Electronic mechanical brake redundancy control method, vehicle and storage medium

Abstract

This invention relates to the field of vehicle braking, and discloses an electromechanical braking redundancy control method, a vehicle, and a storage medium. The electromechanical braking redundancy control method includes: acquiring the vehicle's electrical parameters; performing an electrical health status assessment based on the electrical parameters within a first preset time period to obtain a first electrical status score; acquiring the vehicle's mechanical parameters; performing a mechanical health status assessment based on the mechanical parameters within a first preset time period to obtain a first mechanical status score; acquiring the vehicle's current driving scenario; adjusting the weights of the first electrical status score and the first mechanical status score according to the driving scenario to obtain a first health status score; determining whether the first health status score exceeds a preset health status threshold; and controlling the redundancy module to enter a standby state when the first health status score exceeds the preset health status threshold. This invention can improve the smoothness of switching to the redundancy module and improve the safety of the vehicle during braking.

Description

Technical Field

[0001] This invention relates to the field of vehicle braking, and more particularly to an electromechanical braking redundancy control method, a vehicle, and a storage medium. Background Technology

[0002] Existing redundancy control technologies for electromechanical braking systems primarily enhance the functional safety level of the braking system through the design of primary and backup dual actuator modules. Currently, these mechanisms typically rely on passive fault response mechanisms based on thresholds, which suffer from monitoring blind spots and response delays. Fault diagnosis largely depends on monitoring fixed thresholds for actuator motor current, winding temperature, and position feedback signals. The system only identifies a fault and triggers redundancy switching when parameters such as excessive current, high temperature, or jamming exceed preset thresholds. This control method cannot effectively identify and respond to performance degradation faults. For example, long-term wear of the actuator leads to a decrease in transmission efficiency, and lubrication failure causes a slow increase in frictional resistance. These gradual changes typically do not trigger sudden threshold changes in current or temperature in the early stages, but their cumulative effect significantly impacts braking force response speed, accuracy, and energy consumption until the primary actuator module completely fails, at which point switching to the backup actuator occurs, resulting in lower vehicle braking smoothness and safety. Therefore, there is an urgent need for an electromechanical braking redundancy control method that can improve vehicle braking smoothness and safety. Summary of the Invention

[0003] The present invention aims to solve the technical problems existing in the above-mentioned background art, and proposes an electromechanical braking redundancy control method, a vehicle and a storage medium.

[0004] An electromechanical braking redundancy control method according to a first aspect of the present invention includes: The vehicle's electrical parameters are acquired, and an electrical health status assessment is performed based on the electrical parameters within a first preset time period to obtain a first electrical status score. The mechanical parameters of the vehicle are obtained, and a mechanical health status assessment is performed based on the mechanical parameters within the first preset time period to obtain a first mechanical status score. The current driving scenario of the vehicle is obtained, and the weights of the first electrical state score and the first mechanical state score are adjusted according to the driving scenario to obtain the first health state score. Determine whether the first health status score exceeds a preset health status threshold; When the first health status score exceeds the preset health status threshold, the control redundancy module enters standby mode.

[0005] This technical solution has at least the following beneficial effects: Within a set first preset time window, electrical parameters are collected and analyzed. Based on the collected electrical parameters, an electrical health status assessment is performed, and a quantifiable first electrical status score is output. Simultaneously, mechanical parameters are collected and analyzed. Based on the collected mechanical parameters, a mechanical health status assessment is performed, and a first mechanical status score is output. Then, based on the current driving scenario of the vehicle, the weights of the first electrical status score and the first mechanical status score are dynamically adjusted and weighted to obtain a comprehensive first health status score. This score is compared with a preset health status threshold. If the health status threshold is exceeded, it is determined that the performance of the main module no longer meets the optimal working requirements. The redundant module is controlled to enter a low-power standby state in advance, such as motor pre-excitation and controller power-on self-test, to prepare for possible smooth switching. In this way, through multi-dimensional health scores and dynamic weighting combined with the scenario, the performance degradation trend of the main module is better captured, thereby preparing a redundant module before the main module completely fails, improving the smoothness of switching to the redundant module, and improving the safety of the vehicle during braking.

[0006] According to some embodiments of the present invention, the present invention further includes: An electrical health status assessment is performed based on the electrical parameters within a second preset time period to obtain a second electrical status score; Within the second preset time period, a mechanical health status assessment is performed based on the mechanical parameters to obtain a second mechanical status score. The weights of the second electrical condition score and the second mechanical condition score are adjusted according to the driving scenario to obtain the second health status score; Determine whether the second health status score exceeds a preset health status threshold; When the second health status score exceeds the preset health status threshold, the redundant module is controlled to enter the activation state.

