Redundancy control method and apparatus, and electronic device

Abstract

A redundancy control method and apparatus, and an electronic device, relating to the field of vehicle control. The redundancy control method comprises: acquiring the state of a displacement sensor of a brake pedal of a vehicle; when the displacement sensor is in a faulty state, a function state of a brake-by-wire system of the vehicle being degraded, and acquiring a function state of a stability control system of the vehicle; when the function state of the stability control system is not degraded, requesting, by means of the brake-by-wire system, the stability control system to execute a brake assist function, so that a motor of the stability control system generates a braking force of a first intensity; and when the function state of the stability control system is degraded, controlling, on the basis of traveling condition information of the vehicle, a motor of the brake-by-wire system to generate a braking force of a second intensity. According to the redundancy control method, the vehicle can still generate a certain deceleration when the displacement sensor fails and / or a pressure signal fails, thereby improving the safety of service braking.

Description

Redundancy control method, device and electronic equipment Technical Field

[0001] The present disclosure relates to the technical field of vehicle brake control, and in particular to a redundant control method, device, and electronic equipment. Background Art

[0002] In the prior art, a vehicle's brake-by-wire system, also known as an electronic hydraulic brake system (EHB), relies on a hydraulic signal from the system, typically derived from a pressure sensor in the Electronic Stability Control (ESC) system. Upon receiving the hydraulic signal from the ESC, the EHB system proactively increases the braking pressure to a target value based on information such as the brake pedal position and brake light signal, thereby achieving a stable deceleration rate. However, if the pressure sensor signal fails, both the ESC and EHB systems degrade, forcing the brake system to engage manual mechanical braking. This increases the braking distance, impacting braking safety, and presents a critical technical issue that needs to be addressed.

[0003] Summary of the Invention

[0004] To overcome the problems existing in the related art, the present disclosure provides a redundancy control method, device and electronic device.

[0005] According to a first aspect of an embodiment of the present disclosure, a redundant control method is provided, applied to a vehicle, the method comprising:

[0006] Acquiring a displacement sensor state of a brake pedal of the vehicle;

[0007] When the displacement sensor is in a fault state, the functional state of the vehicle's brake-by-wire system is degraded, and the functional state of the vehicle's stability control system is obtained;

[0008] When the functional state of the stability control system is not degraded, requesting the stability control system to perform a brake power assist function through the wire control brake system, so that the motor of the stability control system generates a braking force of a first intensity;

[0009] When the functional state of the stability control system is degraded, the motor of the brake-by-wire system is controlled to generate a braking force of a second intensity according to the driving condition information of the vehicle.

[0010] Optionally, when the functional state of the stability control system is degraded, controlling the motor of the brake-by-wire system to execute a position loop mode to generate the second intensity of braking force according to the driving condition information of the vehicle includes:

[0011] The motor of the wire control brake system is controlled to execute a position loop mode according to the driving condition information of the vehicle to generate the second intensity of braking force; wherein the driving condition information includes one or more of vehicle speed, brake pedal switch signal, deceleration, yaw angle, wheel speed of each wheel, and anti-lock braking system status.

[0012] Optionally, controlling the motor of the brake-by-wire system to execute a position loop mode according to the driving condition information of the vehicle to generate a braking force of a second intensity includes:

[0013] controlling the motor of the brake-by-wire system to execute a position loop mode according to the driving condition information of the vehicle to generate a braking force of the second intensity;

[0014] During the process in which the motor of the brake-by-wire system generates the braking force of the second intensity, when the motor of the brake-by-wire system operates normally, determining whether a current braking pressure of the vehicle reaches a target braking pressure;

[0015] When the current brake pressure reaches the target brake pressure, generating the second intensity of the brake force by the motor of the wire control brake system;

[0016] requesting the stability control system to execute a brake power assist function when the current brake pressure does not reach the target brake pressure or when the motor of the brake-by-wire system fails in operation;

[0017] When the stability control system performs a brake power assist function, the first intensity of the braking force is generated by the motor of the stability control system.

[0018] Optionally, when the functional state of the stability control system is not degraded, requesting the stability control system to perform a brake boost assist function through the brake-by-wire system so that the motor of the stability control system generates a braking force of a first intensity includes:

[0019] requesting the stability control system to perform a brake power assist function through the brake-by-wire system when the functional state of the stability control system is not degraded;

[0020] When the stability control system does not execute the brake power assist function, controlling the motor of the wire control brake system to generate the second intensity of braking force by determining the number of times the brake power assist function is triggered;

[0021] When the stability control system performs a brake power assist function, the first intensity of the braking force is generated by the motor of the stability control system.

[0022] Optionally, when the stability control system does not execute the brake power assist function, controlling the motor of the brake-by-wire system to generate the second intensity of braking force by determining the number of times the brake power assist function is triggered includes:

[0023] When the stability control system does not execute the brake power assist function, determining the triggering number of the brake power assist function;

[0024] When the triggering number is less than a preset triggering number, controlling the motor of the brake-by-wire system to execute a position loop mode based on the vehicle's driving condition information to generate the second braking force; wherein the driving condition information includes one or more of vehicle speed, brake pedal switch signal, deceleration, yaw angle, wheel speed of each wheel, and anti-lock braking system status;

[0025] During the process of the motor of the brake-by-wire system generating a braking force, when the motor of the brake-by-wire system operates normally, determining whether a current brake pressure of the vehicle reaches a target brake pressure;

[0026] When the current brake pressure reaches the target brake pressure, generating the second intensity of the brake force by the motor of the wire control brake system;

[0027] requesting the stability control system to execute a brake power assist function when the current brake pressure does not reach the target brake pressure or when the motor of the brake-by-wire system fails in operation;

[0028] When the triggering number is greater than and / or equal to a preset triggering number, the vehicle performs mechanical backup braking.

