EPB redundancy control method and system

Abstract

The invention provides an EPB redundancy control method and system, and belongs to the technical field of vehicle control. The method comprises the following steps: acquiring states of a main controller and an auxiliary controller; in the non-EPB operation process, the main controller or the auxiliary controller is switched to control the EPB electronic calipers according to the states of the main controller and the auxiliary controller; in the EPB operation process of the main controller, when it is confirmed that the main controller fails according to the state of the main controller, the auxiliary controller is switched to control the EPB electronic calipers. The two independent controllers are used for independently and simultaneously controlling the two paths of EPB electronic calipers respectively, and real redundant parking is achieved.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to an EPB redundancy control method and system. Background Technology

[0002] Intelligent driving is divided into Levels L1 to L3, and major automakers are currently developing Level 3 and even Level 4 intelligent driving vehicles. This level places high demands on chassis redundancy and safety. One explicit requirement is that the EPB (Electronic Parking Brake) system must have redundancy. That is, in the event of a primary control failure, the auxiliary control system should be able to maintain parking or even perform dynamic braking.

[0003] However, the current mainstream technical solution mainly involves arranging two control paths, a main control and an auxiliary control, within a single controller. The drawback of this solution is that it cannot truly achieve redundant backup braking functionality. Summary of the Invention

[0004] This invention aims to solve at least one of the aforementioned problems in the prior art by proposing a dual independent controller scheme for main and auxiliary control of a set of wheel-side EPB calipers, which can truly realize redundant backup braking function.

[0005] In a first aspect, embodiments of the present invention provide an EPB redundancy control method, comprising:

[0006] Obtain the status of the main controller and the auxiliary controller;

[0007] During non-EPB operation, the main controller or auxiliary controller is switched to control the EPB electronic caliper according to the status of the main controller and auxiliary controller.

[0008] During the EPB operation of the main controller, if the main controller fails based on its status, the auxiliary controller is switched to control the EPB electronic caliper.

[0009] In a preferred embodiment, the step of switching the main controller or the auxiliary controller to control the EPB electronic caliper according to the state of the main controller and the auxiliary controller during non-EPB operation includes:

[0010] During non-EPB operation, if the main controller is confirmed to be effective based on its status, the command switch connects the main controller to the circuits of the left and right EPB electronic calipers, so that both the left and right EPB electronic calipers are controlled by the main controller; if the main controller is confirmed to be ineffective based on its status, the command switch connects the auxiliary controller to the circuits of the left and right EPB electronic calipers, and disconnects the main controller from the circuits of the left and right EPB electronic calipers, so that both the left and right EPB electronic calipers are controlled by the auxiliary controller.

[0011] In a preferred embodiment, the step of switching the auxiliary controller to control the EPB electronic caliper when the main controller fails based on its status during EPB operation includes:

[0012] When the main controller is performing clamping during EPB operation, if the main controller is confirmed to have failed based on its status, the command switch connects the circuit between the auxiliary controller and the left and right EPB electronic calipers, and the auxiliary controller controls the left and right EPB electronic calipers to perform clamping actions.

[0013] In a preferred embodiment, the step of switching the auxiliary controller to control the EPB electronic caliper when the main controller fails based on its status during EPB operation includes:

[0014] When the main controller is releasing the EPB operation, if the main controller fails based on its status, the command switch connects the circuit between the auxiliary controller and the left and right EPB electronic calipers. The auxiliary controller then controls the left and right EPB electronic calipers to perform clamping actions. After the EPB calipers have completed clamping, the auxiliary controller controls the left and right EPB electronic calipers to perform releasing actions.

[0015] In a preferred embodiment, the method further includes: during the dynamic braking operation of the main controller, when the main controller is confirmed to have failed based on its status, the switching process for the auxiliary controller to control the EPB electronic caliper is performed based on the vehicle slip ratio and vehicle body yaw.

