CN116022116A - Vehicle brake control method and device, vehicle, electronic equipment and storage medium - Google Patents
Vehicle brake control method and device, vehicle, electronic equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the application provides a vehicle brake control method, a device, a vehicle, electronic equipment and a storage medium, wherein the vehicle brake control method comprises the steps of acquiring vehicle state information and vehicle environment information, determining a vehicle brake instruction according to the vehicle state information and the vehicle environment information, executing the vehicle brake instruction through a main control unit and/or a backup control unit, determining a target control unit from the main control unit and the backup control unit according to a fault source in brake fault information if brake fault information is detected, executing the vehicle brake instruction through the target control unit so as to carry out brake control on a vehicle, and switching to another control unit so as to enable the other control unit to execute the vehicle brake instruction when a single control unit fails due to brake fault in automatic driving of the vehicle.
Description
Technical Field
The application relates to the technical field of automatic driving of automobiles, in particular to a vehicle braking control method, a vehicle braking control device, a vehicle, electronic equipment and a computer readable storage medium.
Background
Along with the development of the current automobile industry, intelligent driving automobiles are advancing towards the development direction of electric and intelligent networking, intelligent driving is an important branch of intelligent networking, and is the direction and technology of important development layout of large host factories in the future, and along with the development of national policies, the intelligent driving technology of automobiles is coming into rapid development period. The automatic driving technology is divided into L0-L4 levels, wherein the L2 level is automatic driving with a composite function, the L3 level is unmanned with a limiting condition, the L4 level is unmanned under all working conditions, the intelligent driving level of each big host factory is mainly in the development stage of the L2 level to the L3 level at present, the control of the cost of a sensing sensor and the configuration of a high-precision map are carried out, and the research of the automatic driving L4 level is mainly concentrated on each big science and technology company and has no large-area commercial application. The development from the level L3 to the level L4 means the development from a single scene to a complex scene, namely the development from a high-speed scene to urban traffic scenes with complex intersections, complex overpasses and complex traffic, which makes the safety of vehicle running particularly important.
The technical scheme of the intelligent driving automobile to the braking system still stays on the traditional technical scheme, namely, a braking controller receives a braking instruction sent by the domain controller through single CAN (Controller Area Network ) bus communication and executes braking action. The existing braking control scheme of each big host factory can not meet the functional safety requirement of the automatic driving automobile, and aims at the requirement of the L4 level scene of the automatic driving automobile, and the following defects are caused: the brake controller redundancy is avoided, and if the brake controller fails internally, the brake of the intelligent driving automobile fails, so that the brake control in a complex scene cannot be dealt with; the CAN Bus communication redundancy is avoided, and under a complex scene, if communication faults such as Bus Off and the like occur on the CAN Bus where the brake signal is located, a brake controller cannot receive a brake instruction sent by a domain controller, a vehicle cannot brake, and running danger is caused; no power supply redundancy exists, the existing braking system is powered by a single-path power supply, and if the power supply fails, the braking system fails and cannot work.
Disclosure of Invention
In view of the above-described drawbacks of the related art, embodiments of the present application provide a vehicle brake control method, apparatus, vehicle, electronic device, and computer-readable storage medium to solve the above-described technical problems.
An embodiment of the present application provides a vehicle brake control method including: acquiring vehicle state information and vehicle environment information, and determining a vehicle braking instruction according to the vehicle state information and the vehicle environment information; and executing the vehicle braking instruction through a main control unit and/or a backup control unit, and if braking fault information is detected, determining a target control unit from the main control unit and the backup control unit according to a fault source in the braking fault information, and executing the vehicle braking instruction through the target control unit so as to perform braking control on the vehicle.
In an embodiment of the present application, if the duration of the fault status word of the fault source exceeds a preset period threshold, the target control unit is determined from the primary control unit and the backup control unit according to the fault source, and the braking fault information includes the duration of the fault status word of the fault source.
In an embodiment of the present application, if the fault source is a first bus or the primary control unit, determining the backup control unit as the target control unit; if the fault source is the first bus and the main control unit, determining the backup control unit as the target control unit; if the fault source is a second bus or the backup control unit, determining the main control unit as the target control unit; and if the fault source is the second bus and the backup control unit, determining the main control unit as the target control unit.
In an embodiment of the present application, determining a target bus from the first bus and the second bus according to the fault source, so that the target bus transmits the vehicle braking command; if the fault source is the first bus, determining the second bus as the target bus; and if the fault source is the second bus, determining the first bus as the target bus.
In an embodiment of the present application, determining a target power supply from a first power supply and a second power supply according to the fault source, and supplying power through the target power supply; if the fault source is the first power supply, determining the second power supply as the target power supply; and if the fault source is the second power supply, determining the first power supply as the target power supply.
In an embodiment of the present application, there is also provided a vehicle brake control apparatus including: the processing module is used for acquiring vehicle state information and vehicle environment information and determining a vehicle braking instruction according to the vehicle state information and the vehicle environment information; and the braking module is used for executing the vehicle braking instruction through the main control unit and/or the backup control unit, determining a target control unit from the main control unit and the backup control unit according to a fault source in the braking fault information if the braking fault information is detected, and executing the vehicle braking instruction through the target control unit so as to brake and control the vehicle.
