CN114852033B - Brake control method, device, equipment and storage medium - Google Patents
Brake control method, device, equipment and storage medium Download PDFInfo
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- CN114852033B CN114852033B CN202210477669.4A CN202210477669A CN114852033B CN 114852033 B CN114852033 B CN 114852033B CN 202210477669 A CN202210477669 A CN 202210477669A CN 114852033 B CN114852033 B CN 114852033B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
Abstract
The application discloses a brake control method, a brake control device, brake control equipment and a storage medium, wherein the method comprises the following steps: under the condition that a part of brake modules in a main brake system of a target vehicle have faults, carrying out fault analysis on the main brake system to obtain a fault analysis result comprising module calling state information of the main brake system; sending a fault analysis result to a backup braking system of the target vehicle, so that the backup braking system performs module calling analysis on the main braking system based on the module calling state information, and determining a target calling module in a current calling module of the main braking system; receiving a braking auxiliary request aiming at a target calling module, which is sent by a backup braking system; and responding to the braking assistance request, and the control target calling module performs braking assistance on the backup braking system. By means of the technical scheme, the accuracy of brake control of the backup brake system can be improved on the basis of improving the control capability of the backup brake system on the whole vehicle brake function.
Description
Technical Field
The application relates to the technical field of vehicle braking systems, in particular to a braking control method, a braking control device, braking control equipment and a storage medium.
Background
For vehicles equipped with high-level automatic driving systems of L3 and above, in order to ensure reliable operation of the vehicle under automatic driving conditions, the vehicles are required to be equipped with backup braking systems in addition to the main braking systems. During the automatic driving operation, if the main brake system suddenly breaks down, the backup brake system takes over the brake control of the vehicle.
However, the braking module of the main braking system is usually richer than that of the backup braking system, so that the braking control capability of the main braking system is better than that of the backup braking system, and therefore, when the main braking system fails and has a shutdown function, the backup braking system alone performs braking control, which can cause the reduction of the braking control capability of the vehicle to a certain extent, thereby reducing the driving safety of automatic driving of the vehicle. Therefore, there is a need to provide a more secure and efficient solution.
Disclosure of Invention
The application provides a brake control method, a brake control device, brake control equipment and a storage medium, which can improve the accuracy of brake control of a backup brake system on the basis of improving the control capability of the backup brake system on the whole vehicle brake function, so that the safety of automatic vehicle driving is improved.
The technical scheme of the application is as follows:
in one aspect, a brake control method is provided, the method including:
under the condition that a part of brake modules in a main brake system of a target vehicle have faults, carrying out fault analysis on the main brake system to obtain a fault analysis result, wherein the fault analysis result comprises module calling state information of the main brake system;
sending the fault analysis result to a backup braking system of the target vehicle, so that the backup braking system performs module calling analysis on the main braking system based on the module calling state information, and determines a target calling module in a currently-called module of the main braking system;
receiving a braking assistance request aiming at the target calling module, which is sent by the backup braking system;
and responding to the braking assistance request, and controlling the target calling module to perform braking assistance on the backup braking system.
In another aspect, there is provided a brake control method, including:
under the condition that a part of brake modules in a main brake system of a target vehicle have faults, receiving fault analysis results sent by the main brake system, wherein the fault analysis results comprise module calling state information of the main brake system;
performing module calling analysis on the main braking system based on the module calling state information, and determining a target calling module in a current calling module of the main braking system;
sending a braking assistance request aiming at the target calling module to the main braking system so that the main braking system responds to the braking assistance request and controls the target calling module to perform braking assistance on a backup braking system of the target vehicle.
In another aspect, there is provided a brake control apparatus, the apparatus including:
the fault analysis module is used for carrying out fault analysis on a main braking system of a target vehicle under the condition that part of braking modules in the main braking system have faults to obtain a fault analysis result, wherein the fault analysis result comprises module calling state information of the main braking system;
the fault analysis result sending module is used for sending the fault analysis result to a backup braking system of the target vehicle so that the backup braking system can carry out module calling analysis on the main braking system based on the module calling state information and determine a target calling module in a current calling module of the main braking system;
the braking assistance request receiving module is used for receiving a braking assistance request which is sent by the backup braking system and aims at the target calling module;
and the braking assistance module is used for responding to the braking assistance request and controlling the target calling module to perform braking assistance on the backup braking system.