[0016] In a preferred embodiment, the step of switching the auxiliary controller to control the EPB electronic caliper based on the vehicle slip ratio and vehicle yaw when the main controller fails during dynamic braking operation includes:

[0017] During the dynamic braking operation of the main controller, when the main controller is confirmed to have failed based on its status, the command switch connects the circuit between the auxiliary controller and the left and right EPB electronic calipers. If the yaw rate is greater than or equal to the first yaw rate threshold, the auxiliary controller controls the left and right EPB electronic calipers to perform a release action until the yaw rate is less than or equal to the second yaw rate threshold.

[0018] In a preferred embodiment, the step of switching the auxiliary controller to control the EPB electronic caliper based on the vehicle slip ratio and vehicle yaw when the main controller fails during dynamic braking operation includes:

[0019] During the dynamic braking operation of the main controller, if the main controller fails based on its status, the command switch connects the circuit between the auxiliary controller and the left and right EPB electronic calipers. If the yaw rate is less than the first yaw rate threshold, the following steps are executed:

[0020] When the slip ratio is less than or equal to the first slip ratio threshold, the auxiliary controller controls the left and right EPB electronic calipers to perform clamping action, and then the normal dynamic braking strategy is followed.

[0021] When the slip ratio is greater than or equal to the second slip ratio threshold, the auxiliary controller controls the left and right EPB electronic calipers to perform a release action, and then the normal dynamic braking strategy is followed.

[0022] When the slip ratio is greater than the first slip ratio threshold but less than the second slip ratio threshold, the normal dynamic braking strategy shall be followed.

[0023] The normal dynamic braking strategy is as follows: if the main controller switches to the auxiliary controller during the clamping process of dynamic braking operation, the auxiliary controller controls the left and right EPB electronic calipers to continue the clamping action; if the main controller switches to the auxiliary controller during the release process of dynamic braking operation, the auxiliary controller controls the left and right EPB electronic calipers to continue the release action.

[0024] In a second aspect, embodiments of the present invention provide an EPB redundancy control system configured to implement any of the methods described in the first aspect, the system comprising:

[0025] The acquisition module is used to acquire the status of the main controller and the auxiliary controller;

[0026] The non-EPB operation control module is used to switch the main controller or the auxiliary controller to control the EPB electronic caliper according to the status of the main controller and the auxiliary controller during non-EPB operation.

[0027] The EPB operation control module is used to switch the auxiliary controller to control the EPB electronic caliper when the main controller fails during EPB operation based on the status of the main controller.

[0028] Thirdly, embodiments of the present invention provide an electronic device, including:

[0029] One or more processors;

[0030] Memory, used to store one or more programs;

[0031] When the one or more programs are executed by the one or more processors, the one or more processors implement any of the methods described in the first aspect.

[0032] Fourthly, embodiments of the present invention provide a computer-readable medium storing a computer program that, when executed by a processor, implements the steps of any of the methods described in the first aspect.

[0033] Beneficial effects of this invention:

[0034] This invention achieves true redundant parking by using two independent controllers to independently and simultaneously control two EPB electronic calipers. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of an EPB redundancy control device provided in an embodiment of the present invention.

[0036] Figure 2 This is one of the flowcharts of an EPB redundancy control method provided in an embodiment of the present invention.

[0037] Figure 3 This is a second schematic diagram of an EPB redundancy control method provided in an embodiment of the present invention.

[0038] Figure 4 This is a schematic diagram of an EPB redundant control system structure provided in an embodiment of the present invention.

[0039] Figure 5 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0040] To enable those skilled in the art to better understand the technical solutions of the present invention, exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0041] Where there is no conflict, the various embodiments of the present invention and the features thereof may be combined with each other.

[0042] As used herein, the term “and / or” includes any and all combinations of one or more related enumerated entries.

[0043] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein, the singular forms “a” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that when the terms “comprising” and / or “made of” are used in this specification, the presence of the stated feature, integral, step, operation, element, and / or component is specified, but the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof is not excluded. Terms such as “connected” or “linked” are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect.

[0044] Unless otherwise specified, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having the meaning consistent with their meaning in the context of the relevant art and the invention, and will not be interpreted as having an idealized or overly formal meaning unless expressly so defined herein.