In an embodiment of the present application, the vehicle brake control device further includes a first bus and a second bus, for transmitting the vehicle brake command; the main control unit is connected with the processing module through the first bus, and the backup control unit is connected with the processing module through the second bus.
In an embodiment of the present application, the vehicle brake control device further includes a first power source and a second power source, where the first power source and the second power source are connected to the brake module and are configured to supply power to the brake module.
In an embodiment of the present application, there is also provided a vehicle including the vehicle brake control device as described above.
In an embodiment of the present application, there is also provided an electronic device including: one or more processors; and a storage means for storing one or more programs which, when executed by the one or more processors, cause the electronic device to implement the vehicle brake control method as described above.
In an embodiment of the present application, there is also provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to execute the vehicle brake control method as described above.
The beneficial effects of this application: according to the vehicle braking control method, the vehicle braking instruction is determined according to the acquired vehicle state information and the vehicle environment information, the vehicle braking instruction is executed through the main control unit and/or the backup control unit to perform braking control on the vehicle, if braking fault information is detected, the target control unit is determined from the main control unit and the backup control unit according to the fault source of the braking fault information, the vehicle braking instruction is executed through the target control unit to perform braking control on the vehicle, and therefore when a single control unit fails due to braking fault in automatic driving of the vehicle, the vehicle braking instruction can be switched to another control unit, the other control unit can perform the vehicle braking instruction, and the robustness of a vehicle braking control system and the safety of automatic braking and braking of automatic driving of the vehicle are improved through the double control units.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the drawings:
FIG. 1 is a schematic illustration of an environment in which a vehicle brake control method is implemented, as shown in an exemplary embodiment of the present application;
FIG. 2 is a flow chart illustrating a vehicle brake control method according to an exemplary embodiment of the present application;
FIG. 3 is a block diagram of a vehicle brake control device according to an exemplary embodiment of the present application;
FIG. 4 is a schematic structural operation of a vehicle brake control system shown in an exemplary embodiment;
FIG. 5 is a schematic block diagram illustrating a vehicle brake control system according to an exemplary embodiment;
fig. 6 shows a schematic diagram of a computer system suitable for use in implementing the electronic device of the embodiments of the present application.
Detailed Description
Further advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure in the present specification, by describing embodiments of the present application with reference to the accompanying drawings and preferred examples. The present application may be embodied or carried out in other specific embodiments, and the details of the present application may be modified or changed from various points of view and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation to the scope of the present application.
It should be noted that, the illustrations provided in the following embodiments merely illustrate the basic concepts of the application by way of illustration, and only the components related to the application are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.
It should be noted that, in this application, "first", "second", and the like are merely distinguishing between similar objects, and are not limited to the order or precedence of similar objects. The description of variations such as "comprising," "having," etc., means that the subject of the word is not exclusive, except for the examples shown by the word.
It should be understood that the various numbers, step numbers, etc. described in this application are for ease of description and are not intended to limit the scope of this application. The size of the reference numerals in this application does not mean the order of execution, and the order of execution of the processes should be determined by their functions and inherent logic.
In the following description, numerous details are set forth to provide a more thorough explanation of embodiments of the present application, however, it will be apparent to one skilled in the art that embodiments of the present application may be practiced without these specific details, in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring the embodiments of the present application.
It should be noted that, in the conventional redundant braking technology, redundant braking is performed by a plurality of controllers and a plurality of actuators, so that the possibility of failure of the braking system caused by failure of some controllers or the actuators can be reduced to a certain extent, but the cost of the controllers is greatly increased, other failure factors such as communication failure are not considered, and once the communication failure occurs, the actuators cannot acquire a vehicle braking command, so that the braking system fails. To solve these problems, embodiments of the present application respectively propose a vehicle brake control method, a vehicle brake control apparatus, a vehicle, an electronic device, a computer-readable storage medium, and a computer program product, which will be described in detail below.
Referring to fig. 1, fig. 1 is a schematic view of an implementation environment of a vehicle brake control method according to an exemplary embodiment of the present application.
Referring to fig. 1, an implementation environment may include a smart car 101, a computer device 102. The computer device 102 may be at least one of a microcomputer, an embedded computer, a neural network computer, and the like. The computer device 102 is used to determine a vehicle braking command, detect if there is brake failure information, and execute the vehicle braking command. The intelligent driving car 101 is used to collect vehicle state information and vehicle environment information and provide the information to the computer device 102 for subsequent execution.
Illustratively, after acquiring the vehicle state information and the vehicle environment information, the computer device 102 determines a vehicle braking instruction according to the vehicle state information and the vehicle environment information, executes the vehicle braking instruction through the main control unit and/or the backup control unit, and if braking failure information is detected, determines a target control unit from the main control unit and the backup control unit according to a failure source in the braking failure information, and executes the vehicle braking instruction through the target control unit so as to perform braking control on the vehicle. Therefore, the technical scheme of the embodiment of the application can realize that the vehicle braking instruction can be determined according to the vehicle state information and the vehicle environment information in the automatic driving process of the vehicle, if the single control unit fails due to the braking fault, the control unit is switched to the other control unit, so that the other control unit executes the vehicle braking instruction, and the robustness of the vehicle braking control system and the safety of the automatic braking of the automatic driving process of the vehicle are improved by the double control units.