[0029] Optionally, the method further includes:

[0030] When the displacement sensor is in a normal state, obtaining a pressure signal of the vehicle stability control system;

[0031] The target brake pressure is determined by the pressure signal, and the motor of the brake-by-wire system is controlled to execute a pressure loop working mode according to the target brake pressure to generate a braking force of a third intensity.

[0032] Optionally, the method further includes:

[0033] When the pressure signal of the vehicle stability control system fails, determining whether the pressure signal of the wire control brake system is valid;

[0034] When the pressure signal of the wire control brake system is valid, determining the target brake pressure according to the pressure signal, and controlling the motor of the wire control brake system to execute a pressure loop working mode according to the target brake pressure to generate the third intensity of braking force;

[0035] When the pressure signal of the brake-by-wire system is invalid, a target position of a motor of the brake-by-wire system is determined, and the motor of the brake-by-wire system is controlled to execute a position loop mode according to the target position to generate the second braking force.

[0036] Optionally, the method further includes:

[0037] During the process of the motor of the brake-by-wire system generating a braking force, when the motor of the brake-by-wire system operates normally, determining whether a current brake pressure of the vehicle reaches a target brake pressure;

[0038] When the current brake pressure reaches the target brake pressure, generating the second intensity of the brake force by the motor of the wire control brake system;

[0039] requesting the stability control system to execute a brake power assist function when the current brake pressure does not reach the target brake pressure or when the motor of the brake-by-wire system fails in operation;

[0040] When the stability control system performs a brake power assist function, the first intensity of the braking force is generated by the motor of the stability control system.

[0041] According to a second aspect of an embodiment of the present disclosure, a redundant control device is provided, applied to a vehicle, comprising:

[0042] A first acquisition module, configured to acquire a displacement sensor state of a brake pedal of the vehicle;

[0043] a second acquisition module, configured to acquire a functional state of a stability control system of the vehicle when the displacement sensor is in a fault state and the functional state of the brake-by-wire system of the vehicle is degraded;

[0044] a first determining module configured to, when a functional state of the vehicle stability control system is not degraded, request the stability control system to perform a brake power assist function through the brake-by-wire system, so that a motor of the stability control system generates a braking force of a first intensity;

[0045] The second determining module is configured to control the motor of the brake-by-wire system to generate a braking force of a second intensity according to the driving condition information of the vehicle when the functional state of the stability control system is degraded.

[0046] According to a third aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the redundant control method provided in the first aspect of the present disclosure are implemented.

[0047] According to a fourth aspect of the embodiments of the present disclosure, there is provided an electronic device, including:

[0048] a memory having a computer program stored thereon;

[0049] A processor is used to execute the computer program in the memory to implement the steps of the redundancy control method provided in the first aspect of the present disclosure.

[0050] The technical solutions provided by the embodiments of the present disclosure may have the following beneficial effects:

[0051] In the above technical solution, the state of the displacement sensor of the vehicle's brake pedal is obtained; when the displacement sensor is in a faulty state, the functional state of the vehicle's brake-by-wire system is degraded, and the functional state of the vehicle's stability control system is obtained; when the functional state of the stability control system is not degraded, the brake-by-wire system and the stability control system perform a brake assist function, causing the motor of the stability control system to generate a first braking force; when the functional state of the stability control system is degraded, the motor of the brake-by-wire system is controlled to generate a second braking force based on the vehicle's driving condition information. Through the above technical solution, when the displacement sensor of the vehicle's brake pedal fails and / or the pressure signal fails, the brake-by-wire system's motor is caused to generate braking force based on the vehicle's driving condition information, thereby still providing a high deceleration for the entire vehicle, reducing the braking distance and improving driving braking safety.

[0052] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following detailed description, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0054] FIG1 is a flow chart showing a redundancy control method according to an exemplary embodiment;

[0055] FIG2 is a flow chart showing another redundancy control method according to an exemplary embodiment;

[0056] FIG3 is a flow chart showing another redundancy control method according to an exemplary embodiment;

[0057] FIG4 is a flow chart showing another redundancy control method according to an exemplary embodiment;

[0058] FIG5 is a flow chart showing another redundancy control method according to an exemplary embodiment;

[0059] FIG6 is a flow chart showing another redundancy control method according to an exemplary embodiment;

[0060] FIG7 is a flow chart showing another redundancy control method according to an exemplary embodiment;

[0061] FIG8 is a flowchart showing another redundancy control method according to an exemplary embodiment;

[0062] FIG9 is a block diagram of a redundant control device according to an exemplary embodiment;

[0063] FIG10 is a block diagram of an electronic device 1000 according to an exemplary embodiment;

[0064] Fig. 11 is a block diagram of an electronic device 1100 according to an exemplary embodiment. DETAILED DESCRIPTION

[0065] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0066] It is understood that the terms "first", "second", etc. in this disclosure are used to describe various information, but such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other and do not indicate a specific order or importance.

[0067] It is further understood that although operations are described in a particular order in the drawings in the embodiments of the present disclosure, this should not be construed as requiring that the operations be performed in the particular order shown or in a serial order, or that all of the operations shown be performed to obtain the desired results. In certain circumstances, multitasking and parallel processing may be advantageous.

[0068] FIG1 is a flow chart showing a redundant control method according to an exemplary embodiment. As shown in FIG1 , the redundant control method is applied to a vehicle, and the method includes:

[0069] In step S101 , the displacement sensor state of the brake pedal of the vehicle is acquired.

[0070] In step S102 , when the displacement sensor is in a fault state, the functional state of the vehicle's brake-by-wire system is degraded, and the functional state of the vehicle's stability control system is acquired.