In another aspect, there is provided a brake control apparatus, the apparatus including:
the fault analysis result receiving module is used for receiving a fault analysis result sent by a main braking system of a target vehicle under the condition that part of braking modules in the main braking system have faults, and the fault analysis result comprises module calling state information of the main braking system;
the module calling analysis module is used for carrying out module calling analysis on the main brake system based on the module calling state information and determining a target calling module in a current calling module of the main brake system;
and the braking assistance request sending module is used for sending a braking assistance request aiming at the target calling module to the main braking system so that the main braking system responds to the braking assistance request and controls the target calling module to perform braking assistance on a backup braking system of the target vehicle.
In another aspect, a brake control apparatus is provided, the apparatus comprising a processor and a memory, the memory having stored therein at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by the processor to implement a brake control method as described above.
In another aspect, a computer-readable storage medium is provided, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the braking control method as described above.
The braking control method, the braking control device, the braking control equipment and the storage medium have the following technical effects:
according to the technical scheme, when part of brake modules in the main brake system have faults, the main brake system can perform fault analysis to obtain a fault analysis result comprising module calling state information of the main brake system, and sends the fault analysis result to the backup brake system, so that the backup brake system performs module calling analysis on the main brake system based on the module calling state information, determines a target calling module in a current calling module of the main brake system, and controls the target calling module to perform brake assistance on the backup brake system in response to a brake assistance request aiming at the target calling module, which is sent by the backup brake system.
Drawings
In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic flow chart of a braking control method provided by an embodiment of the present application;
FIG. 2 is a schematic flow chart of another braking control method provided by the embodiments of the present application;
fig. 3 is a schematic flow chart of a main brake system for performing fault analysis to obtain a fault analysis result according to an embodiment of the present application;
fig. 4 is a schematic flowchart illustrating a process of the backup braking system performing module call analysis on the main braking system based on the module call state information to determine a target call module in a currently-called module of the main braking system according to the embodiment of the present application;
FIG. 5 is a schematic flow chart of a backup braking system for acquiring braking control commands for a target vehicle according to an embodiment of the present disclosure;
FIG. 6 is a schematic flow chart illustrating a process of a main braking system responding to a braking assistance request and a control target calling module performing braking assistance on a backup braking system according to an embodiment of the present application;
FIG. 7 is a schematic flow chart of another braking control method with a main braking device as an execution main body according to the embodiment of the application;
FIG. 8 is a schematic flow chart of another braking control method implemented by using a backup braking device according to an embodiment of the present application;
FIG. 9 is a schematic illustration of a brake control apparatus provided in accordance with an embodiment of the present application;
fig. 10 is a schematic view of another brake control device provided in the embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
A braking control method provided in the embodiment of the present application is described below, and fig. 1 is a schematic flow chart of the braking control method provided in the embodiment of the present application. It is noted that the present specification provides the method steps as in the examples or flowcharts, but may include more or less steps based on routine or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In actual system or product execution, sequential execution or parallel execution (e.g., parallel processor or multi-threaded environment) may be possible according to the embodiments or methods shown in the figures. Specifically, as shown in fig. 1, the method may include:
s101, under the condition that a part of brake modules in a main brake system of a target vehicle have faults, the main brake system carries out fault analysis to obtain a fault analysis result, and the fault analysis result comprises module calling state information of the main brake system.
In the present specification embodiment, a brake system of a target vehicle may include: a main Braking System (IBC) and a Redundant Braking Unit (RBU). In practical application, the main brake system and the backup brake system CAN perform information interaction through a Controller Area Network (CAN) of the entire vehicle. Generally, the main braking system takes over the braking control right of the target vehicle to realize the braking function, and specifically, the braking function may include: basic boosting function, active boosting function and the like.
In a specific embodiment, the failure of the partial braking module may include: sensing module failure and executing module failure, etc. Specifically, the sensing module may include: various sensors, etc., the execution module may include: a pressure building module and a pressure control module, etc.