It should be noted that, the vehicle brake control method provided in the embodiment of the present application is generally executed by the computer device 102, and accordingly, the vehicle brake control apparatus is generally disposed in the computer device 102.
Referring to fig. 2, fig. 2 is a flowchart illustrating a vehicle brake control method according to an exemplary embodiment of the present application. The method may be applied to the implementation environment shown in fig. 1 and executed in particular by the computer device 102 in the implementation environment. It should be understood that the method may be adapted to other exemplary implementation environments and be specifically executed by devices in other implementation environments, and the implementation environments to which the method is adapted are not limited by the present embodiment.
Referring to fig. 2, in an exemplary embodiment, the vehicle brake control method at least includes steps S210 to S220, and is described in detail as follows:
step S210, acquiring vehicle state information and vehicle environment information, and determining a vehicle braking instruction according to the vehicle state information and the vehicle environment information.
In one embodiment of the present application, vehicle state information and vehicle environment information may be collected by the intelligent driving automobile 101 and transmitted to the computer device 102, the vehicle state information may include at least one of gear, speed, acceleration and deceleration, torque, rotation speed, etc., and the vehicle environment information may include at least one of illuminance around the vehicle, motor vehicle, non-motor vehicle, pedestrian, lane line, traffic light, traffic sign, etc. After the vehicle state information and the vehicle environment information are acquired, the vehicle state information and the vehicle environment information are imported into a pre-trained neural network model for reinforcement learning so as to obtain a vehicle braking instruction.
The pre-trained neural network model is trained based on historical control data. In the automatic driving process, different vehicle state information and vehicle environment information correspond to different vehicle braking instructions, so that certain response (corresponding vehicle control instructions are generated) is provided for the different vehicle state information and the vehicle environment information in the training process, and after the response, strengthening information (rewards or punishments) is fed back to acquire more accurate vehicle control instructions or responses. The history control data includes at least history vehicle state information, history vehicle environment information, and a vehicle brake command generated in response to each of the history vehicle state information and the history vehicle environment information. Deep Q-Learning (Deep Q-Learning) may be used as a Learning algorithm to learn, train the neural network model according to a large amount of historical control data, and load the trained neural network model onto the computer device 102, where the neural network model learns according to vehicle state information and vehicle environment information to give corresponding vehicle braking instructions.
It should be appreciated that one skilled in the art may also process the acquired vehicle state information and vehicle environment information by other methods to determine a vehicle braking command, without limitation.
Step S220, executing a vehicle braking instruction through the main control unit and/or the backup control unit, if braking fault information is detected, determining a target control unit from the main control unit and the backup control unit according to a fault source in the braking fault information, and executing the vehicle braking instruction through the target control unit so as to perform braking control on the vehicle.
In one embodiment of the present application, if no braking failure information is detected, at least one of the default main control unit and the backup control unit processes and executes the vehicle braking instruction to brake the vehicle, and the default main control unit may process and execute the vehicle braking instruction alone, or the default backup control unit may process and execute the vehicle braking instruction alone, or the default main control unit and the backup control unit process the vehicle braking instruction at the same time, and then the main control unit or the backup control unit performs the wheel braking alone, or other default modes set by those skilled in the art. It should be understood that executing the vehicle brake command includes processing the vehicle brake command and specific execution of the wheel brake, for example, the control unit converts the vehicle brake command into specific brake parameters such as brake torque and brake force through logic calculation, and then executes the wheel brake according to the brake parameters.
In this embodiment, if the braking failure information is detected, it is determined whether the main control unit and the backup control unit can receive and execute the vehicle braking instruction by identifying a failure source in the braking failure information, and the vehicle braking instruction can be received and executed, that is, the target control unit, and the vehicle braking instruction is executed by the target control unit to brake the vehicle. If the failure source does not affect the normal operation of the main control unit and the backup control unit, that is, both can receive and execute the vehicle braking instruction, at least one of the default main control unit and the backup control unit executes the vehicle braking instruction to brake the vehicle, and the specific default mode may be consistent with the default mode in which the braking failure information is not detected, which is not described herein again. For example, when the failure source is only either one of the first power source and the second power source, the other power source continues to supply power, and therefore does not affect the main control unit and the backup control unit to receive and execute the vehicle brake command, in which case at least one of the main control unit and the backup control unit needs to execute the vehicle brake command by default.
In this embodiment, whether brake failure information is detected may be determined by whether a failure status word is received, where the failure status word refers to a failure status bit in the status word being set to 1, and if the failure status word is received, it indicates that brake failure information is detected, and the source of the failure status word is the failure source. The brake failure information may include at least one of communication bus failure information, power failure information, control unit failure information, and the like. It should be understood that there may be various ways of detecting the fault, and other detecting ways besides the above-mentioned detecting ways may be set by those skilled in the art, and the present invention is not limited thereto.
