to brake. Simultaneously, the accelerator pedal 205's opening sensor sends the current depressing depth to the vehicle controller 202. The vehicle controller 202, based on a preset accelerator pedal opening-deceleration mapping table, finds the corresponding deceleration and generates a deceleration control command accordingly.

[0078] The vehicle controller 202 sends a deceleration control command to the brake actuators of the four wheels, and each wheel outputs braking force according to the deceleration rate, causing the vehicle to begin decelerating. At the same time, the vehicle controller 202 sends a first signal to the drive system 201, instructing the drive system 201 to no longer respond to the acceleration request of the accelerator pedal 205, to avoid the driver accidentally pressing the accelerator pedal and causing a conflict between acceleration and braking.

[0079] It should be noted that the specific implementation process described above is merely an exemplary illustration of the technical solution of this application under a specific fault scenario, and is not intended to limit the scope of protection of this application. In practical applications, the interaction methods and control flows between various components can be adjusted and optimized according to different vehicle types, fault modes, environmental conditions, and system configurations. As long as the control logic described in this application can be implemented, it should fall within the scope of protection of this application.

[0080] Based on the above, when the electronic brake pedal is in a malfunctioning state, a first braking warning message is generated. This message prompts the driver to decelerate by pressing both the electronic brake pedal and the accelerator pedal. Upon detecting that the driver has pressed both the electronic brake pedal and the accelerator pedal based on the first warning message, a deceleration control command is generated. The vehicle is then decelerated according to this command. Therefore, this application, by putting the vehicle into a preset failure response state when the electronic brake pedal fails, uses the switch signal on top of the electronic brake pedal to determine if the driver has requested deceleration. After confirming that the driver has pressed the electronic brake pedal, the deceleration is calculated based on the accelerator pedal opening, and deceleration control is implemented. Simultaneously, the vehicle is prevented from responding to acceleration requests from the accelerator pedal. This ensures that even when the electronic brake pedal fails, the driver can still effectively control the vehicle's deceleration and acceleration, improving the safety and reliability of the vehicle's braking control.

[0081] The above text combined Figures 1 to 2 The present application provides a detailed description of the vehicle control method when the electronic brake pedal fails. The device and equipment provided in the present application will be described below with reference to the accompanying drawings.

[0082] This application also provides a vehicle control device in the event of electronic brake pedal failure, such as... Figure 3As shown in the figure, this is a schematic diagram of a vehicle control device provided in an embodiment of this application when the electronic brake pedal fails. The device includes: The downgrade module 301 is used to generate a first braking warning message when the electronic brake pedal is in a malfunctioning state. The first braking warning message is used to prompt the driver to decelerate by pressing the electronic brake pedal and the accelerator pedal. The calculation module 302 is used to generate a deceleration control command when it detects that the driver has triggered the operation of pressing the electronic brake pedal and the accelerator pedal according to the first braking prompt information; The control module 303 is used to control the vehicle to decelerate according to the deceleration control command.

[0083] In some possible implementations, the device further includes: An acceleration module is used to generate an acceleration control command when it detects that the driver has only pressed the accelerator pedal, and to control the vehicle to accelerate according to the acceleration control command.

[0084] In some possible implementations, the device further includes: The warning module is used to generate a second braking warning message, which is used to notify the outside world of the vehicle that the vehicle has a braking malfunction.

[0085] In some possible implementations, the condition for the electronic brake pedal to be in a disabled state is: If the interaction signal between the vehicle controller and the electronic brake pedal fails, and the fault is not resolved after a preset number of repeated checks.

[0086] In some possible implementations, the control module 303 is specifically used to acquire the first opening information of the accelerator pedal; obtain the first deceleration corresponding to the first opening information according to the mapping relationship between the first opening information, the reference opening information and the reference deceleration; and generate a deceleration control command according to the first deceleration.

[0087] In some possible implementations, the device further includes: A power module is used to limit the vehicle's output power to be less than or equal to a power threshold.

[0088] In some possible implementations, the device further includes: The recovery module is used to generate a third braking warning message when the electronic brake pedal changes from a failed state to a non-failed state. The third braking warning message is used to prompt the driver to decelerate by pressing the electronic brake pedal.

[0089] According to the embodiments of this application, when the electronic brake pedal fails, the vehicle control device can correspondingly execute the method described in the embodiments of this application, and the other operations and / or functions of the various modules / units of the vehicle control device when the electronic brake pedal fails are respectively implemented to achieve Figure 1 For the sake of brevity, the corresponding processes of each method in the illustrated embodiments will not be described in detail here.

[0090] This application also provides a computing device. For example... Figure 4 As shown in the figure, this is a schematic diagram of a computing device provided in an embodiment of this application. The computing device 400 includes a bus 401, a processor 402, a communication interface 403, and a memory 404. The processor 402, the memory 404, and the communication interface 403 communicate with each other via the bus 401.