In a specific embodiment, as shown in fig. 2, before performing fault analysis on the main brake system to obtain a fault analysis result, the method may further include:
and S1011, the backup braking system of the target vehicle monitors the running state of the main braking system.
In practical application, the main brake system and the backup brake system can acquire the running state information of the other side in real time through information interaction.
And S1012, sending a brake control right taking-over instruction to the main brake system by the backup brake system under the condition that the main brake system is monitored to have a brake module failure.
Correspondingly, the fault analysis of the main brake system may include:
and S1013, the main brake system responds to the brake control authority taking-over instruction, and carries out fault analysis on the main brake system to obtain a fault analysis result.
Specifically, under the condition that a brake module in the main brake system fails, the backup brake system can send a brake control right take-over instruction to the main brake system to obtain the brake control right of the target vehicle, so that the driving safety of automatic driving of the vehicle is guaranteed. Correspondingly, the main brake system responds to the brake control authority taking-over instruction, and carries out fault analysis on the main brake system to obtain a fault analysis result, so that brake assistance is provided according to the fault analysis result subsequently.
It can be seen from the above embodiments that, when there is a failure of the brake module in the main brake system, the backup brake system can send a brake control right take-over instruction to the main brake system to obtain the brake control right of the target vehicle, thereby improving the safety of automatic driving of the vehicle.
In this embodiment, as shown in fig. 3, the performing a fault analysis on the main brake system may include:
s301, the main brake system carries out reliability detection on a plurality of input signals of the main brake system to obtain first detection information.
Specifically, the input signal may be sensor data of a sensing module of the service brake system, the first detection information may include first reliability state information of the plurality of input signals, and in general, the first reliability state information may include: input signal valid or input signal invalid.
S302, the main brake system carries out reliability detection on a plurality of internal signals of the main brake system to obtain second detection information.
Specifically, the internal signal may be data obtained by performing calculation processing on an input signal by a control module of the main brake system, the second detection information may include second reliability state information of the plurality of internal signals, and the second reliability state information may generally include: the internal signal is active or the internal signal is inactive.
And S303, the main brake system determines module calling state information of the main brake system based on the first detection information and the second detection information.
Specifically, the module calling state information may represent a current calling state of a plurality of brake modules of the service brake system, and the module calling state information of each brake module may include: in the embodiment of the present specification, under the condition that a certain brake module can normally operate, the module calling state information of the brake module is module-callable; and under the condition that a certain brake module cannot normally run, the module calling state information of the brake module is that the module cannot be called.
Specifically, when the main brake system detects that a certain input signal is invalid or a certain internal signal is invalid, error information may be generated based on the corresponding invalid signal, and configuration of the module call state information may be performed according to the error information.
In a specific embodiment, the configuring, by the service braking system, the module call state information according to the error information may include: the main brake system control diagnosis module configures the module to call state information according to the error reporting information.
For example, when the input signal of the yaw rate sensor is invalid, error information of "yaw rate sensor invalid" is generated, and the module call state information of TCS (Traction Control module) and VDC (Vehicle Dynamic Control module) is configured as the module unavailable.
And S304, the main braking system generates a fault analysis result based on the module calling state information.
Specifically, the main brake system may determine the currently callable module and the currently non-callable module according to the module call state information, thereby generating a fault analysis result.
As can be seen from the above embodiments, the main braking system determines the module calling state information of the main braking system through the reliability detection information of the plurality of input signals and the plurality of internal signals, generates the fault analysis result, and can improve the accuracy of fault analysis, so as to improve the accuracy of determination of the subsequent target calling module.
And S102, the main braking system sends a fault analysis result to the backup braking system.
And S103, the backup braking system performs module calling analysis on the main braking system based on the module calling state information, and determines a target calling module in the current calling module of the main braking system.
In a specific embodiment, as shown in fig. 4, the module call analysis performed by the backup braking system on the main braking system based on the module call state information to determine that the target call module in the currently-called module of the main braking system may include:
s401, a backup braking system obtains a braking control instruction for a target vehicle, and the braking control instruction carries a target braking function.
In a specific embodiment, as shown in fig. 5, the obtaining of the braking control command for the target vehicle by the backup braking system may include:
s501, the backup braking system obtains driving scene information and driving condition information of the target vehicle.