In one embodiment of the present application, before determining the target control unit from the primary control unit and the backup control unit according to the failure source in the brake failure information, the method includes the steps of:
in step S2201, a target bus is determined from the first bus and the second bus according to the fault source, so that the target bus transmits a vehicle brake instruction.
In one embodiment of the present application, the communication bus includes a first bus and a second bus, and before determining the target control unit, it is further required to determine whether the communication bus has a fault according to the fault source. If any bus in the communication buses has faults, determining the fault-free bus from the first bus and the second bus as a target bus according to a fault source. And transmitting the issued vehicle braking instruction to the target control unit through the target bus. If the communication bus is not faulty, at least one of the first bus and the second bus is defaulted to transmit a vehicle braking command, the specific default mode being determined by a person skilled in the art. Illustratively, the first bus and the second bus may default to transmitting vehicle brake commands simultaneously. According to the technical scheme, when any one of buses has communication faults, the vehicle braking instruction can be transmitted to the target control unit through double-bus communication, and the robustness of the vehicle braking control system and the safety of automatic braking and braking of automatic driving of the automobile are further improved through the double-control unit and the double-communication buses.
In step S2202, if the failure source is the first bus, the second bus is determined as the target bus.
In one embodiment of the present application, if the fault source is the first bus, i.e. when the first bus has a fault, the second bus is determined as the target bus, and the vehicle brake command is transmitted to the target control unit through the second bus.
In step S2203, if the fault source is the second bus, the first bus is determined as the target bus.
In one embodiment of the present application, if the fault source is the second bus, i.e. when the second bus has a fault, the first bus is determined as the target bus, and the vehicle brake command is transmitted to the target control unit through the first bus.
In one embodiment of the present application, before determining the target control unit from the primary control unit and the backup control unit according to the failure source in the brake failure information, the method further includes the following steps:
in step S2204, a target power source is determined from the first power source and the second power source according to the fault source, and power is supplied through the target power source.
In one embodiment of the present application, a dual power supply may be used, including a first power supply and a second power supply, to ensure that the brake system is powered properly before the target control unit is determined, so that it is necessary to determine whether the power supply has a fault according to the fault source. If any one of the two-way power supplies has a fault, the fault-free power supply is required to be determined from the first power supply and the first power supply to serve as a target power supply, so that power is supplied through the target power supply, and the sufficient power supply of the braking system is ensured. If neither power source fails, at least one of the first power source and the second power source is defaulted to supply power, and the specific defaulting mode is determined by a person skilled in the art. Illustratively, the first power source and the second power source may be powered simultaneously by default. According to the technical scheme, when any one of the power supplies fails, the braking system is not powered off, and the robustness of the vehicle braking control system and the safety of automatic braking of automatic driving of the automobile are further improved by the aid of the double control units and the double power supplies.
In step S2205, if the fault source is the first power source, the second power source is determined as the target power source.
In one embodiment of the present application, if the fault source is a first power source, that is, when the first power source has a fault, the second power source is determined to be a target power source, and power is supplied through the second power source.
In step S2206, if the fault source is the second power source, the first power source is determined as the target power source.
In one embodiment of the present application, if the fault source is the second power source, that is, when the second power source has a fault, the first power source is determined as the target power source, and power is supplied through the first power source.
In one embodiment of the present application, if brake failure information is detected, determining a target control unit from a primary control unit and a backup control unit according to a failure source in the brake failure information includes the following steps:
if the continuous period of the fault state word of the fault source exceeds a preset period threshold, determining a target control unit from the main control unit and the backup control unit according to the fault source, wherein the braking fault information comprises the continuous period of the fault state word of the fault source.
In this embodiment, since some faults may be self-recovered in a short time, such as an instantaneous fault, when the brake fault information is detected, in order to avoid repeated switching of the control unit due to the fault being self-recovered in a short time, the fault status word duration period of the fault source in the brake fault information may be compared with a preset period threshold. If the continuous period of the fault status word exceeds a preset period threshold value, determining a target control unit from the main control unit and the backup control unit according to a fault source; and if the continuous period of the fault state word does not exceed the preset period threshold value, judging that the brake fault information is not detected. Illustratively, the preset period threshold may be 5, or some integer greater than 5, or other value set by one of ordinary skill in the art.
In one embodiment of the present application, if the brake failure information is detected, determining the target control unit from the primary control unit and the backup control unit according to the failure source in the brake failure information, further includes the following steps:
in step S221, if the failure source is the first bus or the primary control unit, the backup control unit is determined as the target control unit.
In one embodiment of the present application, if the failure source is the first bus or the main control unit, that is, if any one of the first bus and the main control unit fails, the vehicle braking command cannot be transmitted to the main control unit, the backup control unit is determined as the target control unit, that is, the vehicle braking command is transmitted to the backup control unit, so that the backup control unit receives and executes the vehicle braking command, thereby performing braking control on the vehicle.