[0071] For example, when a driver needs to brake a vehicle while it is in motion, they need to step on the vehicle's brake pedal, which is equipped with a sensor. The status of the vehicle's brake pedal displacement sensor is obtained. If the brake fluid level on the vehicle's instrument panel does not rise when the brake pedal is stepped on, it can be determined that the vehicle's displacement sensor is faulty. When the displacement sensor is faulty, the functional status of the vehicle's brake-by-wire system will be degraded. This displacement sensor fault status needs to be reported, and the functional status of the vehicle's stability control system (ESC) is obtained. If the vehicle's displacement sensor is faulty, it can be determined that the functional status of the brake-by-wire system (EHB) has been degraded. At this point, it can be further determined whether the functional status of the ESC stability control system has been degraded.

[0072] In step S103 , when the functional state of the stability control system is not degraded, the brake-by-wire system is used to request the stability control system to perform a brake boost assist function, so that the motor of the stability control system generates a braking force of a first intensity.

[0073] In step S104 , when the functional state of the stability control system is degraded, the motor of the brake-by-wire system is controlled to generate a braking force of a second intensity according to the driving condition information of the vehicle.

[0074] For example, when it is determined that the functional state of the vehicle stability control system (ESC) has not been degraded, the vehicle's brake-by-wire system (EHB) requests the vehicle's stability control system (ESC) to execute a brake boost assist function (HBC), causing the motor of the ESC to generate a braking force of a first intensity. When it is determined that the functional state of the vehicle's stability control system (ESC) has been degraded, the motor of the brake-by-wire system (EHB) is controlled to execute a position loop mode based on the vehicle's driving condition information, causing the motor of the brake-by-wire system (EHB) to generate a braking force of a second intensity. Degradation of the vehicle's ESC stability control system refers to a decrease in the performance of the vehicle body stability system or a system failure despite the vehicle body being stable, which may be a failure of an ABS (anti-lock brake system) sensor or an ABS pump, or a failure of an ABS control module or a steering torque sensor. It is understandable that the first intensity and the second intensity may both be specific intensity values ​​or intensity ranges. In one implementation, the first intensity and the second intensity may be represented by the magnitude of the deceleration provided to the vehicle. For example, after experimental calibration, the braking force provided by the hydraulic power-assisted braking system can provide the vehicle with a deceleration of about 0.6g, and the braking force provided by the motor of the wire-controlled brake system EHB can provide the vehicle with a deceleration of 0.3~0.4g.

[0075] Optionally, step S104 includes:

[0076] The motor of the brake-by-wire system is controlled to execute a position loop mode according to driving condition information of the vehicle to generate the braking force of the second intensity; wherein the driving condition information includes one or more of vehicle speed, brake pedal switch signal, deceleration, yaw angle, wheel speed of each wheel, and anti-lock braking system status.

[0077] That is, the motor of the brake-by-wire system EHB can be controlled to operate in position loop mode by one or more of the vehicle's speed, brake pedal switch signal, deceleration, yaw angle, wheel speed of each wheel, and anti-lock braking system status, so that the motor of the brake-by-wire system EHB generates the braking force of the second intensity.

[0078] Among them, the loop can be understood as closed-loop feedback. For example, the position loop is to reflect the position difference between the target position and the current position through the motor encoder and transmit it back to the controller, thereby controlling the operation of the motor; the pressure loop is to reflect the pressure difference between the target brake pressure and the current brake pressure through the motor encoder and transmit it back to the controller, thereby controlling the operation of the motor.

[0079] Therefore, the motor executes the position loop mode to generate the motor speed command and accurately position and track the motor. By comparing the set target position with the actual position of the motor, the deviation is used to generate the motor speed command through the position regulator. After the motor is initially started, the maximum speed command should be generated in the large deviation area to accelerate the motor and run at a constant speed at the maximum speed. In the small deviation area, a gradually decreasing speed command is generated to decelerate the motor until it is finally positioned.

[0080] FIG2 is a flow chart of another redundancy control method according to an exemplary embodiment. As shown in FIG2 , step S104 further includes:

[0081] In step S1041 , the motor of the brake-by-wire system is controlled to execute a position loop mode according to the driving condition information of the vehicle to generate the braking force of the second intensity.

[0082] For example, in combination with the current driving condition information of the vehicle, namely the vehicle speed, brake pedal switch signal, deceleration, yaw angle, wheel speed of each wheel, anti-lock braking system status and other information, the motor of the wire control brake system EHB is controlled to execute the position loop working mode. By executing the position loop working mode through the motor of the wire control brake system EHB, the motor of the wire control brake system EHB generates the second intensity braking force to increase the braking force of the vehicle.

[0083] In step S1042 , when the motor of the brake-by-wire system generates the braking force of the second intensity and the motor of the brake-by-wire system operates normally, it is determined whether the current braking pressure of the vehicle reaches the target braking pressure.

[0084] In step S1043 , when the current braking pressure reaches the target braking pressure, the second braking force is generated by the motor of the brake-by-wire system.

[0085] Exemplarily, when the motor of the brake-by-wire system EHB executes the position loop working mode to generate a braking force of the second intensity, it is determined whether the motor of the brake-by-wire system EHB is operating normally. When the motor of the brake-by-wire system EHB is operating normally, the current braking pressure of the vehicle is compared with the target braking pressure to determine whether the current braking pressure of the vehicle is greater than or equal to the target braking pressure. When the current braking pressure of the vehicle is compared with the target braking pressure and is greater than or equal to the target braking pressure, the vehicle generates a braking force of the second intensity through the motor of the brake-by-wire system EHB.

[0086] In step S1044 , when the current brake pressure does not reach the target brake pressure, or the motor operation state of the brake-by-wire system fails, the stability control system is requested to perform a brake power assist function.

[0087] In step S1045 , when the stability control system performs the brake boost assist function, the first intensity of the braking force is generated by the motor of the stability control system.

