Failure redundancy control method of brake-by-wire system, vehicle and storage medium

Abstract

This invention relates to the field of braking control, and discloses a failure redundancy control method for a brake-by-wire system, a vehicle, and a storage medium. The failure redundancy control method for the brake-by-wire system includes: acquiring a braking signal; calculating and obtaining braking output force values ​​multiple times based on the braking signal, and transmitting these multiple braking output force values ​​to a main controller, a secondary controller, and a wheel-side braking assembly; determining whether the braking output force values ​​transmitted to the main controller and the secondary controller have failed; and when the braking output force values ​​transmitted to the main controller and the secondary controller have failed, the wheel-side braking assembly performs braking. This invention establishes a multi-level redundant control architecture, providing extremely high failure tolerance and greatly improving the system's survivability and safety under extreme fault conditions.

Description

Technical Field

[0001] This invention relates to the field of braking control, and more particularly to a method for controlling the redundancy of failures in a brake-by-wire system, a vehicle, and a storage medium. Background Technology

[0002] With the rapid development of brake-by-wire systems, their proportion is gradually increasing. However, compared to mechanical hydraulic brakes, many users still have concerns about their safety. To improve the safety of brake-by-wire systems, most OEMs and suppliers currently equip them with redundant controllers to receive signals from the pedal simulator. However, when the pedal simulator malfunctions, the wheel-side controllers may fail to accurately determine the driver's braking intention, posing a safety risk. Therefore, a safer brake-by-wire system is urgently needed. Summary of the Invention

[0003] The present invention aims to solve the technical problems existing in the above-mentioned background art, and proposes a failure redundancy control method for a brake-by-wire system, a vehicle, and a storage medium.

[0004] A failure redundancy control method for a brake-by-wire system according to a first aspect of the present invention includes: Obtain braking signal; The braking output force value is calculated multiple times based on the braking signal and then transmitted to the main controller, the auxiliary controller and the wheel-side braking assembly. Determine whether the braking output force value transmitted to the main controller and the braking output force value transmitted to the sub-controller are respectively invalid; When the braking output force value sent to the main controller and the braking output force value sent to the auxiliary controller both fail, the wheel-side braking assembly performs braking.

[0005] This technical solution has at least the following beneficial effects: When the driver presses the brake pedal, the pedal simulator integrated in the pedal assembly simultaneously collects pedal displacement or angle signals and performs multiple calculations to obtain multiple braking output force values ​​representing the driver's braking intention. These values ​​are then sent to three different execution terminals: one braking output force value is sent to the main controller, one to the auxiliary controller, and one to the wheel-side braking assembly. When it is determined that the signal status sent to the main controller and the auxiliary controller has failed, the system will switch to the final redundant path, whereby the wheel-side braking assembly performs braking based on the received braking output force value. This multi-level redundant control architecture provides extremely high fault tolerance. Even if the main controller and the auxiliary controller responsible for decision-making both fail for any reason, the system can still obtain the most basic braking command through the wheel-side braking assembly connected at the lowest level, thereby providing the vehicle with minimum braking protection and greatly improving the system's survivability and safety under extreme failure conditions.

[0006] According to some embodiments of the present invention, the present invention further includes: When neither the braking output force value sent to the main controller nor the braking output force value sent to the sub-controller fails, it is determined whether the braking output force value sent to the main controller exceeds a preset error threshold. When the braking output force value delivered to the main controller exceeds the preset error threshold, the secondary controller performs braking.

[0007] According to some embodiments of the present invention, the present invention further includes: When the braking output force value delivered to the main controller does not exceed the preset error threshold, the main controller performs braking.

[0008] According to some embodiments of the present invention, the step of calculating and obtaining the braking output force value multiple times based on the braking signal includes: The first pedal simulator calculates the braking output force value based on the braking signal; The second pedal simulator calculates the braking output force value based on the braking signal; The third pedal simulator calculates the braking output force value based on the braking signal.

[0009] According to some embodiments of the present invention, the step of transmitting the plurality of said braking output force values ​​to the main controller, the auxiliary controller and the wheel-side braking assembly respectively includes: The multiple braking output force values ​​are respectively transmitted to the main controller and the auxiliary controller via communication signals; The braking output force is transmitted to the wheel-side braking assembly via a hard-wired signal connection.

[0010] According to some embodiments of the present invention, the present invention further includes: When either the braking output force value supplied to the main controller or the braking output force value supplied to the sub-controller fails, at least one of the following will be displayed: a fault code or a fault light.

[0011] According to some embodiments of the present invention, the present invention further includes: Reduce the pedal feel of the brake pedal.

[0012] According to some embodiments of the present invention, the wheel-side braking assembly performs braking, including: Apply brakes to the left and right front wheels.

[0013] A vehicle includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the above-described fail-redundancy control method for a brake-by-wire system.