[0045] In the technical solution of this invention, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information all comply with relevant laws and regulations and do not violate public order and good morals. The use of user data in this technical solution follows relevant national laws and regulations (e.g., the "Information Security Technology - Personal Information Security Specification"). For example: appropriate measures are taken for personal information access control; restrictions are imposed on the display of personal information; the purpose of using personal information does not exceed the scope of direct or reasonable association; and explicit identity targeting is eliminated when using personal information to avoid precisely locating a specific individual.

[0046] Some abbreviations and key terms in this invention are defined as follows:

[0047] EPB: Electronic Parking Control System.

[0048] Yaw rate is the angular velocity of a vehicle turning on a horizontal plane, measured in degrees per second (° / s). If the absolute value of the yaw rate is less than 10 degrees per second, it means that the vehicle is turning very slightly or is basically traveling in a straight line. If the yaw rate is large (e.g., 20 degrees per second), it indicates that the vehicle is making a sharp turn or is in an unstable state such as fishtailing or spinning out.

[0049] Slip ratio describes the proportion of wheel slippage during rolling. Slip values ​​mean: 0% pure rolling; 100% pure sliding (wheels lock up, not turning but the car is still sliding; or spinning in place); optimal slip ratio (approximately 8% - 30%): at this point, the tire's adhesion to the ground is greatest, and the braking effect is best (the target range for ABS anti-lock braking systems). Excessively high slip ratio: means wheel lockup or severe slippage, and the vehicle will lose steering ability or lateral stability.

[0050] One related technical solution involves arranging two control paths within a single controller, referred to as the main control path and the auxiliary control path. In this solution, each path includes a control unit and a drive circuit; each path controls one side of the electronic caliper, for example, one main path controls the left side and the other the right. When one control path fails, the other path can still control the corresponding caliper, achieving a parking slope of over 8%. The shortcomings of this solution are: it can only handle partial single-point failures, such as a problem in one control path only making the other effective; and when the controller experiences a power supply failure, both paths will fail simultaneously. Furthermore, after the main control path fails, only one caliper remains effective. This results in a halved parking braking force and an inability to achieve dynamic braking, as braking only the rear wheel during dynamic braking will lead to vehicle loss of control.

[0051] The second related technical solution uses EMB calipers for parking braking; the EMB braking system has electronic calipers installed on all four wheels; the main brake controller can apply parking brakes to the two rear wheels. In the event of a main brake failure, an auxiliary controller can apply backup parking brakes to the two front calipers. The main drawback of this solution is its high cost, as it requires electronic calipers to be installed on both front wheels as well.

[0052] To address the shortcomings of the aforementioned technologies, this invention proposes an EPB redundancy control technology solution. This solution innovates upon existing conventional parking systems by using only the two rear wheel calipers as electronic calipers. It is designed with two independent controllers, a main controller and an auxiliary controller, each capable of simultaneously controlling the electronic calipers on both sides and dynamically switching between the two controllers.

[0053] Figure 1 This is a schematic diagram of an EPB redundancy control device provided in an embodiment of the present invention. Figure 1 As shown, the device includes: a main controller A (ECU-A) and an auxiliary controller B (ECU-B), a main-auxiliary switching control unit C (switcher-C), and electronic calipers M1 / M2 on the left and right sides.

[0054] The main / auxiliary switching control unit C has the following functions:

[0055] (1) Fault monitoring and identification of main control A and auxiliary control B;

[0056] (2) Implement the control switching between main and auxiliary control;

[0057] (3) Record the status of EPB caliper and controller A / B during the switching process.

[0058] The failure monitoring method for the main controller A by the main control unit C is as follows: The main controller A monitors for possible faults in the main control loop; when a fault occurs, it issues a failure flag; the failure flag for the main controller A is defined as: ECU_A_Valid={0, 1}, where 0 indicates failure and 1 indicates validity. Similarly, the failure flag for the auxiliary controller B is defined as: ECU_B_Valid={0, 1}, where 0 indicates failure and 1 indicates validity.

[0059] The fault monitoring strategy for main controller A is designed as follows, which is divided into 4 categories, as shown in Table 1.