Specifically, the division of the driving scene information may include, but is not limited to: whether in an autopilot scenario, whether in an active braking scenario, whether in an emergency braking scenario, etc. Optionally, the target vehicle may be in at least one driving scenario at the same time according to different driving scenario information divisions, for example, the target vehicle may be in an active braking scenario of automatic driving.
Specifically, the driving condition information may be working state information of each sub-module of the target vehicle, which is acquired in real time during the running of the target vehicle.
In a specific embodiment, a Vehicle Control Unit (VCU) of a target vehicle may obtain driving condition information and driver intention information, generate driving scenario information, and send the driving scenario information and the driving condition information to a backup braking system.
S502, the backup braking system determines a target braking function based on the driving scene information and the driving condition information.
Specifically, the backup braking system performs braking analysis based on the driving scene information and the driving condition information to determine a target braking function. For example, in an emergency braking scenario in which the target vehicle is autonomously driven, the target braking function may be an emergency deceleration function.
S503, the backup braking system generates a braking control command based on the target braking function.
Specifically, the backup braking system may generate a braking control instruction to control a target braking module corresponding to the target braking function based on the target braking function, and the target braking module may be any braking module in the braking system.
According to the embodiment, the backup braking system determines the target braking function based on the driving scene information and the driving condition information, and generates the braking control command based on the target braking function, so that the accuracy of braking control can be improved.
S402, the backup braking system determines the current calling module based on the module calling state information.
Specifically, the backup braking system may determine that the corresponding module call state information is the currently-callable module that the module can call based on the module call state information.
S403, the backup braking system determines a target calling module from the current calling modules based on the target braking function.
Specifically, the backup braking system may determine, based on the target braking function, a target calling module corresponding to the target braking function from the current callable modules, where the target calling module may include: a currently callable module in the active braking system associated with the target braking function.
According to the embodiment, the target calling module is determined from the currently-called modules based on the module calling state information and the target braking function, so that the module calling accuracy can be improved, and the control capability of the backup braking system on the overall braking function is improved.
And S104, the backup braking system sends a braking assistance request aiming at the target calling module to the main braking system.
And S105, the main brake system responds to the brake assistance request, and the control target calling module performs brake assistance on the backup brake system.
Specifically, the target calling module may include: the system comprises a target sensing module and a target execution module. Wherein, the target perception module may include: various sensors, etc., for example, the target sensing module may be a wheel speed sensor, a master cylinder pressure sensor, etc.; the target execution module may include: the pressure control module may be a control module of a wheel cylinder valve train.
In an alternative embodiment, as shown in fig. 6, the target calling module may include a target sensing module, and the controlling the target calling module to brake assist the backup brake system in response to the brake assist request may include:
s601, the main braking system obtains first sensor data collected by the target sensing module.
S602, the main brake system sends first sensor data to the backup brake system.
And S603, the backup braking system performs sensing analysis based on the first sensor data and the second sensor data to obtain a sensing analysis result, wherein the second sensor data is the sensor data acquired by a sensing module of the backup braking system.
And S604, the backup braking system performs braking control based on the perception analysis result.
Specifically, the backup braking system may perform braking control on an execution module of the backup braking system based on the sensing analysis result.
In another alternative embodiment, the target calling module may include a target execution module, the braking assistance request may include a target control command corresponding to the target execution module, and the controlling the target calling module to brake assist the backup braking system in response to the braking assistance request may include: and the main braking system control target execution module executes the target control command.
In another alternative embodiment, the target invoking module may include a target sensing module and a target executing module, and the controlling the main braking system to brake assist the backup braking system in response to the braking assist request may include: the method comprises the steps that a main braking system obtains first sensor data collected by a target sensing module; the main braking system sends first sensor data to the backup braking system; the backup braking system carries out perception analysis based on the first sensor data and the second sensor data to obtain a perception analysis result; and the backup braking system performs braking control on an execution module of the backup braking system based on the perception analysis result, and sends a target control instruction corresponding to the target execution module to the main braking system so that the main braking system controls the target execution module to execute the target control instruction.