[0091] Bus 401 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0092] The processor 402 can be any one or more of the following processors: central processing unit (CPU), graphics processing unit (GPU), microprocessor (MP), or digital signal processor (DSP).

[0093] The communication interface 403 is used for communication with external devices. For example, if the computing device is a first switch, the communication interface 403 can be used for communication between the first switch and a first user terminal, or for communication between the first switch and a second switch.

[0094] Memory 404 may include volatile memory, such as random access memory (RAM). Memory 404 may also include non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid state drive (SSD).

[0095] The memory 404 stores executable code, which the processor 402 executes to perform the aforementioned vehicle control method in the event of failure of the electronic brake pedal.

[0096] Specifically, in achieving Figure 3 In the case of the illustrated embodiment, and Figure 3 In the embodiment, when the modules or units of the vehicle control device are implemented in the event of brake electronic pedal failure, the execution... Figure 3 The software or program code required for the functions of each module / unit can be partially or wholly stored in memory 404. Processor 402 executes the program code corresponding to each unit stored in memory 404, and executes the aforementioned control method for the vehicle when the electronic brake pedal fails.

[0097] This application also provides a computer-readable storage medium. The computer-readable storage medium can be any available medium capable of being stored by a computing device, or a data storage device such as a data center containing one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive). The computer-readable storage medium includes instructions that instruct the computing device to execute the aforementioned vehicle control method in the event of electronic brake pedal failure.

[0098] This application also provides a computer program product comprising one or more computer instructions. When the computer instructions are loaded and executed on a computing device, all or part of the processes or functions described in this application are generated.

[0099] The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, or data center to another website, computer, or data center via wired (e.g., coaxial cable, fiber optic) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0100] When the computer program product is executed by a computer, the computer performs any of the aforementioned methods for controlling the vehicle when the electronic brake pedal fails. The computer program product can be a software installation package; it can be downloaded and executed on a computer when any of the aforementioned methods for controlling the vehicle when the electronic brake pedal fails is required.

[0101] The descriptions of the processes or structures corresponding to the above-mentioned figures each have their own emphasis. For parts of a process or structure that are not described in detail, please refer to the relevant descriptions of other processes or structures.

[0102] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be covered within the scope of protection of this application.

Claims

1. A method for controlling a vehicle when the electronic brake pedal fails, characterized in that, The method includes: When the electronic brake pedal is in a malfunctioning state, a first braking warning message is generated, which is used to prompt the driver to decelerate by pressing the electronic brake pedal and the accelerator pedal. When the driver is detected to have pressed the electronic brake pedal and the accelerator pedal in accordance with the first braking prompt information, a deceleration control command is generated. The vehicle is controlled to decelerate according to the deceleration control command.

2. The method according to claim 1, characterized in that, After controlling the vehicle to decelerate, the method further includes: If the system detects that the driver has only pressed the accelerator pedal, it generates an acceleration control command and controls the vehicle to accelerate according to the acceleration control command.

3. The method according to claim 1, characterized in that, In the event that the electronic brake pedal is in a malfunctioning state, the method further includes: A second braking warning message is generated, which is used to notify the outside world of the vehicle that the vehicle has a braking malfunction.

4. The method according to claim 1, characterized in that, The condition under which the electronic brake pedal is in a malfunctioning state is: If the interaction signal between the vehicle controller and the electronic brake pedal fails, and the failure is not resolved after a preset number of repeated checks.

5. The method according to claim 1, characterized in that, The generation of deceleration control commands includes: Obtain the first opening information of the accelerator pedal; Based on the mapping relationship between the first opening information, the reference opening information, and the reference deceleration, the first deceleration corresponding to the first opening information is obtained; A deceleration control command is generated based on the first deceleration.

6. The method according to claim 1, characterized in that, In the event that the electronic brake pedal is in a malfunctioning state, the method further includes: Limit the vehicle's output power to be less than or equal to a power threshold.

7. The method according to claim 1, characterized in that, The method further includes: When the electronic brake pedal changes from a failed state to a valid state, a third braking warning message is generated, which prompts the driver to decelerate by pressing the electronic brake pedal.

8. A vehicle control device for use in the event of electronic brake pedal failure, characterized in that, The device includes: The downgrade module is used to generate a first braking warning message when the electronic brake pedal is in a malfunctioning state. The first braking warning message is used to prompt the driver to decelerate by pressing the electronic brake pedal and the accelerator pedal. The calculation module is used to generate a deceleration control command when it detects that the driver has triggered the operation of pressing the electronic brake pedal and the accelerator pedal according to the first braking prompt information; The control module is used to control the vehicle to decelerate according to the deceleration control command.

9. A computing device, characterized in that, Including memory and processor; The memory stores one or more computer programs, the one or more computer programs including instructions; when the instructions are executed by the processor, the computing device performs the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program for performing the method as described in any one of claims 1 to 7.

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