[0014] This technical solution has at least the following beneficial effects: The vehicle's electronic and electrical architecture includes memory and processor that meet functional safety requirements. When the vehicle is powered on, the program is loaded and executed by the processor, thereby implementing the aforementioned triple-redundant wire-controlled braking failure control strategy on the vehicle. This establishes a multi-level redundant control architecture in the vehicle, providing extremely high fault tolerance. Even if the main controller and the auxiliary controller responsible for decision-making both fail for any reason, the system can still obtain the most basic braking commands through the wheel-side braking assembly connected at the lowest level, thereby providing the vehicle with minimum braking protection and greatly improving the system's survivability and safety under extreme failure conditions.

[0015] According to a second aspect of the present invention, a computer-readable storage medium stores computer-executable instructions for causing a computer to execute the above-described failure redundancy control method for a brake-by-wire system.

[0016] This technical solution has at least the following beneficial effects: The storage medium stores computer-executable instructions. When these instructions are read and executed by the computer hardware system of the vehicle's brake controller or domain controller, the computer system will be driven to complete the failure redundancy control method of the above-mentioned brake-by-wire system. This establishes a multi-level redundant control architecture, providing extremely high failure tolerance. Even if the main controller and the sub-controller responsible for decision-making fail for any reason, the system can still obtain the most basic braking commands through the wheel-side brake assembly connected at the lowest level, thereby providing the vehicle with minimum braking protection and greatly improving the system survivability and safety under extreme failure conditions.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly explained below. Obviously, the described drawings are only a part of the embodiments of the present invention, and not all of them. Those skilled in the art can obtain other design schemes and drawings based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart of one embodiment of the failure redundancy control method for the brake-by-wire system of the present invention.

[0020] Figure 2 This is a flowchart of one embodiment of the present invention when both the braking output force value sent to the main controller and the braking output force value sent to the secondary controller are not ineffective. Detailed Implementation

[0021] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0022] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0023] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0024] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0025] Reference Figure 1 The failure redundancy control method for a brake-by-wire system according to a first aspect of the present invention includes, but is not limited to, the following steps: Step S100: Acquire braking signals. The brake pedal assembly includes a pedal simulator that can acquire braking signals such as ramp displacement or angle.

[0026] Step S200: Calculate the braking output force value multiple times based on the braking signal and send the multiple braking output force values ​​to the main controller, the auxiliary controller and the wheel-side braking assembly respectively; Step S300: Determine whether the braking output force value sent to the main controller and the braking output force value sent to the secondary controller have failed. Failure is manifested as the signal value remaining invalid, the communication link being completely interrupted, or the controller itself malfunctioning.

[0027] When the braking output force value sent to the main controller and the braking output force value sent to the auxiliary controller both fail, step S400 is entered, and the wheel-side braking assembly performs braking.

[0028] As described above, when the driver presses the brake pedal, the pedal simulator integrated in the pedal assembly simultaneously collects pedal displacement or angle signals and performs multiple calculations to obtain multiple braking output force values ​​representing the driver's braking intention. These values ​​are then sent to three different execution terminals: one braking output force value to the main controller, one to the auxiliary controller, and one to the wheel-side braking assembly. When it is determined that the signal status sent to the main controller and the auxiliary controller has failed, the system will switch to the final redundant path, whereby the wheel-side braking assembly performs braking based on the received braking output force value. This multi-level redundant control architecture provides extremely high fault tolerance. Even if the main controller and the auxiliary controller responsible for decision-making both fail for any reason, the system can still obtain the most basic braking command through the wheel-side braking assembly connected at the lowest level, thereby providing the vehicle with minimum braking protection and greatly improving the system's survivability and safety in extreme failure situations.

[0029] like Figure 2 As shown, when both the braking output force value sent to the main controller and the braking output force value sent to the sub-controller are valid, the process proceeds to step S500 to determine whether the braking output force value sent to the main controller exceeds a preset error threshold. In this step, the braking output force values ​​received by the main controller and the sub-controller are compared and arbitrated to determine whether the received signals are valid and whether communication is normal.

[0030] When the braking output force value sent to the main controller exceeds the preset error threshold, step S510 is entered, and the secondary controller performs braking. If the comparison finds that the braking output force value of the main controller path is abnormally high or low, exceeding the preset error threshold, the arbitration logic determines that the signal source relied upon by the main controller may have drift or calculation errors. At this time, the system will automatically degrade and switch to using the signal from the secondary controller path to perform braking. This helps to prevent insufficient braking force or over-braking caused by errors in a single signal path, improving the system's functional safety level while better ensuring the accurate and stable output of braking force.

[0031] Naturally, when the braking output force value sent to the main controller exceeds the preset error threshold, the operation of judging whether the braking output force value sent to the sub-controller exceeds the preset error threshold is also performed. When the braking output force value sent to the sub-controller exceeds the preset error threshold, the wheel-side braking assembly performs braking.