[0007] According to some embodiments of the present invention, controlling the redundant module to enter the active state includes: The main module in the vehicle is controlled to switch from an active state to a closed state within a third preset time period, and the redundant module is controlled to switch from a standby state to an active state within the same third preset time period.

[0008] According to some embodiments of the present invention, the driving scenario includes a congestion scenario, a continuous down-flow scenario, or a normal driving scenario, and obtaining the current driving scenario of the vehicle includes: Obtain one of the following scenarios: the congestion scenario, the continuous down-wave scenario, or the normal driving scenario.

[0009] According to some embodiments of the present invention, when the current driving scenario of the vehicle is the congested scenario, adjusting the weights of the first electrical state score and the first mechanical state score according to the driving scenario includes: Increase the weight of the first electrical condition score and decrease the weight of the first mechanical condition score.

[0010] According to some embodiments of the present invention, when the current driving scenario of the vehicle is the continuous down-wave scenario, adjusting the weights of the first electrical state score and the first mechanical state score according to the driving scenario includes: Decrease the weight of the first electrical condition score and increase the weight of the first mechanical condition score.

[0011] According to some embodiments of the present invention, the step of performing an electrical health status assessment based on the electrical parameters within a first preset time period includes: Determine whether the current ripple within the electrical parameters exceeds a preset fluctuation threshold within the first preset time period.

[0012] According to some embodiments of the present invention, the step of performing a mechanical health status assessment based on the mechanical parameters within the first preset time period includes: Determine whether the motor temperature within the mechanical parameters exceeds a preset temperature threshold.

[0013] A vehicle according to a second aspect of the present invention 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 electromechanical braking redundancy control method.

[0014] The technical solution has at least the following beneficial effects: when the computer program stored in the memory is executed by the processor, it can realize the above-mentioned control method steps, thereby enabling the vehicle to have the above-mentioned electromechanical braking redundancy control method. Through multi-dimensional health scoring and combined with dynamic weighting based on the scenario, it can better capture the performance degradation trend of the main module, thereby preparing a redundant module before the main module completely fails, improving the smoothness when switching to the redundant module, and improving the safety of the vehicle during braking.

[0015] According to a third aspect of the present invention, a computer-readable storage medium stores computer-executable instructions for causing a computer to perform the above-described electromechanical braking redundancy control method.

[0016] The technical solution has at least the following beneficial effects: the above-mentioned electromechanical braking redundancy control method can be implemented as a computer program and tangibly contained in a computer-readable storage medium. When the processor uses this computer-readable storage medium to perform the above-mentioned electromechanical braking redundancy control method, when the vehicle brakes, through multi-dimensional health scoring and combined with scene dynamic weighting, the performance degradation trend of the main module can be better captured, thereby preparing a redundant module before the main module completely fails, improving the smoothness when switching to the redundant module, and improving the safety of the whole vehicle during braking.

[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 the electromechanical braking redundancy control method of the present invention.

[0020] Figure 2 This is a flowchart of the process for verifying and confirming the switching of redundant modules in this invention. 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 According to the electromechanical braking redundancy control method of the first aspect of the present invention, when applied to a vehicle, it is understood that the vehicle is equipped with a main module and a redundant module for implementing braking function. When the vehicle is operating normally, the main module performs braking, while the redundant module enters a dormant state. The electromechanical braking redundancy control method includes, but is not limited to, the following steps: Step S100: Obtain the vehicle's electrical parameters, and conduct an electrical health status assessment based on the electrical parameters within a first preset time period to obtain a first electrical status score.

[0026] Step S200: Obtain the vehicle's mechanical parameters, and perform a mechanical health status assessment based on the mechanical parameters within a first preset time period to obtain a first mechanical status score. For example, electrical parameters such as motor current, phase resistance, and back electromotive force are used, and an electrical health status assessment is performed by analyzing current harmonics and resistance variation trends, outputting a quantitative first electrical status score.

[0027] Step S300: Obtain the current driving scenario of the vehicle, adjust the weights of the first electrical state score and the first mechanical state score according to the driving scenario, and obtain the first health state score. For example, collect and analyze mechanical parameters such as motor temperature, vibration spectrum, and transmission efficiency estimate to perform mechanical health state assessment and output the first mechanical state score.