According to the embodiment, the brake auxiliary method corresponding to the type of the target calling module is determined according to the different types of the target calling module, so that the control capability of the backup brake system on the braking function of the whole vehicle can be effectively improved, and the accuracy of the brake control of the backup brake system is improved.
According to the technical scheme provided by the embodiment of the specification, in an application scene that a part of brake modules in a main brake system have faults, information interaction between the main brake system and a backup brake system is utilized, on one hand, under the condition that the brake modules in the main brake system have faults, the backup brake system can send a brake control right take-over instruction to the main brake system to obtain the brake control right of a target vehicle, and the safety of automatic driving of the vehicle is improved; on the other hand, the main brake system determines module calling state information of the main brake system through reliability detection information of a plurality of input signals and a plurality of internal signals, generates a fault analysis result, ensures the accuracy of fault analysis, and determines a target calling module from a currently-called module based on the module calling state information and a target brake function in the fault analysis result, so that the accuracy of module calling can be improved; on the other hand, according to different types of the target calling modules, a brake auxiliary method corresponding to the type of the target calling module is determined, so that the control capability of the backup brake system on the braking function of the whole vehicle can be effectively improved, and the accuracy of the brake control of the backup brake system is improved; on the other hand, the safety of automatic driving of the vehicle can be improved, and therefore riding experience of a user is improved.
Another braking control method provided in the embodiment of the present application is described below with a main braking device as an execution subject, and fig. 7 is a schematic flow chart of another braking control method provided in the embodiment of the present application. It is noted that the present specification provides the method steps as in the examples or flowcharts, but may include more or less steps based on routine or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In actual system or product execution, sequential execution or parallel execution (e.g., parallel processor or multi-threaded environment) may be possible according to the embodiments or methods shown in the figures. Specifically, as shown in fig. 7, the method may include:
s701, under the condition that a part of brake modules in a main brake system of a target vehicle have faults, fault analysis is carried out on the main brake system to obtain a fault analysis result, and the fault analysis result comprises module calling state information of the main brake system.
In a specific embodiment, the performing the fault analysis on the main brake system to obtain the fault analysis result may include:
1) Carrying out reliability detection on a plurality of input signals of a main braking system to obtain first detection information;
2) Carrying out reliability detection on a plurality of internal signals of the main braking system to obtain second detection information;
3) Determining module calling state information of the main braking system based on the first detection information and the second detection information;
4) And generating a fault analysis result based on the module calling state information.
S702, sending a fault analysis result to a backup braking system of the target vehicle, so that the backup braking system performs module calling analysis on the main braking system based on the module calling state information, and determining a target calling module in the current calling module of the main braking system.
And S703, receiving a braking assistance request aiming at the target calling module, which is sent by the backup braking system.
And S704, responding to the braking assistance request, and controlling the target calling module to perform braking assistance on the backup braking system.
In an optional embodiment, the target invoking module may include a target sensing module, and the controlling the target invoking module to perform braking assistance on the backup braking system may include:
1) Acquiring first sensor data acquired by a target sensing module;
2) And sending the first sensor data to a backup braking system so that the backup braking system performs sensing analysis based on the first sensor data and the second sensor data to obtain a sensing analysis result, and performing braking control based on the sensing analysis result, wherein the second sensor data is the sensor data acquired by a sensing module of the backup braking system.
In another optional embodiment, the target invoking module may include a target execution module, the braking assistance request may include a target control instruction corresponding to the target execution module, and the controlling the target invoking module to perform braking assistance on the backup braking system may include: the control target execution module executes the target control instruction.
For specific detailed steps of the embodiment of the braking control method written from one side of the main braking device, reference may be made to the above embodiment of the interactive side braking control method, and details are not described here.
Another braking control method provided in the embodiment of the present application is described below with a backup braking device as an execution subject, and fig. 8 is a flowchart illustrating another braking control method provided in the embodiment of the present application. It is noted that the present specification provides the method steps as in the examples or flowcharts, but may include more or less steps based on routine or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In actual system or product execution, sequential execution or parallel execution (e.g., parallel processor or multi-threaded environment) may be possible according to the embodiments or methods shown in the figures. Specifically, as shown in fig. 8, the method may include:
s801, receiving a fault analysis result sent by a main brake system under the condition that a part of brake modules in the main brake system of a target vehicle have faults, wherein the fault analysis result comprises module calling state information of the main brake system.
