CN116653901A

CN116653901A - Parking brake control method, system, device and vehicle

Info

Publication number: CN116653901A
Application number: CN202310936060.3A
Authority: CN
Inventors: 谷文豪
Original assignee: Xiaomi Automobile Technology Co Ltd
Current assignee: Xiaomi Automobile Technology Co Ltd
Priority date: 2023-07-28
Filing date: 2023-07-28
Publication date: 2023-08-29

Abstract

The present disclosure proposes a parking brake control method, system, device and vehicle, the parking brake control method being executed by a first micro control unit, comprising: under the condition that a parking brake request and fault indication information sent by a second micro control unit are received, a first control instruction is generated according to the parking brake request, wherein the fault indication information is used for indicating a fault event of the second micro control unit, and the first parking brake and/or the second parking brake are controlled to carry out parking braking according to the first control instruction, so that the first micro control unit can directly trigger and generate the first control instruction for carrying out the parking braking based on the parking brake request when the parking brake request is received and the second micro control unit fails, redundant parking braking is effectively achieved, response efficiency of the redundant parking braking can be effectively improved, and time delay of a redundant parking brake implementation process is reduced.

Description

Parking brake control method, system, device and vehicle

Technical Field

The disclosure relates to the technical field of vehicles, and in particular relates to a parking brake control method, a parking brake control system, a parking brake control device and a vehicle.

Background

In order to avoid potential safety hazards to vehicle driving caused by the fact that the vehicle loses parking braking capability in the running process of the vehicle, a redundant parking braking scheme is usually set for the vehicle, namely, when a certain parking braking scheme fails in the executing process, another redundant parking braking scheme is started to perform parking braking on the vehicle, and therefore safety of vehicle driving is improved.

In the related art, the time delay of the implementation process of the redundant parking brake is relatively large.

Disclosure of Invention

To overcome the problems in the related art, the present disclosure provides a parking brake control method, system, device, vehicle, and computer program product, a first micro control unit, a second micro control unit, and a domain controller.

The parking brake control method provided by the embodiment of the first aspect of the present disclosure is executed by a first micro control unit, and includes: and under the condition that the parking brake request and the fault indication information sent by the second micro control unit are received, generating a first control instruction according to the parking brake request, wherein the fault indication information is used for indicating the second micro control unit to generate a fault event, and controlling the first parking brake and/or the second parking brake to carry out parking braking according to the first control instruction.

The parking brake control method provided by the embodiment of the second aspect of the disclosure is executed by a second micro control unit, and includes: monitoring a fault event; and generating and sending fault indication information to the first micro control unit, wherein the fault indication information is used for indicating the second micro control unit to generate a fault event.

The first micro control unit according to the embodiment of the third aspect of the present disclosure is configured to execute the parking brake control method according to the embodiment of the first aspect.

The second micro control unit according to the fourth aspect of the present disclosure is configured to perform the parking brake control method according to the second aspect of the present disclosure.

The domain controller provided by the embodiment of the fifth aspect of the present disclosure includes: the first micro control unit according to the embodiment of the third aspect of the present disclosure, and the second micro control unit according to the embodiment of the fourth aspect of the present disclosure.

A parking brake control system according to an embodiment of the sixth aspect of the present disclosure includes: the first micro-control unit, the second micro-control unit, the first parking brake and the second parking brake; the first micro control unit is used for generating a first control instruction according to the parking brake request under the condition that the parking brake request and fault indication information sent by the second micro control unit are received, and controlling the first parking brake and/or the second parking brake to perform parking braking according to the first control instruction, wherein the fault indication information is used for indicating the second micro control unit to generate a fault event; the second micro control unit is used for monitoring a fault event, generating and sending fault indication information to the first micro control unit, wherein the fault indication information is used for indicating the fault event of the second micro control unit.

The parking brake control device provided by the embodiment of the seventh aspect of the disclosure is applied to the first micro control unit; the device comprises: the receiving module is used for generating a first control instruction according to the parking brake request under the condition that the parking brake request and fault indication information sent by the second micro control unit are received, wherein the fault indication information is used for indicating the second micro control unit to generate a fault event; and the control module is used for controlling the first parking brake and/or the second parking brake to perform parking braking according to the first control instruction.

The parking brake control device provided by the eighth aspect of the present disclosure is applied to the second micro control unit; the device comprises: the monitoring module is used for monitoring a fault event; the generating module is used for generating and sending fault indication information to the first micro control unit, wherein the fault indication information is used for indicating the second micro control unit to generate a fault event.

An embodiment of a ninth aspect of the present disclosure provides a vehicle, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to: the method for controlling the parking brake according to the embodiment of the first aspect of the present disclosure is realized, or the method for controlling the parking brake according to the embodiment of the second aspect of the present disclosure is realized.

An embodiment of a tenth aspect of the present disclosure proposes a computer program product which, when executed by a processor, performs or implements a parking brake control method as proposed by an embodiment of the first aspect of the present disclosure.