[0060] Table 1 Fault Classification of Main Controller A

[0061]

[0062] During non-EPB operation (i.e., excluding EPB operation and EPB dynamic braking operation), the switching controller C can switch normally according to the fault status of controllers A / B: when the switching controller C receives ECU_A_Valid=1, the internal switch of the switching controller C is connected and effective along circuit 1, and the EPB electronic calipers on both sides of the vehicle are controlled by the main controller A; when the switching controller C receives ECU_A_Valid=0, the switching controller C connects the internal switch and is effective along circuit 2, and at the same time cuts off circuit 1, then the EPB electronic calipers on both sides of the vehicle are controlled by the auxiliary controller B.

[0063] During EPB operation, if the main controller A malfunctions, the system should quickly switch to the auxiliary controller B to complete the remaining actions. Set the EPB electronic caliper position to M_POS={0, 1, 2}, where 0 represents the release state, 1 represents the clamping state, and 2 represents the position. Record the EPB switch operation actions M_INP={0, 1, 2, 3}, where 0 represents no operation, 1 represents clamping, 2 represents release, and 3 represents dynamic braking. In case 1, when the main controller A switches to B during clamping, the switching controller C records M_POS=2 and M_INP=1. When switching the control loop to loop 2, the switching controller C transmits M_POS=2 and M_INP=1 to the auxiliary controller B, which continues to complete the remaining clamping actions. When the clamping current reaches the clamping threshold, the clamping action is complete, and M_POS=1 and M_INP=0 are updated. Scenario 2: When the main controller A switches to B during the release process, the switching controller C records M_POS=2, M_INP=2. When switching the control loop to loop 2, the switching controller transmits M_POS=2, M_INP=2 to the auxiliary controller B. The auxiliary controller B needs to reverse the clamping action first. When the clamping current reaches the threshold, it indicates that the EPB caliper has completed the clamping action. At this time, both controllers B and C update the state M_POS=1, M_INP=2. Then, the release action is re-executed according to the normal operation, and both controllers B and C update the state M_POS=0, M_INP=0.

[0064] Regarding the EPB's dynamic backup function, it refers to the ability to perform backups while the vehicle is in motion, i.e., at vehicle speed... If the EPB switch is held up for more than 3 seconds, the two rear wheel electronic calipers can intermittently clamp and release to achieve deceleration and stopping. When the main controller A fails during dynamic braking, causing dynamic braking to be interrupted, it is necessary to quickly switch to the auxiliary controller B. At this time, the switching controller C records the states M_POS=2 and M_INP=2. During dynamic braking, if the main controller A fails and switches to the auxiliary controller B during clamping, the clamping action should continue. If it switches to the auxiliary controller B during release, the release action should continue. However, due to the delay caused by excessive switching, the wheel slip state changes. If excessive clamping occurs after the switch, it will cause the rear wheels to lock up, and the vehicle will be at risk of instability. If the release state is prolonged, deceleration loss may occur. This invention specifically designs a strategy to handle the switching between the main and auxiliary controllers during dynamic braking operation based on the vehicle slip rate and vehicle yaw. The scheme is designed as follows.

[0065] The switching design follows two principles: Principle 1, prioritizes yaw control, i.e., yaw angular velocity. Principle 2: The slip ratio should be within a threshold. Condition 1: During the switching between main and auxiliary controls in the dynamic clamping process, if... Then, auxiliary controller B directly executes the release operation until... In operating condition 2, during dynamic braking main / auxiliary switching, whether it's clamping or releasing, the slip ratio threshold control is used as the standard. When this happens, auxiliary controller B will directly press the clamping start button to take over the control, and then proceed with the normal dynamic braking strategy. When this occurs, auxiliary controller B will directly press the release button to take over control, and then proceed with the normal dynamic braking strategy. When in... In between, simply press the clamp or release button before switching to continue.

[0066] In the following embodiments of the present invention, for ease of description, the main / auxiliary switching control unit is used as the execution subject. The execution subject may also be a software module, or other electronic devices capable of performing the following functions.

[0067] Figure 2 This is one of the flowcharts illustrating an EPB redundancy control method provided in an embodiment of the present invention. Figure 2 As shown, the method includes:

[0068] Step S1: Obtain the status of the main controller and the auxiliary controller;

[0069] Step S2: During non-EPB operation, switch the main controller or auxiliary controller to control the EPB electronic caliper according to the status of the main controller and auxiliary controller.