[0032] When the braking output force value sent to the main controller does not exceed the preset error threshold, step S520 is entered, and the main controller performs braking. When a comparison reveals that the two braking output force values ​​received by the main and auxiliary controllers are both within the normal preset error range, indicating that the two signals are consistent and reliable, the signal from the main controller's path will be prioritized for braking. The signal from the third path, directly connected to the wheel-side braking assembly, will be functionally suppressed to prevent interference or superposition of braking forces. This ensures that during normal system operation, braking force control is uniformly managed by the optimal-performing and most functional main controller. Simultaneously, suppressing redundant path signals avoids potential conflicts, better guaranteeing the simplicity and efficiency of the control system logic.

[0033] In step S200, the braking output force value is calculated and obtained multiple times based on the braking signal, including but not limited to the following steps: Step S211: The first pedal simulator calculates the braking output force value based on the braking signal; Step S212: The second pedal simulator calculates the braking output force value based on the braking signal; In step S213, the third pedal simulator calculates the braking output force value based on the braking signal.

[0034] In this embodiment, when the pedal is pressed down for braking, the first pedal simulator, the second pedal simulator, and the third pedal simulator are based on the same original mechanical input, but calculate the corresponding braking output force value separately through their respective independent sensing elements and signal processing circuits. By setting up three completely independent signal acquisition and calculation channels, true signal source redundancy is achieved, greatly reducing the probability of the entire signal chain failing due to damage to a single sensor, short circuit, or simulator chip malfunction, and providing reliable and diverse data sources for subsequent arbitration logic.

[0035] In step S200, multiple braking output force values ​​are respectively transmitted to the main controller, the auxiliary controller, and the wheel-side braking assembly, including but not limited to the following steps: In step S221, multiple braking output force values ​​are transmitted to the main controller and the auxiliary controller via communication signals.

[0036] In step S221, the braking output force value is transmitted to the wheel-side braking assembly via a hard-wired signal connection.

[0037] This hybrid transmission architecture, which combines communication signals and hard-wired signals, combines performance and reliability. By connecting the lowest-level wheel-side braking assembly through the most basic and direct hard-wired signals, the anti-interference capability of the received signals is improved. The redundancy of this transmission layer further strengthens the safety defense.

[0038] When either the braking output force value sent to the main controller or the braking output force value sent to the auxiliary controller fails, the system proceeds to step S600, displaying at least one of a fault code or a malfunction indicator lamp. If it is detected that any one of the braking signals sent to the main controller or the auxiliary controller changes from valid to invalid, but the other remains valid, the system will automatically switch to the valid path for braking control while displaying a fault code or illuminating the braking system warning light on the instrument panel, or both simultaneously, thus providing a clear visual warning to the driver. This proactively informs the driver that the vehicle system has malfunctioned, prompting them to drive cautiously and have it repaired as soon as possible. This increases vehicle transparency and user trust, and helps reduce the likelihood of drivers unknowingly using a vehicle with potential safety hazards for an extended period.

[0039] When the braking output force values ​​sent to the main controller and the auxiliary controller both fail, the process proceeds to step S700: reducing the pedal feel. When both the main controller and the auxiliary controller malfunction, the feedback program of the pedal force simulator is adjusted to actively reduce the damping force or rebound force of the brake pedal, thus reducing the pedal feel. This allows the driver to clearly feel a lighter pedal feel and a change in feedback characteristics. Compared to a simple visual malfunction indicator light, this change in pedal feel provides a stronger and more easily noticeable warning to the driver, making them more aware of any abnormalities in the braking system.

[0040] In step S400, the wheel-side braking assembly performs braking. This assembly can provide braking to all four wheels, or only to the rear wheels. In this embodiment, it brakes the left and right front wheels. Because the vehicle's center of gravity shifts forward during braking, the front wheels need to provide the majority of the braking force to achieve optimal braking effect and maintain directional stability. By prioritizing front wheel braking, the vehicle's deceleration can be efficiently generated using ground adhesion, maximizing braking efficiency.

[0041] A vehicle includes a memory, a processor, and a program stored in the memory and executable on the processor. When executed by the processor, the program implements the aforementioned fail-redundancy control method for a brake-by-wire system. The vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. It can also be a commercial vehicle, such as a van, bus, small truck, or large trailer. The vehicle needs to have an electric motor capable of outputting power or acting as a generator to store mechanical energy. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0042] In this vehicle, the electronic and electrical architecture includes memory and processors that meet functional safety requirements. When the vehicle is powered on, the program is loaded and executed by the processor, thereby implementing a triple-redundant line-controlled braking failure control strategy in the vehicle. This establishes a multi-level redundant control architecture in the vehicle, providing extremely high fault tolerance. Even if the main controller and the auxiliary controller responsible for decision-making both fail for any reason, the system can still obtain the most basic braking commands through the wheel-side braking assembly connected at the lowest level, thereby providing the vehicle with minimum braking protection and greatly improving the system survivability and safety under extreme failure conditions.