[0028] Step S400: Determine whether the first health status score exceeds the preset health status threshold.

[0029] When the first health status score exceeds the preset health status threshold, proceed to step S500 and control the redundant module to enter standby mode.

[0030] As described above, within a set first preset time window, electrical parameters are collected and analyzed. Based on the collected electrical parameters, an electrical health status assessment is performed, and a quantifiable first electrical status score is output. Simultaneously, mechanical parameters are collected and analyzed, and a mechanical health status assessment is performed, outputting a first mechanical status score. Then, based on the current driving scenario of the vehicle, the weights of the first electrical status score and the first mechanical status score are dynamically adjusted and weighted to obtain a comprehensive first health status score. This score is compared with a preset health status threshold. If the threshold is exceeded, it is determined that the main module performance no longer meets the optimal operating requirements. The redundant module is then controlled to enter a low-power standby state in advance, such as motor pre-excitation and controller power-on self-test, to prepare for a possible smooth switch. Thus, through multi-dimensional health scores and dynamic weighting based on the scenario, the performance degradation trend of the main module is better captured, thereby preparing a redundant module before the main module completely fails, improving the smoothness of switching to the redundant module, and enhancing the safety of the vehicle during braking.

[0031] The above embodiments implement early warning for the main module and preparation for the redundant module. At this point, a review is still required to confirm the switching of the redundant module. Therefore, the electromechanical braking redundancy control method also includes a review and confirmation process for switching the redundant module, including but not limited to the following steps: Step S610: Within a second preset time period, perform an electrical health status assessment based on electrical parameters to obtain a second electrical status score; Step S620: Within a second preset time period, a mechanical health status assessment is performed based on the mechanical parameters to obtain a second mechanical status score.

[0032] Step S630: Adjust the weights of the second electrical state score and the second mechanical state score according to the driving scenario to obtain the second health state score. The second preset time is shorter than the first preset time, which enables a rapid review function. For example, the first preset time is 4 minutes, while the second preset time is 1 minute.

[0033] Step S640: Determine whether the second health status score exceeds the preset health status threshold.

[0034] When the second health status score exceeds the preset health status threshold, proceed to step S650, and control the redundant module to enter the activation state.

[0035] If the first health status score exceeds a preset health threshold within the first preset time window, the system immediately enters the second preset time window to continue evaluating electrical and mechanical parameters, obtaining updated second electrical and mechanical status scores. Similarly, weights are adjusted based on the current driving scenario to calculate the second health status score. At this point, the second score is compared again with the preset health status threshold. If the score still exceeds the threshold, indicating that the health status is below the standard or has further deteriorated, the control system determines that the main module's performance no longer meets the requirements for continuous reliable operation and immediately controls the redundant module to transition from standby to active operation to take over the braking task. This ensures that the switching action occurs before the main module's performance degrades to a critical point that may affect safety but has not yet completely failed. Furthermore, it is a robust decision based on multi-cycle data, preventing erroneous switching due to single-time data noise. This maximizes the main module's lifespan while better ensuring the real-time reliability and safety of the braking system.

[0036] To achieve a smooth switchover of redundant modules, in step S650, the redundant modules are controlled to enter an active state, including but not limited to the following steps: Step S651: The main module in the vehicle is controlled to switch from an active state to a closed state within a third preset time period, and the redundant module is controlled to switch from a standby state to an active state within the same third preset time period, for example, within 200 milliseconds. The main module smoothly transitions from an active state to a closed state within the third preset time period, for example, controlling its output torque to decay to zero according to a predetermined curve within the third preset time period. Simultaneously, the redundant module smoothly transitions from a standby state to an active state within the same third preset time period, for example, controlling its output torque to increase from zero to a target value according to a predetermined curve within the same third preset time period. The combined torque output by the two modules is essentially consistent with the braking torque requested by the driver. This helps eliminate the braking force abruptness or interruption caused by traditional hard switching, ensuring the continuity and smoothness of the vehicle's longitudinal deceleration, and greatly improving ride comfort and vehicle stability during the switching process.

[0037] In step S300, the driving scenario includes a congestion scenario, a continuous down-wave scenario, or a normal driving scenario. The current driving scenario of the vehicle is obtained, including but not limited to the following steps: Get one of the following scenarios: congestion scenario, continuous wave scenario, or normal driving scenario.