The parking brake control method provided by the embodiment of the disclosure may include the following beneficial effects: under the condition that a parking brake request and fault indication information sent by a second micro control unit are received, a first control instruction is generated according to the parking brake request, wherein the fault indication information is used for indicating a fault event of the second micro control unit, and the first parking brake and/or the second parking brake are controlled to carry out parking braking according to the first control instruction, so that the first micro control unit can directly trigger and generate the first control instruction for carrying out the parking braking based on the parking brake request when the parking brake request is received and the second micro control unit fails, redundant parking braking is effectively realized, the response efficiency of the redundant parking braking can be effectively improved, and the time delay of the implementation process of the redundant parking braking is reduced.

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 disclosure.

Drawings

The foregoing and/or additional aspects and advantages of the present disclosure will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a flow chart illustrating a method of parking brake control according to some embodiments of the present disclosure;

FIG. 2 is a flow chart illustrating a method of parking brake control according to some embodiments of the present disclosure;

FIG. 3 is a flow chart illustrating a method of parking brake control according to some embodiments of the present disclosure;

FIG. 4 is a flow chart illustrating a method of parking brake control according to some embodiments of the present disclosure;

FIG. 5 is a block diagram of a first micro-control unit, shown according to some embodiments of the present disclosure;

FIG. 6 is a block diagram of a second micro-control unit, shown according to some embodiments of the present disclosure;

FIG. 7 is a block diagram of a domain controller, shown according to some embodiments of the present disclosure;

FIG. 8 is a block diagram of a parking brake control system shown in accordance with some embodiments of the present disclosure;

FIG. 9 is a block diagram of a parking brake control apparatus shown in accordance with some embodiments of the present disclosure;

FIG. 10 is a block diagram of a parking brake control apparatus shown in accordance with some embodiments of the present disclosure;

FIG. 11 is a block diagram of a vehicle, according to an exemplary embodiment.

Detailed Description

Reference will now be made in detail to some embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. Various changes, modifications, and equivalents of the methods, devices, and/or systems described herein will become apparent after an understanding of the present disclosure. For example, the order of operations described herein is merely an example and is not limited to those set forth herein, but may be altered as will become apparent after an understanding of the disclosure, except where necessary to perform the operations in a particular order. In addition, descriptions of features known in the art may be omitted for the sake of clarity and conciseness.

The implementations described below in some examples of the disclosure are not representative of all implementations consistent with the disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.

Fig. 1 is a flowchart of a parking brake control method, as shown in fig. 1, according to some embodiments of the present disclosure, including the steps of:

in order to facilitate description of the parking brake control method according to the embodiment of the present disclosure, first, other units associated with the first micro control unit, that is, the first micro control unit and the second micro control unit are in communication connection, the first micro control unit is in communication connection with the first execution unit and the second execution unit, the first execution unit is connected with a first parking brake, and the second execution unit is connected with a second parking brake.

For convenience in explaining the redundant parking scheme of the embodiment of the present disclosure, the first micro control unit is taken as a redundant micro control unit, and the second micro control unit is taken as a main control unit, that is, in a scenario where the redundant parking brake is not required to be triggered, the parking brake is generally performed based on the second micro control unit, and in a scenario where the redundant parking brake is required to be triggered, the parking brake is performed based on the redundant micro control unit (the first micro control unit), which is not limited.

S101: and under the condition that the parking brake request and fault indication information sent by the second micro control unit are received, generating a first control instruction according to the parking brake request.

The parking brake request may be used to trigger the vehicle to perform parking braking, and the parking brake request may be, for example, a P-gear cut-in command of the vehicle, which is not limited thereto.

In the embodiment of the disclosure, the first micro control unit (Microcontroller Unit, mcu 1) is configured with gear management logic, that is, the first micro control unit can directly receive the parking brake request, and then, can directly trigger and execute a subsequent parking brake control method based on the parking brake request.

The fault indication information is used for indicating that the second micro control unit (Microcontroller Unit, mcu 2) has a fault event, for example, the fault event may be an event that the power supply of the second micro control unit fails, and the second micro control unit fails to be normally started due to communication failure or the like, which is not limited.

In the embodiment of the disclosure, the first micro control unit and the second micro control unit are in direct communication connection, that is, when the second micro control unit monitors a fault event, fault indication information can be sent to the first micro control unit in real time based on the direct communication connection, so that the learning efficiency of the first micro control unit on the fault indication information can be improved, and the first micro control unit can be triggered in time to implement redundant parking braking.

In some embodiments, the first micro control unit may monitor the operation process of the second micro control unit, and directly trigger to execute a subsequent parking brake control method based on the parking brake request directly when it is monitored that the second micro control unit has a fault event.

Optionally, in some embodiments, the first micro control unit and the second micro control unit are integrally disposed in the domain controller, and communication is performed between the first micro control unit and the second micro control unit by using a communication serial port inside the domain controller, so that compared with a complex communication protocol conversion required in an external communication process, the communication delay between the first micro control unit and the second micro control unit can be effectively reduced.

In the embodiment of the disclosure, the first micro control unit responds to the parking brake request, and the instruction for performing redundant parking brake control generated by combining the control logic inside the first micro control unit can be called a first control instruction.