[0088] Exemplarily, when the current braking pressure of the vehicle is compared with the target braking pressure and is lower than the target braking pressure, or when the vehicle's on-board system obtains that the motor operating status of the wire control brake system EHB is faulty, the stability control system ESC is requested to execute the brake boost assist function HBC. When the stability control system ESC executes the brake boost assist function HBC, the first intensity of braking force is generated by the motor of the stability control system ESC.

[0089] FIG3 is a flow chart of another redundancy control method according to an exemplary embodiment. As shown in FIG3 , step S103 may include the following steps:

[0090] In step S1031 , when the functional state of the stability control system is not degraded, the stability control system is requested to perform a brake power assist function through the brake-by-wire system.

[0091] For example, when it is determined that the function of the ESC is not degraded, the brake-by-wire system EHB is used to request the ESC to perform the brake boost assist function HBC, that is, the ESC actively boosts the pressure to generate braking force for the vehicle.

[0092] In step S1032, when the stability control system does not execute the brake assist function, the motor of the brake-by-wire system is controlled to generate the second braking force by determining the number of times the brake assist function has been triggered. The driving condition information includes one or more of vehicle speed, brake pedal switch signal, deceleration, yaw angle, wheel speeds, and anti-lock braking system status.

[0093] Exemplarily, when the stability control system ESC does not execute the brake power assist function HBC, the triggering number of the brake power assist function HBC is determined. When the triggering number is less than the preset triggering number, the motor of the wire control brake system EHB is controlled to execute the position loop working mode through one or more driving condition information including the vehicle speed, brake pedal switch signal, deceleration, yaw angle, wheel speed of each wheel, and anti-lock braking system status, so that the motor of the wire control brake system EHB generates the braking force of the second intensity.

[0094] In step S1033 , when the stability control system performs the brake power assist function, the first intensity of the braking force is generated by the motor of the stability control system.

[0095] Illustratively, the ESC stability control system executes the brake boost assist function HBC, and the ESC stability control system actively boosts the pressure, and the motor of the ESC stability control system generates the first intensity of braking force for the vehicle.

[0096] FIG4 is a flow chart of another redundancy control method according to an exemplary embodiment. As shown in FIG4 , step S106 includes:

[0097] In step S1061 , when the stability control system does not execute the brake power assist function, the triggering times of the brake power assist function are determined.

[0098] In step S1062, when the trigger number is less than the preset trigger number, the motor of the wire control brake system is controlled to execute the position loop mode according to the driving condition information of the vehicle to generate the braking force of the second intensity; wherein the driving condition information includes one or more of vehicle speed, brake pedal switch signal, deceleration, yaw angle, wheel speed of each wheel, and anti-lock braking system status.

[0099] In step S1063 , during the process of the motor of the brake-by-wire system generating the braking force, when the motor of the brake-by-wire system operates normally, it is determined whether the current braking pressure of the vehicle reaches the target braking pressure.

[0100] In step S1064 , when the current braking pressure reaches the target braking pressure, the second intensity of braking force is generated by the motor of the brake-by-wire system.

[0101] Exemplarily, when the stability control system ESC does not execute the brake power assist function HBC, the triggering number of the brake power assist function HBC is determined; when the triggering number of the brake power assist function HBC is less than the preset triggering number, the motor of the wire control brake system EHB is controlled to execute the position loop working mode according to the driving condition information of the vehicle, and it is determined whether the operation of the motor of the wire control brake system EHB is normal; when the motor of the wire control brake system EHB is in normal operating state, the current braking pressure of the vehicle is compared with the target braking pressure of the vehicle to determine whether the current braking pressure meets the target braking pressure of the vehicle; when the current braking pressure is greater than or equal to the target braking pressure, the target braking pressure required by the vehicle is met, and the motor of the wire control brake system EHB generates the braking force of the second intensity.

[0102] In step S1065 , when the current braking pressure does not reach the target braking pressure, or the motor operation state of the brake-by-wire system fails, the stability control system is requested to perform a brake power assist function.

[0103] In step S1066 , when the triggering number is greater than and / or equal to a preset triggering number, the vehicle performs mechanical backup braking.

[0104] Exemplarily, when the current brake pressure is less than the target brake pressure, that is, the current brake pressure does not meet the brake pressure required for braking the vehicle, or when it is obtained that the motor of the wire control brake system EHB is in a faulty state, the stability control system ESC is requested to execute the brake boost assist function HBC. When the stability control system ESC executes the brake boost assist function HBC, the stability control system ESC actively boosts the pressure, and the motor of the stability control system ESC generates the braking force of the first intensity. When the number of triggering of the brake boost assist function HBC is greater than and / or equal to the preset number of triggering times, the vehicle executes mechanical backup braking, that is, manual braking, and adjusts the vehicle brake pedal opening through the vehicle's historical mechanical braking data to brake the vehicle.

[0105] FIG5 is a flow chart showing another redundancy control method according to an exemplary embodiment. As shown in FIG5 , the method further includes:

[0106] In step S105 , when the displacement sensor is in a normal state, a pressure signal of the vehicle stability control system is obtained.

[0107] In step S106 , the target brake pressure is determined by the pressure signal, and the motor of the brake-by-wire system is controlled to execute a pressure loop working mode according to the target brake pressure to generate a braking force of a third intensity.

[0108] For example, when the driver depresses the brake pedal and detects that the displacement sensor is in a normal state, a pressure signal from the vehicle's ESC stability control system can be further acquired. The target brake pressure of the vehicle is determined based on the pressure signal, and the motor of the brake-by-wire system (EHB) operates in a pressure loop mode. When the pressure signal reaches the target brake pressure, the motor of the brake-by-wire system (EHB) generates a third level of braking force. Because the displacement sensor is normal and the pressure signal is valid, this third level of braking force may be the same as or different from the first and second levels of braking force, enabling the braking force to be determined based on the user's intent.