[0038] In congested traffic scenarios, frequent start-stop cycles cause the motor to operate frequently in a stalled / low-speed, high-current state, resulting in significant electrical thermal stress. In continuous downhill driving scenarios, prolonged braking is required, leading to severe temperature rise and wear accumulation in mechanical components such as the reduction gear and friction pads. In normal driving scenarios, the braking load is average, and the electrical and mechanical loads are relatively balanced. The system acquires and analyzes data from onboard sensors such as vehicle speed, acceleration, gradient sensors, and navigation map information to determine the current driving scenario in real time.

[0039] When the vehicle is currently driving in a congested environment, the frequent operation of the brake actuators and the heat accumulation of the motor windings and power devices are the main risks, while mechanical wear is relatively minor. In step S300, the weights of the first electrical state score and the first mechanical state score are adjusted according to the driving scenario, including step S310: increasing the weight of the first electrical state score and decreasing the weight of the first mechanical state score.

[0040] After the weighting adjustment, the overall health score is more sensitive to fluctuations in electrical parameters. Even if the mechanical part scores well, if the electrical part experiences poor temperature trends or abnormal current due to frequent operation, it will more quickly lower the overall score, prompting the system to pay attention and prepare for switching in advance. This allows the system to more effectively prevent electrical failures caused by overheating under congested conditions, improving its ability to address the specific risks of this scenario.

[0041] In a continuous downhill scenario, the braking system faces long-term, high-load torque output, and the overheating and wear of the deceleration mechanism and friction pairs will have a significant impact. When the current driving scenario of the vehicle is a continuous downhill scenario, in step S300, the weights of the first electrical state score and the first mechanical state score are adjusted according to the driving scenario, including step S320: decreasing the weight of the first electrical state score and increasing the weight of the first mechanical state score.

[0042] By increasing the weight of the mechanical score, the overall health score becomes more sensitive to changes in mechanical parameters such as transmission efficiency estimates, vibration energy, and temperature. When going downhill causes a surge in the temperature of mechanical components or a significant drop in efficiency, even if the electrical components are functioning normally, the overall score will rapidly deteriorate, triggering redundancy preparation or switching. This allows system resources to be more focused on monitoring and responding to the risks of thermal fade and mechanical overload caused by continuous braking, enabling earlier warnings of reduced braking performance and, when necessary, switching to redundant modules to distribute the heat load, preventing the main module from completely failing due to overheating.

[0043] In addition, when the current driving scenario of the vehicle is a normal driving scenario, the weights of the first electrical state score and the first mechanical state score are adjusted according to the driving scenario, including step S330: controlling the weights of the first electrical state score and the first mechanical state score to be the same.

[0044] In step S100, an electrical health status assessment is performed based on electrical parameters within a first preset time period, including but not limited to the following steps: The system determines whether the current ripple within the electrical parameters exceeds a preset fluctuation threshold within a first preset time period. Within this first preset time period, the acquired motor current signal is sampled at high frequency and processed to determine whether the magnitude or spectral characteristics of the current ripple exceed the preset fluctuation threshold. This provides an early, quantitative method for diagnosing electrical performance degradation, enabling the detection of potential deterioration trends before a fault occurs. This provides a basis for predictive maintenance and redundancy switching, making it safer than simple overcurrent protection.

[0045] In step S200, a mechanical health status assessment is performed based on mechanical parameters within a first preset time period, including but not limited to the following steps: The system determines whether the motor temperature exceeds a preset temperature threshold. Within a first preset time period, it continuously monitors the temperature sensor signal embedded in the motor stator windings or housing to determine if the motor temperature exceeds the preset threshold. Abnormally high temperatures may indicate problems such as transmission jamming, poor lubrication, or overload. Therefore, by monitoring the thermal load and health status of the mechanical system in real time, the system can dynamically analyze and judge the mechanical condition, more accurately distinguishing between normal operating temperature rise and abnormal overheating, thus providing timely warnings of the risk of thermal runaway caused by mechanical problems.

[0046] A vehicle according to a second aspect of the present invention 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 electromechanical braking redundancy control method. The vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. The vehicle 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 storing mechanical energy as a generator. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0047] In this vehicle, when the computer program stored in the memory is executed by the processor, it can implement the control method steps described above, thereby enabling the vehicle to possess the aforementioned electromechanical braking redundancy control method. Through multi-dimensional health scoring and dynamic weighting based on scenarios, it can better capture the performance degradation trend of the main module, thereby preparing a redundant module before the main module completely fails, improving the smoothness of switching to the redundant module, and enhancing the safety of the entire vehicle during braking.