In a specific embodiment, before receiving the fault analysis result sent by the main brake system, the method may further include:
1) Monitoring the running state of the main braking system;
2) And under the condition that the main braking system is monitored to have a fault of the braking module, sending a braking control right take-over instruction to the main braking system so that the main braking system responds to the braking control right take-over instruction to carry out fault analysis on the main braking system to obtain a fault analysis result.
S802, based on the module calling state information, module calling analysis is carried out on the main brake system, and a target calling module in the current calling module of the main brake system is determined.
In a specific embodiment, the performing module call analysis on the foundation brake system based on the module call state information to determine a target call module in the currently-called module of the foundation brake system may include:
s8021, obtaining a braking control instruction aiming at the target vehicle, wherein the braking control instruction carries a target braking function.
In a specific embodiment, the obtaining of the braking control command for the target vehicle may include:
1) Acquiring driving scene information and driving condition information of a target vehicle;
2) Determining a target braking function based on the driving scene information and the driving condition information;
3) Based on the target braking function, a braking control command is generated.
S8022, based on the module calling state information, determining the current calling module.
S8023, based on the target braking function, determining a target calling module from the current calling modules.
And S803, sending a braking assistance request aiming at the target calling module to the main braking system, so that the main braking system responds to the braking assistance request and controls the target calling module to perform braking assistance on the backup braking system of the target vehicle.
The detailed steps of the embodiment of the braking control method written from one side of the backup braking device can be referred to the embodiment of the interactive side braking control method, and are not described again here.
The embodiment of the present application provides a brake control apparatus with a main brake system as an execution subject, and as shown in fig. 9, the apparatus may include:
the fault analysis module 910 is configured to perform fault analysis on the main brake system of the target vehicle to obtain a fault analysis result when a part of brake modules in the main brake system fails, where the fault analysis result includes module calling state information of the main brake system;
a fault analysis result sending module 920, configured to send a fault analysis result to a backup braking system of the target vehicle, so that the backup braking system performs module call analysis on the main braking system based on the module call state information, and determines a target call module in a currently-available module of the main braking system;
a braking assistance request receiving module 930, configured to receive a braking assistance request for the target invoking module, where the braking assistance request is sent by the backup braking system;
and a brake assist module 940 for responding to the brake assist request, and controlling the target calling module to perform brake assist on the backup brake system.
In a specific embodiment, the fault analysis module 910 may include:
the first reliability detection unit is used for carrying out reliability detection on a plurality of input signals of the main brake system to obtain first detection information;
the second reliability detection unit is used for carrying out reliability detection on a plurality of internal signals of the main braking system to obtain second detection information;
the module calling state information unit is used for determining module calling state information of the main brake system based on the first detection information and the second detection information;
and the fault analysis result generation unit is used for generating a fault analysis result based on the module calling state information.
In an alternative embodiment, the target invoking module may include a target sensing module, and the braking assistance module 940 may include:
the sensor data acquisition unit is used for acquiring first sensor data acquired by the target sensing module;
and the sensor data sending unit is used for sending the first sensor data to the backup braking system so as to enable the backup braking system to perform sensing analysis based on the first sensor data and the second sensor data to obtain a sensing analysis result and perform braking control based on the sensing analysis result, and the second sensor data is the sensor data acquired by the sensing module of the backup braking system.
In another alternative embodiment, the target calling module may include a target execution module, the braking assistance request may include a target control command corresponding to the target execution module, and the braking assistance module 940 may include:
and the instruction execution unit is used for controlling the target execution module to execute the target control instruction.
It should be noted that the device and method embodiments in the device embodiment described above are based on the same inventive concept.
An embodiment of the present application provides another brake control apparatus having a backup brake system as an execution subject, and as shown in fig. 10, the apparatus may include:
the failure analysis result receiving module 1010 is configured to receive a failure analysis result sent by a main braking system when a part of braking modules in the main braking system of a target vehicle fails, where the failure analysis result includes module calling state information of the main braking system;
a module call analysis module 1020, configured to perform module call analysis on the main brake system based on the module call state information, and determine a target call module in a currently-available module of the main brake system;
and a braking assistance request sending module 1030, configured to send a braking assistance request for the target calling module to the main braking system, so that the main braking system controls the target calling module to perform braking assistance on the backup braking system of the target vehicle in response to the braking assistance request.