[0109] FIG6 is a flow chart showing another redundancy control method according to an exemplary embodiment. As shown in FIG6 , the method further includes:

[0110] In step S107 , when the pressure signal of the vehicle stability control system is invalid, it is determined whether the pressure signal of the brake-by-wire system is valid.

[0111] In step S108, when the pressure signal of the brake-by-wire system is valid, the target brake pressure is determined according to the pressure signal, and the motor of the brake-by-wire system is controlled to execute a pressure loop working mode according to the target brake pressure to generate the third braking force.

[0112] Exemplarily, during the braking process, the pressure signal of the stability control system ESC can be used preferentially. When the pressure signal of the stability control system ESC fails, the pressure signal of the wire control brake system EHB itself is used. When it is determined that the pressure signal of the stability control system ESC of the vehicle fails, it is determined whether the pressure signal of the wire control brake system EHB is valid. When the pressure signal of the wire control brake system EHB is valid, the target braking pressure is determined according to the pressure signal of the wire control brake system EHB. According to the target braking pressure, the motor of the wire control brake system EHB executes the pressure loop working mode to generate the braking force of the third intensity.

[0113] In step S109 , when the pressure signal of the brake-by-wire system is invalid, a target position of the motor of the brake-by-wire system is determined, and the motor of the brake-by-wire system is controlled to execute a position loop mode according to the target position to generate the second braking force.

[0114] Exemplarily, when the pressure signal of the brake-by-wire system EHB is invalid, the target position of the motor of the brake-by-wire system EHB is determined. The target position of the motor of the brake-by-wire system EHB is calculated and determined by the motor position of the brake-by-wire system EHB required for the current braking of the vehicle, and the motor of the brake-by-wire system EHB is controlled to execute the position loop working mode according to the target position, so that the motor of the brake-by-wire system EHB generates the braking force of the second intensity.

[0115] FIG7 is a flow chart showing another redundancy control method according to an exemplary embodiment. As shown in FIG7 , the method further includes:

[0116] In step S110 , during the process of the motor of the brake-by-wire system generating the braking force, when the motor of the brake-by-wire system operates normally, it is determined whether the current braking pressure of the vehicle reaches the target braking pressure.

[0117] In step S111 , when the current braking pressure reaches the target braking pressure, the second braking force is generated by the motor of the brake-by-wire system.

[0118] Exemplarily, in the process of assisting the motor of the brake-by-wire system EHB to generate braking force, when the motor of the brake-by-wire system EHB is operating normally, the current braking pressure is compared with the target braking pressure to determine whether the current braking pressure of the vehicle meets the target braking pressure. When the current braking pressure is greater than or equal to the target braking pressure, the motor of the brake-by-wire system EHB generates the braking force of the second intensity.

[0119] In step S112 , when the current brake pressure does not reach the target brake pressure, or the motor of the brake-by-wire system fails in operation, the stability control system is requested to execute a brake power assist function.

[0120] In step S113 , when the stability control system performs the brake boost assist function, the first braking force is generated by the motor of the stability control system.

[0121] Exemplarily, when the current brake pressure is less than the target brake pressure, or the motor of the wire control brake system EHB is in a faulty state, the stability control system ESC is requested to perform the brake boost assist function HBC. When the stability control system ESC performs the brake boost assist function HBC, the stability control system ESC actively boosts the pressure, and the motor of the stability control system ESC generates the first intensity of braking force for the vehicle to use.

[0122] FIG8 is a flow chart of another redundant control method according to an exemplary embodiment. The method is applied to a brake-by-wire system (EHB), a vehicle stability control system (ESC), a brake boost assist function (HBC), and an anti-lock braking system (ABS) during vehicle driving. Referring to FIG8 , the method may include the following steps:

[0123] Step S1: The driver presses the brake pedal to brake;

[0124] Step S2: Determine whether the brake pedal displacement sensor is in normal condition;

[0125] Step S3: When the brake pedal displacement sensor fails, reporting the displacement sensor failure to the vehicle computer system;

[0126] Step S4: Determine whether the ESC and HBC functions are degraded;

[0127] Step S5: When the ESC and HBC functions are degraded, assist is provided (with an intensity of up to 0.3-0.4g) based on vehicle speed, pedal switch signal, deceleration, yaw angle, wheel speed, and ABS status, and steps S13-15 are executed.

[0128] Step S6: When the ESC and HBC functions are not degraded;

[0129] Step S7: Request the triggering of ESC and HBC functions;

[0130] Step S8: Execute the ESC control strategy and determine whether HBC is triggered;

[0131] Step S9: When HBC is triggered, the motor of ESC generates braking force;

[0132] Step S10: When HBC is not triggered, determine the number of times n that HBC is not triggered;

[0133] Step S11: When n < N (N is the preset number of trigger times), based on vehicle speed, pedal switch signal, deceleration, yaw angle, wheel speed, and ABS status, provide assistance (the intensity can reach 0.3 - 0.4g), and execute steps S13 - 15;

[0134] Step S12: When n > N, the vehicle enters mechanical backup braking, that is, manual braking;

[0135] Step S13: The motor of this EHB operates in a position loop mode;

[0136] Step S14: Determine whether the motor of this EHB is operating normally;

[0137] Step S15: When the motor of this EHB is operating normally, the motor of EHB generates braking force;

[0138] Step S16: When the motor of this EHB fails, report the failure of the motor of this EHB and execute steps S7 - 12;

[0139] Step S17: When the brake pedal displacement sensor is normal, identify the opening of the driver's brake pedal;

[0140] Step S18: Determine whether the ESC pressure signal is valid;