[0070] Step S3: During the EPB operation of the main controller, if the main controller fails based on its status, switch to the auxiliary controller to control the EPB electronic caliper.

[0071] The present invention achieves true redundant parking by using two independent controllers to independently and simultaneously control two EPB electronic calipers through the above steps.

[0072] In some embodiments, step S2, during non-EPB operation, involves switching the main controller or auxiliary controller to control the EPB electronic caliper based on the state of the main controller and auxiliary controller, including:

[0073] During non-EPB operation, if the main controller is confirmed to be effective based on its status, the command switch connects the main controller to the circuits of the left and right EPB electronic calipers, so that both the left and right EPB electronic calipers are controlled by the main controller; if the main controller is confirmed to be ineffective based on its status, the command switch connects the auxiliary controller to the circuits of the left and right EPB electronic calipers, and disconnects the main controller from the circuits of the left and right EPB electronic calipers, so that both the left and right EPB electronic calipers are controlled by the auxiliary controller.

[0074] In some embodiments, step S3, when the main controller fails during EPB operation, involves switching the auxiliary controller to control the EPB electronic caliper based on the status of the main controller:

[0075] When the main controller is performing clamping during EPB operation, if the main controller is confirmed to have failed based on its status, the command switch connects the circuit between the auxiliary controller and the left and right EPB electronic calipers, and the auxiliary controller controls the left and right EPB electronic calipers to perform clamping actions.

[0076] In some embodiments, step S3, when the main controller fails during EPB operation, involves switching the auxiliary controller to control the EPB electronic caliper based on the status of the main controller:

[0077] When the main controller is releasing the EPB operation, if the main controller fails based on its status, the command switch connects the circuit between the auxiliary controller and the left and right EPB electronic calipers. The auxiliary controller then controls the left and right EPB electronic calipers to perform clamping actions. After the EPB calipers have completed clamping, the auxiliary controller controls the left and right EPB electronic calipers to perform releasing actions.

[0078] In some embodiments, such as Figure 3 As shown, it also includes: step S4, when the main controller fails during the dynamic braking operation, the auxiliary controller switches to control the EPB electronic caliper based on the vehicle slip ratio and vehicle body yaw when the main controller is confirmed to be in failure according to the status of the main controller.

[0079] In some embodiments, step S4, when the main controller fails during dynamic braking operation, involves switching the auxiliary controller to control the EPB electronic caliper based on vehicle slip ratio and vehicle yaw rate.

[0080] During dynamic braking operation by the main controller, if the main controller is confirmed to have failed based on its status, the command switch connects the auxiliary controller to the circuits of the left and right EPB electronic calipers. If the yaw rate is greater than or equal to the first yaw rate threshold (e.g., ...), the circuit will be activated. The auxiliary controller controls the left and right EPB electronic calipers to perform a release action until the yaw rate is less than or equal to the second yaw rate threshold (e.g., ).

[0081] In some embodiments, step S4, when the main controller fails during dynamic braking operation, involves switching the auxiliary controller to control the EPB electronic caliper based on vehicle slip ratio and vehicle yaw rate.

[0082] During the dynamic braking operation of the main controller, if the main controller fails based on its status, the command switch connects the circuit between the auxiliary controller and the left and right EPB electronic calipers. If the yaw rate is less than the first yaw rate threshold, the following steps are executed:

[0083] When the slip ratio is less than or equal to the first slip ratio threshold (e.g.) The auxiliary controller controls the left and right EPB electronic calipers to perform clamping action, and then the normal dynamic braking strategy is followed.

[0084] When the slip ratio is greater than or equal to the second slip ratio threshold (e.g.) When the brakes are released, the auxiliary controller controls the left and right EPB electronic calipers to perform the release action, and then the normal dynamic braking strategy is followed.