In a specific embodiment, the apparatus may further include:
and the takeover instruction sending unit is used for sending a brake control right takeover instruction to the main brake system so that the main brake system responds to the brake control right takeover instruction and performs fault analysis on the main brake system to obtain a fault analysis result.
In a specific embodiment, the module call analysis module 1020 may include:
the braking control instruction acquisition unit is used for acquiring a braking control instruction aiming at a target vehicle, and the braking control instruction carries a target braking function;
a current callable module determination unit configured to determine a current callable module based on the module call status information;
and the target calling module determining unit is used for determining a target calling module from the currently-called modules based on the target braking function.
In a specific embodiment, the braking control instruction obtaining unit may include:
the information acquisition unit is used for acquiring driving scene information and driving condition information of the target vehicle;
the target braking function determining unit is used for determining a target braking function based on the driving scene information and the driving condition information;
and the brake control instruction generating unit is used for generating a brake control instruction based on the target brake function.
It should be noted that the device and method embodiments in the device embodiment described above are based on the same inventive concept.
The embodiment of the application provides a brake control device, which comprises a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to realize the brake control method provided by the method embodiment.
The memory may be used to store software programs and modules, and the processor may execute various functional applications and data processing by operating the software programs and modules stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs needed by functions and the like; the storage data area may store data created according to the use of the above-described apparatus, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory may also include a memory controller to provide the processor access to the memory.
The method embodiments provided in the embodiments of the present application may be executed in an ECU (electronic control unit) of a brake system or a similar computing device, i.e. the brake control apparatus may comprise an ECU of a brake system or a similar computing device.
The present application further provides a storage medium, where the storage medium may be disposed in a server to store at least one instruction or at least one program for implementing the brake control method in one of the method embodiments, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the brake control method provided in the method embodiment.
Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
As can be seen from the embodiments of the brake control method, the brake control device, the brake equipment or the storage medium provided by the application, according to the technical scheme provided by the application, in an application scene where a part of brake modules in a main brake system have a fault, information interaction between the main brake system and a backup brake system is utilized, on one hand, under the condition that the brake modules in the main brake system have a fault, the backup brake system can send a brake control right take-over instruction to the main brake system to obtain the brake control right of a target vehicle, so that the safety of automatic driving of the vehicle is improved; on the other hand, the main brake system determines module calling state information of the main brake system through reliability detection information of a plurality of input signals and a plurality of internal signals, generates a fault analysis result, ensures the accuracy of fault analysis, determines a target calling module from a currently-called module based on the module calling state information and the target brake function in the fault analysis result, and can improve the accuracy of module calling; on the other hand, according to different types of the target calling modules, the brake auxiliary method corresponding to the type of the target calling module is determined, so that the control capability of the backup brake system on the braking function of the whole vehicle can be effectively improved, and the accuracy of the brake control of the backup brake system is improved; on the other hand, the safety of automatic driving of the vehicle can be improved, and therefore riding experience of a user is improved.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And that specific embodiments have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus, device and storage medium embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for relevant points.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program to instruct relevant hardware to implement the above program, and the above program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (12)
1. A brake control method, characterized in that the method comprises:
under the condition that a part of brake modules in a main brake system of a target vehicle have faults, carrying out fault analysis on the main brake system to obtain a fault analysis result, wherein the fault analysis result comprises module calling state information of the main brake system;
sending the fault analysis result to a backup braking system of the target vehicle, so that the backup braking system performs module calling analysis on the main braking system based on the module calling state information, and determines a target calling module in a currently-called module of the main braking system;
receiving a braking assistance request aiming at the target calling module, which is sent by the backup braking system;
and responding to the braking assistance request, and controlling the target calling module to perform braking assistance on the backup braking system.