In step S222, if the failure source is the first bus and the primary control unit, the backup control unit is determined as the target control unit.
In one embodiment of the present application, if the failure source is the first bus and the main control unit, that is, if the first bus and the main control unit have a failure at the same time, the vehicle braking command cannot be transmitted to the main control unit, the backup control unit is determined as the target control unit, that is, the vehicle braking command is transmitted to the backup control unit, so that the backup control unit receives and executes the vehicle braking command, thereby performing braking control on the vehicle.
In step S223, if the failure source is the second bus or the backup control unit, the main control unit is determined as the target control unit.
In one embodiment of the present application, if the failure source is the second bus or the backup control unit, that is, if any one of the second bus and the backup control unit fails, the vehicle braking command cannot be transmitted to the backup control unit, the main control unit is determined as the target control unit, that is, the vehicle braking command is transmitted to the main control unit, so that the main control unit receives and executes the vehicle braking command, thereby performing braking control on the vehicle.
In step S224, if the failure source is the second bus and the backup control unit, the main control unit is determined as the target control unit.
In one embodiment of the present application, if the failure source is the second bus or the backup control unit, that is, if there is a failure in both the second bus and the backup control unit, the vehicle braking command cannot be transmitted to the backup control unit, the main control unit is determined as the target control unit, that is, the vehicle braking command is transmitted to the main control unit, so that the main control unit receives and executes the vehicle braking command, thereby performing braking control on the vehicle.
In an embodiment of the present application, if the fault source is the first power source or the second power source, at this time, the fault source does not affect the normal operation of the main control unit and the backup control unit, and at least one of the default main control unit and the backup control unit executes a vehicle braking instruction to brake the vehicle, and a specific default manner may be consistent with the default manner in which the braking fault information is not detected, which is not described herein again.
According to the vehicle braking control method, when the single control unit is possibly invalid due to multiple faults such as single communication faults, single control unit faults and single power supply faults, the vehicle braking instruction can be received through the other control unit, the braking processing flow is completed according to the vehicle braking instruction, and the robustness of a vehicle braking control system and the safety of automatic braking of automatic driving of an automobile are improved to a certain extent.
Referring to fig. 3, fig. 3 is a block diagram of a vehicle brake control device according to an exemplary embodiment of the present application. The apparatus may be applied in the implementation environment shown in fig. 1 and is specifically configured in the computer device 102. The apparatus may also be adapted to other exemplary implementation environments and may be specifically configured in other devices, and the present embodiment is not limited to the implementation environments to which the apparatus is adapted.
Referring to fig. 3, the exemplary vehicle brake control apparatus includes:
a processing module 310, configured to acquire vehicle state information and vehicle environment information, and determine a vehicle braking instruction according to the vehicle state information and the vehicle environment information; and the braking module 320 is configured to execute a vehicle braking instruction through the main control unit 321 and/or the backup control unit 322, and if braking failure information is detected, determine a target control unit from the main control unit 321 and the backup control unit 322 according to a failure source in the braking failure information, and execute the vehicle braking instruction through the target control unit so as to perform braking control on the vehicle.
In one embodiment of the present application, the processing module 310 is coupled to the braking module 320. The processing module 310 is configured to obtain vehicle state information and vehicle environment information, determine whether to generate a vehicle braking instruction according to the vehicle state information and the vehicle environment information, and send the vehicle braking instruction to the braking module 320 if the vehicle braking instruction is generated. The processing module 310 includes an information acquisition unit 311 and an instruction determination unit 312. The braking module 320 is configured to receive the vehicle braking command sent by the processing module 310, and execute the vehicle braking command to perform braking control on the vehicle. In addition, the braking module 320 is further configured to detect whether braking failure information exists. If no brake failure information is detected, executing a vehicle brake instruction by default through at least one of the main control unit 321 and the backup control unit 322; if the brake failure information is detected, a target control unit is determined from the main control unit 321 and the backup control unit 322 according to a failure source in the brake failure information, and a vehicle brake command is executed by the target control unit to perform brake control on the vehicle. The brake module 320 includes a main control unit 321 and a backup control unit 322.
In one embodiment of the present application, the vehicle brake control device further includes a first bus 331 and a second bus 332 for transmitting a vehicle brake command; the main control unit 321 is connected to the processing module 310 through a first bus 331, and the backup control unit 322 is connected to the processing module 310 through a second bus 332.
In this embodiment, the processing module 310 is connected to the braking module 320 through the first bus 331 and the second bus 332, the processing module 310 transmits the generated vehicle braking instruction to the first bus 331 and the second bus 332, and transmits the vehicle braking instruction to the braking module 320 through the first bus 331 and the second bus 332. The processing module 310 is connected with the main control unit 321 through the first bus 331, that is, the processing module 310 sends the generated vehicle braking instruction to the main control unit 321 through the first bus 331; the processing module 310 is connected to the backup control unit 322 via the second bus 332, i.e., the processing module 310 transmits the generated vehicle brake command to the backup control unit 322 via the second bus 332. It should be understood that the connection between the brake module 320 and the processing module 310 may be various, and the connection between the main control unit 321 and the processing module 310 may be other than the connection described above, and the backup control unit 322 may be connected to the processing module 310 through the first bus 331 by the second bus 332; or the main control unit 321 and the backup control unit 322 are simultaneously connected with the processing module 310 through the first bus 331, and the main control unit 321 and the backup control unit 322 are simultaneously connected with the processing module 310 through the second bus 332; or other connection means as would be set by one skilled in the art.