[0085] When the slip ratio is greater than the first slip ratio threshold and less than the second slip ratio threshold (e.g.) (between), proceed according to normal dynamic braking strategy;

[0086] The normal dynamic braking strategy is as follows: if the main controller switches to the auxiliary controller during the clamping process of dynamic braking operation, the auxiliary controller controls the left and right EPB electronic calipers to continue the clamping action; if the main controller switches to the auxiliary controller during the release process of dynamic braking operation, the auxiliary controller controls the left and right EPB electronic calipers to continue the release action.

[0087] Based on the same inventive concept, such as Figure 4 As shown, this embodiment of the invention also provides an EPB redundancy control system, configured to implement any of the methods described in the above embodiments, the system comprising:

[0088] The acquisition module is used to acquire the status of the main controller and the auxiliary controller;

[0089] The non-EPB operation control module is used to switch the main controller or the auxiliary controller to control the EPB electronic caliper according to the status of the main controller and the auxiliary controller during non-EPB operation.

[0090] The EPB operation control module is used to switch the auxiliary controller to control the EPB electronic caliper when the main controller fails during EPB operation based on the status of the main controller.

[0091] Based on the same inventive concept, embodiments of the present invention also provide an electronic device. Figure 5 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Figure 5 As shown, an embodiment of the present invention provides an electronic device including: one or more processors 101, a memory 102, and one or more I / O interfaces 103. The memory 102 stores one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement any of the methods described in the above embodiments; the one or more I / O interfaces 103 are connected between the processor and the memory, configured to enable information interaction between the processor and the memory.

[0092] The processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU); the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); the I / O interface (read / write interface) 103 is connected between the processor 101 and the memory 102, and can realize information interaction between the processor 101 and the memory 102, including but not limited to a data bus (Bus).

[0093] In some embodiments, the processor 101, memory 102, and I / O interface 103 are interconnected via bus 104, and thus connected to other components of the computing device.

[0094] In some embodiments, the one or more processors 101 include a field-programmable gate array.

[0095] Based on the same inventive concept, embodiments of the present invention also provide a computer-readable medium. This computer-readable medium stores a computer program, wherein, when executed by a processor, the program implements the steps of any of the methods described in the above embodiments. The computer-readable storage medium may be a volatile or non-volatile computer-readable storage medium.

[0096] Those skilled in the art will understand that all or some of the steps, systems, and apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software can be distributed on a computer-readable storage medium, which may include computer storage media (or non-transitory media) and communication media (or transient media).

[0097] As is known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable program instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), static random access memory (SRAM), flash memory or other memory technologies, portable compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, it is known to those skilled in the art that communication media typically contain computer-readable program instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0098] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0099] The computer program instructions used to perform the operations of this invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing state information from the computer-readable program instructions. This electronic circuitry can execute the computer-readable program instructions to implement various aspects of the invention.

[0100] The computer program product described herein can be implemented specifically through hardware, software, or a combination thereof. In one alternative embodiment, the computer program product is specifically embodied in a computer storage medium; in another alternative embodiment, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0101] Various aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should 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-readable program instructions.

[0102] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0103] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0104] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0105] Example embodiments have been disclosed herein, and while specific terminology has been used, it is for illustrative purposes only and should be construed as such, and is not intended to be limiting. In some instances, it will be apparent to those skilled in the art that features, characteristics, and / or elements described in conjunction with particular embodiments may be used alone, or in combination with features, characteristics, and / or elements described in conjunction with other embodiments, unless otherwise expressly indicated. Therefore, those skilled in the art will understand that various changes in form and detail may be made without departing from the scope of the invention as set forth in the appended claims.

Claims

1. An EPB redundancy control method, characterized in that, include: Obtain the status of the main controller and the auxiliary controller; During non-EPB operation, the main controller or auxiliary controller is switched to control the EPB electronic caliper according to the status of the main controller and auxiliary controller. During the EPB operation of the main controller, if the main controller fails based on its status, the auxiliary controller is switched to control the EPB electronic caliper.