[0141] Step S19: When the ESC pressure signal is valid;

[0142] [[ID=4十一]]Step S20: Calculate the target braking pressure. Through this target braking pressure, the motor of this EHB operates in a pressure loop mode;

[0143] Step S21: Determine whether the motor of EHB is operating normally;

[0144] Step S22: When the motor of this EHB is operating normally, determine whether the ESC pressure signal reaches the target braking pressure;

[0145] Step S23: When the ESC pressure signal reaches the target braking pressure, the motor of EHB generates braking force;

[0146] ]>Step S24: When the ESC pressure signal does not reach the target brake pressure, an ESC fault is reported and steps S7-12 are executed;

[0147] Step S25: When the ESC pressure signal is invalid, determine that the EHB pressure signal is valid and execute steps S20-25;

[0148] Step S26: When the ESC pressure signal is invalid, the EHB pressure signal is determined to be invalid, and the signal is recorded without reporting the fault;

[0149] Step S27: The vehicle switches to the position assist mode, calculates the target position of the EHB motor, and the EHB motor operates in the position loop mode, executing steps S14-16.

[0150] Exemplarily, the target position of the motor of the brake-by-wire system EHB is pre-set by the position of the motor of the brake-by-wire system EHB required for the current braking of the vehicle. The target position is compared with the actual position of the motor of the brake-by-wire system EHB, and the deviation is used to generate a speed instruction of the motor of the brake-by-wire system EHB through a position regulator, so that the motor of the brake-by-wire system EHB generates braking force.

[0151] Through the above technical solution, during the vehicle braking process, when the displacement sensor of the vehicle brake pedal is detected to be faulty and / or the pressure signal fails, the motor of the wire control brake system generates braking force through the vehicle's driving condition information, which can still provide a higher deceleration for the entire vehicle braking, reduce the braking distance, and improve driving braking safety.

[0152] Figure 9 is a block diagram of a redundant control device according to an exemplary embodiment. As shown in Figure 9, the redundant control device 900 is applied to a vehicle, and includes a first acquisition module 901, a second acquisition module 902, a first determination module 903, and a second determination module 904.

[0153] A first acquisition module 901 is configured to acquire a displacement sensor state of a brake pedal of the vehicle;

[0154] A second acquisition module 902 is configured to acquire a functional state of a stability control system of the vehicle when the displacement sensor is in a fault state and the functional state of the brake-by-wire system of the vehicle is degraded;

[0155] a first determining module 903 configured to, when the functional state of the stability control system is not degraded, request the stability control system to perform a brake boost assist function through the brake-by-wire system, so that the motor of the stability control system generates a braking force of a first intensity;

[0156] The second determining module 904 is configured to control the motor of the brake-by-wire system to generate a second braking force according to the driving condition information of the vehicle when the functional state of the stability control system is degraded.

[0157] Optionally, the second determining module 904 is further configured to:

[0158] The motor of the brake-by-wire system is controlled to execute a position loop mode according to driving condition information of the vehicle to generate the braking force of the second intensity; wherein the driving condition information includes one or more of vehicle speed, brake pedal switch signal, deceleration, yaw angle, wheel speed of each wheel, and anti-lock braking system status.

[0159] Optionally, the second determining module 904 is further configured to:

[0160] controlling the motor of the brake-by-wire system to execute a position loop mode according to the driving condition information of the vehicle to generate the braking force of the second intensity;

[0161] In the process of assisting the motor of the brake-by-wire system to generate braking force, when the motor of the brake-by-wire system operates normally, determining whether the current braking pressure of the vehicle reaches the target braking pressure;

[0162] When the current braking pressure reaches the target braking pressure, generating the second braking force by the motor of the wire control brake system;

[0163] When the current brake pressure does not reach the target brake pressure, or the motor of the wire control brake system fails in operation, requesting the stability control system to perform a brake power assist function;

[0164] When the stability control system performs a brake power assist function, the first intensity of the braking force is generated by the motor of the stability control system.

[0165] Optionally, the first determining module 903 includes:

[0166] a trigger state determination module, configured to request the stability control system to execute a brake power assist function through the brake-by-wire system when the functional state of the stability control system is not degraded;

[0167] a first braking module, configured to control the motor of the brake-by-wire system to generate the second braking force by determining a triggering number of the brake-by-wire auxiliary function when the stability control system does not execute the brake-boost auxiliary function;

[0168] The second braking module is configured to generate a braking force of the first intensity through the motor of the stability control system when the stability control system performs a brake power assist function.

[0169] Optionally, the first braking module is configured to:

[0170] When the stability control system does not execute the brake power assist function, determining the number of times the brake power assist function is triggered;

[0171] When the triggering number is less than a preset triggering number, controlling the motor of the brake-by-wire system to execute the position loop mode based on the vehicle's driving condition information to generate the second braking force; wherein the driving condition information includes one or more of vehicle speed, brake pedal switch signal, deceleration, yaw angle, wheel speed of each wheel, and anti-lock braking system status;

[0172] In the process of assisting the motor of the brake-by-wire system to generate braking force, when the motor of the brake-by-wire system operates normally, determining whether the current braking pressure of the vehicle reaches the target braking pressure;

[0173] When the current braking pressure reaches the target braking pressure, generating the second braking force by the motor of the wire control brake system;

[0174] When the current brake pressure does not reach the target brake pressure, or the motor of the wire control brake system fails in operation, requesting the stability control system to perform a brake power assist function;

[0175] When the triggering number is greater than and / or equal to a preset triggering number, the vehicle performs mechanical backup braking.

[0176] Optionally, the apparatus 900 further includes:

[0177] a pressure signal acquisition module, configured to acquire a pressure signal of the vehicle stability control system when the displacement sensor is in a normal state;

[0178] The third brake module is configured to determine the target brake pressure through the pressure signal, and control the motor of the brake-by-wire system to execute a pressure loop working mode according to the target brake pressure, thereby generating the braking force of the first intensity.