In one embodiment of the present application, the vehicle brake control device further includes a first power source 341 and a second power source 342, the first power source 341 and the second power source 342 being connected to the brake module 320 for supplying power to the brake module 320.
In this embodiment, the vehicle brake control device further includes a first power source 341 and a second power source 342, and the sources of the two power supply ends of the first power source 341 and the second power source 342 are different. When either one of the first power source 341 and the second power source 342 fails, the other power source may continue to supply power to the brake module 320.
According to the vehicle brake control device provided by the embodiment of the application, when a single control unit is possibly invalid due to multiple faults such as single communication faults, single control unit faults, single power supply faults and the like, a vehicle brake instruction can be received through another control unit, a brake processing flow is completed according to the vehicle brake instruction, and the robustness of the vehicle brake control device (vehicle brake control system) and the safety of automatic braking and braking of automatic driving of an automobile are improved to a certain extent.
It should be noted that, the vehicle brake control device provided in the foregoing embodiment and the vehicle brake control method provided in the foregoing embodiment belong to the same concept, and the specific manner in which each module and unit perform the operation has been described in detail in the method embodiment, which is not repeated here. In practical application, the vehicle brake control device provided in the above embodiment may be configured to distribute the functions by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above, which is not limited herein.
Referring to fig. 4, fig. 4 is a schematic structural operation diagram of a vehicle brake control system according to an exemplary embodiment. The system may be applied to the implementation environment shown in fig. 1 and is specifically configured in the computer device 102. The system may be adapted to other exemplary implementation environments and may be specifically configured in other devices, and the present embodiment is not limited to the implementation environments to which the system is adapted.
Referring to fig. 4, the vehicle brake control system includes a sensing sensor module, a whole vehicle information module, an automatic driving domain control module, and a brake control module. The output interfaces of the sensing sensor module and the whole vehicle information module are connected with the input interface of the automatic driving domain control module, the output interface of the automatic driving domain control module is connected with the input interface of the brake control module, and the output interface of the brake control module is connected with the input interface of the whole vehicle information module.
The sensing sensor module is used for acquiring vehicle environment information, bearing eyes of an automatic driving automobile, sensing traffic environment around the automobile and surrounding traffic participants, wherein the acquired vehicle environment information comprises at least one of motor vehicles, non-motor vehicles, pedestrians, lane lines, traffic lights, traffic marks and the like, and the sensing sensor module sends the vehicle environment information such as pictures, point clouds and the like to the automatic driving domain control module for processing through the communication interface.
And the whole vehicle information module is used for acquiring vehicle state information, including at least one of gear, speed, acceleration and deceleration, torque, rotation speed and the like, and sending the acquired vehicle state information to the automatic driving domain control module for processing.
And the automatic driving domain control module is used for sending a vehicle control instruction of longitudinal control and/or transverse control to the brake control module after receiving the vehicle environment information sent by the sensing sensor module and the vehicle state information sent by the whole vehicle information module and performing sensing, prediction, planning and control algorithm calculation.
And the braking control module is used for calculating expected braking torque and braking force through a controller (control unit) after receiving an expected deceleration braking signal (vehicle control instruction) sent by the automatic driving domain control module, braking the wheels and feeding back a braking result to the whole vehicle information module and the automatic driving domain control module so as to enable the braking to be comfortable and stable.
It should be understood that the functions of the sensor module and the whole vehicle information module in this embodiment are consistent with the functions of the information acquisition unit in the processing module in another embodiment of the present application, the functions of the autopilot domain control module in this embodiment are consistent with the functions of the instruction determination unit in the processing module in another embodiment of the present application, and the functions of the brake control module in this embodiment are consistent with the functions of the brake module in another embodiment of the present application.
Referring to FIG. 5, a schematic block diagram of a vehicle brake control system is shown in an exemplary embodiment in FIG. 5. The system may be applied to the implementation environment shown in fig. 1 and is specifically configured in the computer device 102. The system may be adapted to other exemplary implementation environments and may be specifically configured in other devices, and the present embodiment is not limited to the implementation environments to which the system is adapted.