2. The method according to claim 1, characterized in that, The step of switching between the main controller and the auxiliary controller to control the EPB electronic caliper according to the status of the main controller and the auxiliary controller during non-EPB operation includes: During non-EPB operation, if the main controller is confirmed to be effective based on its status, the command switch connects the main controller to the circuits of the left and right EPB electronic calipers, so that both the left and right EPB electronic calipers are controlled by the main controller; if the main controller is confirmed to be ineffective based on its status, the command switch connects the auxiliary controller to the circuits of the left and right EPB electronic calipers, and disconnects the main controller from the circuits of the left and right EPB electronic calipers, so that both the left and right EPB electronic calipers are controlled by the auxiliary controller.

3. The method according to claim 1, characterized in that, The step of switching the auxiliary controller to control the EPB electronic caliper when the main controller fails during EPB operation, based on the status of the main controller, includes: When the main controller is performing clamping during EPB operation, if the main controller is confirmed to have failed based on its status, the command switch connects the circuit between the auxiliary controller and the left and right EPB electronic calipers, and the auxiliary controller controls the left and right EPB electronic calipers to perform clamping actions.

4. The method according to claim 1, characterized in that, The step of switching the auxiliary controller to control the EPB electronic caliper when the main controller fails during EPB operation, based on the status of the main controller, includes: When the main controller is releasing the EPB operation, if the main controller fails based on its status, the command switch connects the circuit between the auxiliary controller and the left and right EPB electronic calipers. The auxiliary controller then controls the left and right EPB electronic calipers to perform clamping actions. After the EPB calipers have completed clamping, the auxiliary controller controls the left and right EPB electronic calipers to perform releasing actions.

5. The method according to claim 1, characterized in that, Also includes: During the dynamic braking operation of the main controller, if the main controller fails based on its status, the auxiliary controller will switch to control the EPB electronic caliper according to the vehicle slip ratio and body yaw.

6. The method according to claim 5, characterized in that, The step of switching control of the auxiliary controller to the EPB electronic caliper based on the vehicle slip ratio and vehicle yaw during the dynamic braking operation of the main controller, when the main controller is confirmed to have failed based on its status, includes the following steps: During the dynamic braking operation of the main controller, when the main controller is confirmed to have failed based on its status, the command switch connects the circuit between the auxiliary controller and the left and right EPB electronic calipers. If the yaw rate is greater than or equal to the first yaw rate threshold, the auxiliary controller controls the left and right EPB electronic calipers to perform a release action until the yaw rate is less than or equal to the second yaw rate threshold.

7. The method according to claim 5, characterized in that, The step of switching control of the auxiliary controller to the EPB electronic caliper based on the vehicle slip ratio and vehicle yaw during the dynamic braking operation of the main controller, when the main controller is confirmed to have failed based on its status, includes the following steps: During the dynamic braking operation of the main controller, if the main controller fails based on its status, the command switch connects the circuit between the auxiliary controller and the left and right EPB electronic calipers. If the yaw rate is less than the first yaw rate threshold, the following steps are executed: When the slip ratio is less than or equal to the first slip ratio threshold, the auxiliary controller controls the left and right EPB electronic calipers to perform clamping action, and then the normal dynamic braking strategy is followed. When the slip ratio is greater than or equal to the second slip ratio threshold, the auxiliary controller controls the left and right EPB electronic calipers to perform a release action, and then the normal dynamic braking strategy is followed. When the slip ratio is greater than the first slip ratio threshold but less than the second slip ratio threshold, the normal dynamic braking strategy shall be followed. The normal dynamic braking strategy is as follows: if the main controller switches to the auxiliary controller during the clamping process of dynamic braking operation, the auxiliary controller controls the left and right EPB electronic calipers to continue the clamping action; if the main controller switches to the auxiliary controller during the release process of dynamic braking operation, the auxiliary controller controls the left and right EPB electronic calipers to continue the release action.

8. An EPB redundancy control system, characterized in that, The system, configured to implement the method as described in any one of claims 1 to 7, comprises: The acquisition module is used to acquire the status of the main controller and the auxiliary controller; The non-EPB operation control module is used to switch the main controller or the auxiliary controller to control the EPB electronic caliper according to the status of the main controller and the auxiliary controller during non-EPB operation. The EPB operation control module is used to switch the auxiliary controller to control the EPB electronic caliper when the main controller fails during EPB operation based on the status of the main controller.

9. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1 to 7.

10. A computer-readable medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 7.

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