[0179] Optionally, the apparatus 900 further includes:

[0180] a signal determination module, configured to determine whether the pressure signal of the brake-by-wire system is valid when the pressure signal of the vehicle stability control system fails;

[0181] a fourth braking module, configured to, when the pressure signal of the brake-by-wire system is valid, determine the target braking pressure according to the pressure signal, and control the motor of the brake-by-wire system to execute a pressure loop working mode according to the target braking pressure to generate the braking force of the first intensity;

[0182] The fifth braking module is used to determine the target position of the motor of the wire control brake system when the pressure signal of the wire control brake system is invalid, and control the motor of the wire control brake system to execute the position loop mode according to the target position to generate the braking force of the second intensity.

[0183] Optionally, the apparatus 900 further includes:

[0184] a pressure determination module, configured to determine whether a current braking pressure of the vehicle reaches a target braking pressure when the motor of the brake-by-wire system is operating normally during the process of the brake-by-wire system generating a braking force;

[0185] a sixth braking module, configured to generate a braking force of the second intensity through the motor of the brake-by-wire system when the current braking pressure reaches the target braking pressure;

[0186] a triggering judgment module, configured to request the stability control system to execute a brake power assist function when the current brake pressure does not reach the target brake pressure or when the motor of the wire control brake system fails in operation;

[0187] The seventh braking module is configured to generate the braking force of the first intensity through the motor of the stability control system when the stability control system performs a brake power assist function.

[0188] In the above technical solution, the state of the vehicle's brake pedal displacement sensor is obtained; when the displacement sensor is in a faulty state, the functional states of the vehicle's stability control system and brake-by-wire system are obtained; when the brake-by-wire system's functional state degrades but the stability control system's functional state does not, the vehicle's brake-by-wire system requests the stability control system to perform a brake assist function, causing the stability control system's motor to generate a first level of braking force; when both the vehicle's stability control system and the brake-by-wire system's functional states degrade, the brake-by-wire system's motor is controlled to generate a second level of braking force based on the vehicle's driving condition information. With the above technical solution, even when the vehicle's brake pedal displacement sensor fails and / or the pressure signal fails, the brake-by-wire system's motor is controlled to generate braking force based on the vehicle's driving condition information, thereby still providing a certain degree of deceleration for the entire vehicle, reducing braking distance and improving driving braking safety.

[0189] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the device and will not be elaborated here.

[0190] FIG10 is a block diagram of an electronic device 1000 according to an exemplary embodiment. As shown in FIG10 , the electronic device 1000 may include a processor 1001 and a memory 1002. The electronic device 1000 may also include one or more of a multimedia component 1003, an input / output (I / O) interface 1004, and a communication component 1005.

[0191] The processor 1001 is used to control the overall operation of the electronic device 1000 to complete all or part of the steps in the above-mentioned redundancy control method. The memory 1002 is used to store various types of data to support the operation of the electronic device 1000. Such data may include, for example, instructions for any application or method operating on the electronic device 1000, as well as application-related data, such as contact information, sent and received messages, pictures, audio, video, etc. The memory 1002 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The multimedia component 1003 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 1002 or transmitted via the communication component 1005. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 1004 provides an interface between the processor 1001 and other interface modules. The aforementioned other interface modules may be a keyboard, a mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 1005 is used for wired or wireless communication between the electronic device 1000 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more thereof, is not limited here. Therefore, the corresponding communication component 1005 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0192] In an exemplary embodiment, the electronic device 1000 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-mentioned redundant control method.

[0193] In another exemplary embodiment, a computer-readable storage medium including program instructions is further provided. When the program instructions are executed by a processor, the steps of the aforementioned redundancy control method are implemented. For example, the computer-readable storage medium may be the aforementioned memory 1002 including the program instructions. The program instructions may be executed by the processor 1001 of the electronic device 1000 to implement the aforementioned redundancy control method.

[0194] Figure 11 is a block diagram of an electronic device 1100 according to an exemplary embodiment. For example, the electronic device 1100 can be provided as a server. Referring to Figure 11, the electronic device 1100 includes a processor 1122, which can be one or more, and a memory 1132 for storing a computer program executable by the processor 1122. The computer program stored in the memory 1132 may include one or more modules, each corresponding to a set of instructions. In addition, the processor 1122 can be configured to execute the computer program to perform the above-mentioned redundancy control method.

[0195] In addition, the electronic device 1100 may further include a power supply component 1126 and a communication component 1150. The power supply component 1126 may be configured to perform power management of the electronic device 1100, and the communication component 1150 may be configured to implement communication, such as wired or wireless communication, of the electronic device 1100. In addition, the electronic device 1100 may further include an input / output (I / O) interface 1158. The electronic device 1100 may operate based on an operating system stored in the memory 1132.

[0196] In another exemplary embodiment, a computer-readable storage medium including program instructions is further provided. When executed by a processor, the program instructions implement the steps of the aforementioned redundancy control method. For example, the non-transitory computer-readable storage medium may be the aforementioned memory 1132 including the program instructions. The program instructions may be executed by the processor 1122 of the electronic device 1100 to implement the aforementioned redundancy control method.

[0197] In another exemplary embodiment, a computer program product is further provided. The computer program product includes a computer program executable by a programmable device, and has a code portion for executing the above-mentioned redundancy control method when executed by the programmable device.

[0198] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the scope of protection of the present disclosure.