2. The method of claim 1, wherein the performing fault analysis on the service brake system to obtain a fault analysis result comprises:
carrying out reliability detection on a plurality of input signals of the main braking system to obtain first detection information;
carrying out reliability detection on a plurality of internal signals of the main braking system to obtain second detection information;
determining module calling state information of the main brake system based on the first detection information and the second detection information;
and generating the fault analysis result based on the module calling state information.
3. The method of claim 1 or 2, wherein the target call module comprises a target aware module, and wherein controlling the target call module to brake assist the backup braking system comprises:
acquiring first sensor data acquired by the target sensing module;
and sending the first sensor data to the backup braking system so that the backup braking system performs sensing analysis based on the first sensor data and second sensor data to obtain a sensing analysis result, and performing braking control based on the sensing analysis result, wherein the second sensor data is the sensor data acquired by a sensing module of the backup braking system.
4. The method of claim 1 or 2, wherein the target call module comprises a target execution module, wherein the brake assist request comprises a target control instruction corresponding to the target execution module, and wherein controlling the target call module to brake assist the backup brake system comprises:
and controlling the target execution module to execute the target control instruction.
5. A brake control method, characterized in that the method comprises:
under the condition that a part of brake modules in a main brake system of a target vehicle have faults, receiving fault analysis results sent by the main brake system, wherein the fault analysis results comprise module calling state information of the main brake system;
performing module calling analysis on the main brake system based on the module calling state information, and determining a target calling module in a current calling module of the main brake system;
sending a braking assistance request aiming at the target calling module to the main braking system so that the main braking system responds to the braking assistance request and controls the target calling module to perform braking assistance on a backup braking system of the target vehicle.
6. The method of claim 5, wherein the performing module call analysis on the foundation brake system based on the module call state information, and wherein determining a target call module of currently available call modules of the foundation brake system comprises:
acquiring a brake control instruction aiming at the target vehicle, wherein the brake control instruction carries a target brake function;
determining the current callable module based on the module call state information;
determining the target calling module from the currently-callable modules based on the target braking function.
7. The method of claim 6, wherein the obtaining a braking control command for the target vehicle comprises:
acquiring driving scene information and driving condition information of the target vehicle;
determining the target braking function based on the driving scene information and the driving condition information;
and generating the brake control command based on the target brake function.
8. The method according to any one of claims 5 to 7, wherein prior to said receiving a fault analysis result sent by the service brake system, the method further comprises:
and sending a brake control authority takeover instruction to the main brake system so that the main brake system responds to the brake control authority takeover instruction and carries out fault analysis on the main brake system to obtain a fault analysis result.
9. A brake control apparatus characterized by comprising:
the system comprises a fault analysis module, a fault analysis module and a fault analysis module, wherein the fault analysis module is used for carrying out fault analysis on a main braking system of a target vehicle under the condition that part of braking modules in the main braking system have faults to obtain a fault analysis result, and the fault analysis result comprises module calling state information of the main braking system;
the fault analysis result sending module is used for sending the fault analysis result to a backup braking system of the target vehicle so that the backup braking system can carry out module calling analysis on the main braking system based on the module calling state information and determine a target calling module in a current calling module of the main braking system;
the braking assistance request receiving module is used for receiving a braking assistance request which is sent by the backup braking system and aims at the target calling module;
and the braking assistance module is used for responding to the braking assistance request and controlling the target calling module to perform braking assistance on the backup braking system.
10. A brake control apparatus characterized by comprising:
the fault analysis result receiving module is used for receiving a fault analysis result sent by a main braking system of a target vehicle under the condition that part of braking modules in the main braking system have faults, and the fault analysis result comprises module calling state information of the main braking system;
the module calling analysis module is used for carrying out module calling analysis on the main brake system based on the module calling state information and determining a target calling module in a current calling module of the main brake system;
and the braking assistance request sending module is used for sending a braking assistance request aiming at the target calling module to the main braking system so that the main braking system responds to the braking assistance request and controls the target calling module to perform braking assistance on a backup braking system of the target vehicle.
11. A brake control apparatus, characterized in that the apparatus comprises a processor and a memory, in which at least one instruction or at least one program is stored, which is loaded and executed by the processor to implement the brake control method according to any one of claims 1 to 8.
12. A computer-readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the brake control method according to any one of claims 1 to 8.
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