Referring to fig. 5, the system adopts two-way CAN bus communication, including can_a (first bus) and can_b (second bus); two paths of power supplies are adopted for power supply, wherein the power supplies comprise a power supply A (a first power supply) and a power supply B (a second power supply); and braking by adopting a double control unit. The braking control module of the system comprises a double control unit, namely MCU_A (main control unit) and MCU_B (backup control unit), a double communication bus chip, namely CAN chip A and CAN chip B, and a double power supply unit, namely power supply unit A and power supply unit B. The automatic driving domain control module is connected with a CAN chip A in the brake control module through CAN_A and connected with a CAN chip B in the brake control module through CAN_B; in the brake control module, a CAN chip A is connected with an MCU_A, a CAN chip B is connected with an MCU_B, and the MCU_A is connected with the MCU_B; the power supply A is connected with a power supply unit A in the brake control module, and the power supply B is connected with a power supply unit B in the brake control module. The automatic driving domain control module and the brake control module are communicated by adopting double CAN buses, so that communication redundancy is met. The brake control module adopts a double MCU chip, and the MCU_A and the MCU_B simultaneously receive and process a brake signal request (vehicle brake instruction) sent by the automatic driving domain control module, so as to meet the brake control redundancy. In addition, the power supply end adopts a two-way power supply to supply power to the brake control module, and when one power supply fails, the other power supply continues to supply power, so that the vehicle brake can be normally completed, and the power supply redundancy is met. The working principle of the system is as follows:
The automatic driving domain control module performs logic calculation according to the received vehicle state information and the vehicle environment information to determine a vehicle braking instruction, and outputs the vehicle braking instruction through CAN_A and CAN_B so that the braking control module receives and executes the vehicle braking instruction. The brake control module receives the vehicle brake command through the double communication bus chips, namely the CAN chip A and the CAN chip B, transmits the vehicle brake command to the MCU_A and the MCU_B, and the MCU_A and the MCU_B execute the vehicle brake command and are connected with the MCU_B so as to carry out information synchronous sharing and diagnosis (detection).
When the automatic driving vehicle wakes up and starts, the brake control module carries out channel assignment, the main control unit defaults to MCU_A and the main communication defaults to CAN_A, the backup control unit defaults to MCU_B and the backup communication defaults to CAN_B, the MCU_A and the MCU_B CAN simultaneously receive and process the vehicle brake instruction sent by the automatic driving domain control module to obtain a processing result (brake parameter), the processing result is sent out through CAN_A and CAN_B, and the MCU_A or MCU_B carries out wheel braking according to the processing result. When the braking fault information is detected, for example, when the MCU_A fails to process a vehicle braking instruction and other signals, or when the MCU_A receives a CAN_A bus fault state word and the duration period exceeds a preset period threshold value, the MCU_A executes the vehicle braking instruction to ensure that the vehicle is braked safely, a braking processing flow is completed, and the robustness of a vehicle braking control system and the safety of automatic braking of automatic driving of the vehicle are improved. Illustratively, the preset period threshold may be 5, or other values set by those skilled in the art. It should be appreciated that when no braking failure information is detected, the mcu_a and the mcu_b may simultaneously receive and process the vehicle braking command sent by the autopilot domain control module, obtain braking parameters such as braking torque and braking force, and then execute the wheel braking by the default control unit according to the braking parameters, where a specific default manner may be determined by those skilled in the art.
It should be noted that MCU (Microcontroller Unit) is a micro control unit, also called a single-chip microcomputer (Single Chip Microcomputer) or a single-chip microcomputer, and is characterized in that the frequency and specification of a central processing unit (Central Process Unit; CPU) are properly reduced, and a memory (memory), a counter (Timer), a USB (Universal Serial Bus, a universal serial bus), an a/D converter (Analog to Digital Converter, an analog-to-digital converter), a UART (Universal Asynchronous Receiver/transceiver, a universal asynchronous receiver/Transmitter), a PLC (Programmable Logic Controller, a programmable logic controller), a DMA (Direct Memory Access ) and other peripheral interfaces, and even LCD (Liquid Crystal Display ) driving circuits are integrated on a single chip to form a chip-level computer, so as to perform different combination control for different application occasions.
Embodiments of the present application also provide a vehicle including the vehicle brake control device provided in each of the above embodiments.
The embodiment of the application also provides electronic equipment, which comprises: one or more processors; and a storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the vehicle brake control method provided in the respective embodiments described above.
Referring to fig. 6, fig. 6 is a schematic diagram of a computer system suitable for implementing the electronic device according to the embodiments of the present application. It should be noted that, the computer system 600 of the electronic device shown in fig. 6 is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present application.
Referring to fig. 6, the computer system 600 includes a central processing unit (Central Processing Unit, CPU) 601, which can perform various appropriate actions and processes according to a program stored in a Read-Only Memory (ROM) 602 or a program loaded from a storage section 608 into a random access Memory (Random Access Memory, RAM) 603, for example, performing the method described in the above embodiment. In the RAM 603, various programs and data required for system operation are also stored. The CPU 601, ROM 602, and RAM 603 are connected to each other through a bus 604. An Input/Output (I/O) interface 605 is also connected to bus 604.
The following components are connected to the I/O interface 605: an input portion 606 including a keyboard, mouse, etc.; an output portion 607 including a Cathode Ray Tube (CRT), a liquid crystal display (Liquid Crystal Display, LCD), and a speaker, etc.; a storage section 608 including a hard disk and the like; and a communication section 609 including a network interface card such as a LAN (Local Area Network ) card, a modem, or the like. The communication section 609 performs communication processing via a network such as the internet. The drive 610 is also connected to the I/O interface 605 as needed. Removable media 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed as needed on drive 610 so that a computer program read therefrom is installed as needed into storage section 608.