[0048] According to a third aspect of the present invention, a computer-readable storage medium stores computer-executable instructions for causing a computer to perform the above-described electromechanical braking redundancy control method.

[0049] The aforementioned electromechanical braking redundancy control method can be implemented as a computer program and tangibly contained in a computer-readable storage medium. When the processor uses this computer-readable storage medium to perform the aforementioned electromechanical braking redundancy control method, when the vehicle brakes, it can better capture the performance degradation trend of the main module by using multi-dimensional health scores and dynamic weighting combined with the scenario, thereby preparing a redundant module before the main module completely fails, improving the smoothness of switching to the redundant module, and improving the safety of the whole vehicle during braking.

[0050] 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 electromechanical braking redundancy control method of the above embodiments.

[0051] 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.

[0052] The non-transient software program and instructions required to implement the control method of the above embodiments are stored in the memory. When executed by the processor, the electromechanical braking redundancy control method of the above embodiments is executed.

[0053] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0054] Furthermore, one embodiment of the present invention also 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 electromechanical braking redundancy control method.

[0055] It is worth noting that, since the computer program product of this embodiment can execute the electromechanical braking redundancy control method of any of the above embodiments, the specific implementation method and technical effect of the computer program product of this embodiment can be referred to the specific implementation method and technical effect of the electromechanical braking redundancy control method of any of the above embodiments.

[0056] 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.

[0057] 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. An electromechanical braking redundancy control method, characterized in that: include: The vehicle's electrical parameters are acquired, and an electrical health status assessment is performed based on the electrical parameters within a first preset time period to obtain a first electrical status score. The mechanical parameters of the vehicle are obtained, and a mechanical health status assessment is performed based on the mechanical parameters within the first preset time period to obtain a first mechanical status score. The current driving scenario of the vehicle is obtained, and the weights of the first electrical state score and the first mechanical state score are adjusted according to the driving scenario to obtain the first health state score. Determine whether the first health status score exceeds a preset health status threshold; When the first health status score exceeds the preset health status threshold, the control redundancy module enters standby mode.

2. The electromechanical braking redundancy control method according to claim 1, characterized in that: Also includes: An electrical health status assessment is performed based on the electrical parameters within a second preset time period to obtain a second electrical status score; Within the second preset time period, a mechanical health status assessment is performed based on the mechanical parameters to obtain a second mechanical status score. The weights of the second electrical condition score and the second mechanical condition score are adjusted according to the driving scenario to obtain the second health status score; Determine whether the second health status score exceeds a preset health status threshold; When the second health status score exceeds the preset health status threshold, the redundant module is controlled to enter the activation state.

3. The electromechanical braking redundancy control method according to claim 2, characterized in that: The control of the redundant module to enter the activation state includes: The main module in the vehicle is controlled to switch from an active state to a closed state within a third preset time period, and the redundant module is controlled to switch from a standby state to an active state within the same third preset time period.

4. The electromechanical braking redundancy control method according to claim 1, characterized in that: The driving scenarios include congested scenarios, continuous down-flow scenarios, or normal driving scenarios. Obtaining the current driving scenario of the vehicle includes: Obtain one of the following scenarios: the congestion scenario, the continuous down-wave scenario, or the normal driving scenario.

5. The electromechanical braking redundancy control method according to claim 4, characterized in that: When the current driving scenario of the vehicle is the congested scenario, adjusting the weights of the first electrical state score and the first mechanical state score according to the driving scenario includes: Increase the weight of the first electrical condition score and decrease the weight of the first mechanical condition score.

6. The electromechanical braking redundancy control method according to claim 4, characterized in that: When the current driving scenario of the vehicle is the continuous next wave scenario, adjusting the weights of the first electrical state score and the first mechanical state score according to the driving scenario includes: Decrease the weight of the first electrical condition score and increase the weight of the first mechanical condition score.

7. The electromechanical braking redundancy control method according to claim 1, characterized in that: The electrical health status assessment based on the electrical parameters within a first preset time period includes: Determine whether the current ripple within the electrical parameters exceeds a preset fluctuation threshold within the first preset time period.

8. The electromechanical braking redundancy control method according to claim 1, characterized in that: The step of assessing the mechanical health status based on the mechanical parameters within the first preset time period includes: Determine whether the motor temperature within the mechanical parameters exceeds a preset temperature threshold.

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 the program, when executed by the processor, implements the electromechanical braking redundancy control method 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 electromechanical braking redundancy control method as described in any one of claims 1 to 8.

Images