[0199] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0200] In addition, the various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A redundancy control method, characterized in that: Applied to a vehicle, the method comprises: Acquiring a displacement sensor state of a brake pedal of the vehicle; When the displacement sensor is in a fault state, the functional state of the vehicle's brake-by-wire system is degraded, and the functional state of the vehicle's stability control system is obtained; When the functional state of the stability control system is not degraded, requesting the stability control system to perform a brake power assist function through the wire control brake system, so that the motor of the stability control system generates a braking force of a first intensity; When the functional state of the stability control system is degraded, the motor of the brake-by-wire system is controlled to generate a second braking force according to the driving condition information of the vehicle.

2. The method according to claim 1, characterized in that When the functional state of the stability control system is degraded, controlling the motor of the brake-by-wire system to generate the second intensity of braking force according to the driving condition information of the vehicle includes: The motor of the wire control brake system is controlled to execute a position loop mode according to the driving condition information of the vehicle to generate the second intensity of braking force; wherein the driving condition information includes one or more of vehicle speed, brake pedal switch signal, deceleration, yaw angle, wheel speed of each wheel, and anti-lock braking system status.

3. The method according to claim 2, characterized in that The step of controlling the motor of the brake-by-wire system to execute a position loop mode according to the driving condition information of the vehicle to generate the braking force of the second intensity includes: controlling the motor of the brake-by-wire system to execute a position loop mode according to the driving condition information of the vehicle to generate a braking force of the second intensity; During the process in which the motor of the brake-by-wire system generates the braking force of the second intensity, when the motor of the brake-by-wire system operates normally, determining whether a current braking pressure of the vehicle reaches a target braking pressure; When the current brake pressure reaches the target brake pressure, generating the second intensity of the brake force by the motor of the wire control brake system; requesting the stability control system to execute a brake power assist function when the current brake pressure does not reach the target brake pressure or when the motor of the brake-by-wire system fails in operation; When the stability control system performs a brake power assist function, the first intensity of the braking force is generated by the motor of the stability control system.

4. The method according to claim 1, wherein When the functional state of the stability control system is not degraded, requesting the stability control system to perform a brake boost assist function through the brake-by-wire system so that the motor of the stability control system generates a braking force of a first intensity includes: requesting the stability control system to perform a brake power assist function through the brake-by-wire system when the functional state of the stability control system is not degraded; When the stability control system does not execute the brake power assist function, controlling the motor of the wire control brake system to generate the second intensity of braking force by determining the number of times the brake power assist function is triggered; When the stability control system performs a brake power assist function, the first intensity of the braking force is generated by the motor of the stability control system.

5. The method according to claim 4, characterized in that When the stability control system does not execute the brake power assist function, controlling the motor of the brake-by-wire system to generate the second intensity of braking force by determining the number of times the brake power assist function is triggered includes: When the stability control system does not execute the brake power assist function, it is determined whether the brake power assist function is triggered. Number of times sent; When the triggering number is less than a preset triggering number, controlling the motor of the brake-by-wire system to execute a position loop mode based on the vehicle's driving condition information to generate the second braking force; wherein the driving condition information includes one or more of vehicle speed, brake pedal switch signal, deceleration, yaw angle, wheel speed of each wheel, and anti-lock braking system status; During the process of the motor of the brake-by-wire system generating a braking force, when the motor of the brake-by-wire system operates normally, determining whether a current brake pressure of the vehicle reaches a target brake pressure; When the current brake pressure reaches the target brake pressure, generating the second intensity of the brake force by the motor of the wire control brake system; requesting the stability control system to execute a brake power assist function when the current brake pressure does not reach the target brake pressure or when the motor of the brake-by-wire system fails in operation; When the triggering number is greater than and / or equal to a preset triggering number, the vehicle performs mechanical backup braking.

6. The method according to claim 1, characterized in that The method further comprises: When the displacement sensor is in a normal state, obtaining a pressure signal of the vehicle stability control system; The target brake pressure is determined by the pressure signal, and the motor of the brake-by-wire system is controlled to execute a pressure loop working mode according to the target brake pressure to generate a braking force of a third intensity.

7. The method according to claim 6, characterized in that The method further comprises: When the pressure signal of the vehicle stability control system fails, determining whether the pressure signal of the wire control brake system is valid; When the pressure signal of the wire control brake system is valid, determining the target brake pressure according to the pressure signal, and controlling the motor of the wire control brake system to execute a pressure loop working mode according to the target brake pressure to generate the third intensity of braking force; When the pressure signal of the brake-by-wire system is invalid, a target position of a motor of the brake-by-wire system is determined, and the motor of the brake-by-wire system is controlled to execute a position loop mode according to the target position to generate the second braking force.

8. The method according to claim 6 or 7, characterized in that The method further comprises: During the process of the motor of the brake-by-wire system generating a braking force, when the motor of the brake-by-wire system operates normally, determining whether a current brake pressure of the vehicle reaches a target brake pressure; When the current brake pressure reaches the target brake pressure, generating the second intensity of the brake force by the motor of the wire control brake system; requesting the stability control system to execute a brake power assist function when the current brake pressure does not reach the target brake pressure or when the motor of the brake-by-wire system fails in operation; When the stability control system performs a brake power assist function, the first intensity of the braking force is generated by the motor of the stability control system.

9. A redundant control device, characterized in that: Applied to vehicles, including: A first acquisition module, configured to acquire a displacement sensor state of a brake pedal of the vehicle; a second acquisition module, configured to acquire a functional state of a stability control system of the vehicle when the displacement sensor is in a fault state and the functional state of the brake-by-wire system of the vehicle is degraded; a first determining module configured to, when the functional state of the stability control system is not degraded, request the stability control system to perform a brake boost assist function through the wire control brake system, so that the motor of the stability control system generates a first Intensity of braking force; The second determining module is configured to control the motor of the brake-by-wire system to generate a braking force of a second intensity according to the driving condition information of the vehicle when the functional state of the stability control system is degraded.

10. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 8.

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