In particular, according to embodiments of the present application, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication portion 609, and/or installed from the removable medium 611. When executed by a Central Processing Unit (CPU) 601, performs the various functions defined in the system of the present application.
It should be noted that, the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (Erasable Programmable Read Only Memory, EPROM), flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with a computer-readable computer program embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, systems, methods and computer program products according to various embodiments of the present application. Where each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present application may be implemented by means of software, or may be implemented by means of hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
Another aspect of the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform the vehicle brake control method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment or may exist alone without being incorporated in the electronic device.
Another aspect of the present application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions so that the computer device executes the vehicle brake control method provided in the above-described respective embodiments.
The above embodiments are merely illustrative of the principles of the present application and its effectiveness and are not intended to limit the present application. Modifications and variations may be made to the above-described embodiments by those of ordinary skill in the art without departing from the spirit and scope of the present application. It is therefore contemplated that the appended claims will cover all such equivalent modifications and changes as fall within the true spirit and scope of the disclosure.
Claims (11)
1. A vehicle brake control method, characterized by comprising:
acquiring vehicle state information and vehicle environment information, and determining a vehicle braking instruction according to the vehicle state information and the vehicle environment information;
and executing the vehicle braking instruction through a main control unit and/or a backup control unit, and if braking fault information is detected, determining a target control unit from the main control unit and the backup control unit according to a fault source in the braking fault information, and executing the vehicle braking instruction through the target control unit so as to perform braking control on the vehicle.
2. The vehicle brake control method according to claim 1, wherein determining a target control unit from the main control unit and the backup control unit according to a failure source in the brake failure information if the brake failure information is detected, comprises:
and if the continuous period of the fault state word of the fault source exceeds a preset period threshold, determining the target control unit from the main control unit and the backup control unit according to the fault source, wherein the braking fault information comprises the continuous period of the fault state word of the fault source.
3. The vehicle brake control method according to any one of claims 1 or 2, characterized in that if brake failure information is detected, a target control unit is determined from the main control unit and the backup control unit according to a failure source in the brake failure information, further comprising:
if the fault source is a first bus or the main control unit, determining the backup control unit as the target control unit;
if the fault source is the first bus and the main control unit, determining the backup control unit as the target control unit;
if the fault source is a second bus or the backup control unit, determining the main control unit as the target control unit;
and if the fault source is the second bus and the backup control unit, determining the main control unit as the target control unit.
4. The vehicle brake control method according to claim 1, characterized in that before determining a target control unit from the main control unit and the backup control unit according to a failure source in the brake failure information, the vehicle brake control method includes:
Determining a target bus from the first bus and the second bus according to the fault source so that the target bus transmits the vehicle braking instruction;
if the fault source is the first bus, determining the second bus as the target bus;
and if the fault source is the second bus, determining the first bus as the target bus.
5. The vehicle brake control method according to claim 1, characterized in that before determining a target control unit from the main control unit and the backup control unit according to a failure source in the brake failure information, the vehicle brake control method further comprises:
determining a target power supply from a first power supply and a second power supply according to the fault source, and supplying power through the target power supply;
if the fault source is the first power supply, determining the second power supply as the target power supply;
and if the fault source is the second power supply, determining the first power supply as the target power supply.
6. A vehicle brake control apparatus, characterized by comprising:
the processing module is used for acquiring vehicle state information and vehicle environment information and determining a vehicle braking instruction according to the vehicle state information and the vehicle environment information;
And the braking module is used for executing the vehicle braking instruction through the main control unit and/or the backup control unit, and if braking fault information is detected, determining a target control unit from the main control unit and the backup control unit according to a fault source in the braking fault information, and executing the vehicle braking instruction through the target control unit so as to perform braking control on the vehicle.
7. The vehicle brake control apparatus according to claim 6, characterized in that the vehicle brake control apparatus further includes a first bus and a second bus for transmitting the vehicle brake command;
the main control unit is connected with the processing module through the first bus, and the backup control unit is connected with the processing module through the second bus.
8. The vehicle brake control apparatus according to claim 6, further comprising a first power source and a second power source, the first power source and the second power source being connected to the brake module for supplying power to the brake module.
9. A vehicle characterized in that it includes the vehicle brake control apparatus according to any one of claims 6 to 8.
10. An electronic device, the electronic device comprising:
one or more processors;
storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the vehicle brake control method according to any one of claims 1 to 5.
11. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to execute the vehicle brake control method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211341177.9A CN116022116A (en) | 2022-10-30 | 2022-10-30 | Vehicle brake control method and device, vehicle, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211341177.9A CN116022116A (en) | 2022-10-30 | 2022-10-30 | Vehicle brake control method and device, vehicle, electronic equipment and storage medium |
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| CN116022116A true CN116022116A (en) | 2023-04-28 |
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| CN202211341177.9A Withdrawn CN116022116A (en) | 2022-10-30 | 2022-10-30 | Vehicle brake control method and device, vehicle, electronic equipment and storage medium |
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