[0043] According to a second aspect of the present invention, a computer-readable storage medium stores computer-executable instructions for causing a computer to execute the above-described failure redundancy control method for a brake-by-wire system.

[0044] The storage medium contains computer-executable instructions. When these instructions are read and executed by the computer hardware system of the vehicle's brake controller or domain controller, the computer system will be driven to complete the failure redundancy control method of the above-mentioned brake-by-wire system. This establishes a multi-level redundant control architecture, providing extremely high failure tolerance. Even if the main controller and the auxiliary controller responsible for decision-making fail for any reason, the system can still obtain the most basic braking commands through the wheel-side brake assembly connected at the lowest level, thereby providing the vehicle with minimum braking protection and greatly improving the system survivability and safety under extreme failure conditions.

[0045] This invention also provides a vehicle control device, including a memory, a processor, and a program stored in the memory and executable on the processor. When the program is executed by the processor, it implements the failure redundancy control method of the brake-by-wire system described above.

[0046] Taking the example of a processor and memory in a vehicle control device being connected via a bus, the memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the control processor, and these remote memories can be connected to the control device via a network.

[0047] Furthermore, one embodiment of the present invention provides a computer program product, including a computer program or computer instructions, which are stored in a computer-readable storage medium. A processor of a computer device reads the computer program or computer instructions from the computer-readable storage medium and executes the computer program or computer instructions, causing the computer device to perform the above-described failure redundancy control method for a brake-by-wire system.

[0048] It is worth noting that, since the computer program product of this embodiment can execute the failure redundancy control method of the brake-by-wire system in any of the above embodiments, the specific implementation method and technical effects of the computer program product of this embodiment can be referred to the specific implementation method and technical effects of the failure redundancy control method of the brake-by-wire system in any of the above embodiments.

[0049] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can 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. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, 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, as is known to those skilled in the art, communication media typically include computer-readable 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.

[0050] The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A failure redundancy control method for a brake-by-wire system, characterized in that: include: Obtain braking signal; The braking output force value is calculated multiple times based on the braking signal and then transmitted to the main controller, the auxiliary controller and the wheel-side braking assembly. Determine whether the braking output force value transmitted to the main controller and the braking output force value transmitted to the sub-controller are respectively invalid; When the braking output force value sent to the main controller and the braking output force value sent to the auxiliary controller both fail, the wheel-side braking assembly performs braking.

2. The failure redundancy control method for a brake-by-wire system according to claim 1, characterized in that: Also includes: When neither the braking output force value sent to the main controller nor the braking output force value sent to the sub-controller fails, it is determined whether the braking output force value sent to the main controller exceeds a preset error threshold. When the braking output force value delivered to the main controller exceeds the preset error threshold, the secondary controller performs braking.

3. The failure redundancy control method for a brake-by-wire system according to claim 2, characterized in that: Also includes: When the braking output force value delivered to the main controller does not exceed the preset error threshold, the main controller performs braking.

4. The failure redundancy control method for a brake-by-wire system according to claim 1, characterized in that: The step of calculating and obtaining the braking output force value multiple times based on the braking signal includes: The first pedal simulator calculates the braking output force value based on the braking signal; The second pedal simulator calculates the braking output force value based on the braking signal; The third pedal simulator calculates the braking output force value based on the braking signal.

5. The failure redundancy control method for a brake-by-wire system according to claim 1, characterized in that: The step of transmitting multiple braking output force values ​​to the main controller, the auxiliary controller, and the wheel-side braking assembly includes: The multiple braking output force values ​​are respectively transmitted to the main controller and the auxiliary controller via communication signals; The braking output force is transmitted to the wheel-side braking assembly via a hard-wired signal connection.

6. The failure redundancy control method for a brake-by-wire system according to claim 1, characterized in that: Also includes: When either the braking output force value supplied to the main controller or the braking output force value supplied to the sub-controller fails, at least one of the following will be displayed: a fault code or a fault light.

7. The failure redundancy control method for a brake-by-wire system according to claim 1, characterized in that: Also includes: Reduce the pedal feel of the brake pedal.

8. The failure redundancy control method for a brake-by-wire system according to claim 1, characterized in that: The wheel-side braking assembly performs braking, including: Apply brakes to the left and right front wheels.

9. A vehicle, characterized in that, It includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the program is executed by the processor, it implements the fail-redundancy control method for a brake-by-wire system as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing a computer to perform the failover control method for a brake-by-wire system as described in any one of claims 1 to 8.

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