That is, in the embodiment of the present disclosure, the first micro control unit is configured with a gear management logic and a parking brake control logic at the same time, that is, the first micro control unit can directly receive a parking brake request, and then, may directly trigger to generate a first control instruction for performing redundant parking brake control on a vehicle based on the parking brake request.

In the related art, gear control logic and parking brake control logic are respectively configured in two independent devices, redundant parking brake logic is also independently configured in control devices, if a main parking brake control device fails, fault indication information needs to be sent to the gear control device based on a bus, the gear control device responds to the fault indication information, and a parking brake request is received and sent to the redundant parking brake control device, so that the redundant parking brake control device is triggered to perform redundant parking brake.

In addition, in the related art, implementation of the redundant parking brake scheme needs to rely on two control devices, and the parking brake control method of the scheme can integrate two micro control units into a domain controller inherent to a vehicle, so that hardware cost can be saved.

Therefore, in the embodiment of the disclosure, in order to reduce the time delay of the redundant parking brake, the gear management logic and the parking brake control logic are configured in the first micro control unit, so that the parking brake request can be directly received, then, the first control instruction for performing redundant parking brake control on the vehicle can be directly triggered and generated based on the parking brake request, and the first micro control unit can directly or indirectly control the fault condition of the second micro control unit, so that the response efficiency of the redundant parking brake can be effectively improved, and the time delay of the redundant parking brake implementing process is reduced.

S102: and controlling the first parking brake and/or the second parking brake to perform parking braking according to the first control instruction.

The first parking brake and the second parking brake may be, for example: an electronic parking brake system (Electronic Parking Brake, EPB).

That is, the first micro control unit may control the first parking brake and/or the second parking brake motor to clamp based on the first control command after generating the first control command according to the parking brake request, thereby implementing the parking brake.

It should be noted that any parking brake may be applied to achieve a parking brake of the vehicle.

Optionally, in some embodiments, according to the first control instruction, the first parking brake and/or the second parking brake are controlled to perform parking braking, which may be that the first execution unit is controlled according to the first control instruction, where the first execution unit drives the first parking brake to perform parking braking when being controlled; and/or controlling the second execution unit according to the first control instruction, wherein the second execution unit drives the second parking brake to carry out parking braking when being controlled.

The actuating unit may specifically be, for example, a zone controller platform (Zonal Control Unit, ZCU), and the first actuating unit is connected to the first parking brake, so that the first actuating unit may be, for example, an actuating unit that drives the first parking brake to clamp a right wheel of the vehicle, and accordingly, the first actuating unit may be, for example, an actuating unit that drives the first parking brake to clamp a right wheel of the vehicle, which is not limited.

That is, in the embodiment of the present disclosure, the first execution unit may be controlled according to the first control instruction, where the first execution unit drives the first parking brake to perform the parking brake when being controlled; and/or control the second execution unit according to the first control instruction, wherein the second execution unit drives the second parking brake to perform parking braking when being controlled, and because the execution unit is usually an inherent component in the vehicle, parking braking cost can be effectively saved when the combined execution unit performs parking braking on the vehicle.

According to the embodiment of the disclosure, under the condition that the parking brake request and the fault indication information sent by the second micro control unit are received, a first control instruction is generated according to the parking brake request, wherein the fault indication information is used for indicating a fault event of the second micro control unit, and the first parking brake and/or the second parking brake are controlled to carry out parking braking according to the first control instruction, so that the first micro control unit can directly trigger and generate the first control instruction for carrying out parking braking based on the parking brake request when the parking brake request is received and the second micro control unit fails, redundant parking braking is effectively achieved, response efficiency of the redundant parking braking can be effectively improved, and time delay of a redundant parking braking implementation process is reduced.

Fig. 2 is a flow chart illustrating a method of parking brake control according to some embodiments of the present disclosure.

As shown in fig. 2, the parking brake control method includes the steps of:

s201: and under the condition that the parking brake request and fault indication information sent by the second micro control unit are received, generating a first control instruction according to the parking brake request.

S202: and controlling the first parking brake and/or the second parking brake to perform parking braking according to the first control instruction.

The descriptions of S201 to S202 may be specifically referred to the above embodiments, and are not repeated herein.

S203: and receiving first prompt information sent by the first execution unit, wherein the first prompt information is used for indicating the first execution unit to generate an associated fault event.

The first prompt information is used for indicating that the first execution unit generates an associated fault event, and the first execution unit generates the associated fault event refers to a fault event of other units which are connected with the first execution unit.

In an embodiment of the present disclosure, the associated fault event includes at least one of: the first execution unit generates a fault event; a first parking brake failure event; the connection between the first execution unit and the first parking brake is interrupted; the second execution unit generates a fault event; a second parking brake failure event; the connection between the second actuator unit and the second parking brake is interrupted.

The fault event may be, for example, a time when the corresponding unit fails to operate normally due to a failure of the motor, a failure of the power supply, a failure of a component, or the like, which is not limited.

In the embodiment of the disclosure, the first micro control unit and the first execution unit are in communication connection, and the communication manner may be, for example, bus communication, which is not limited.

That is, in the embodiment of the present disclosure, the first execution unit may generate and send the first prompt information to the first micro control unit based on the communication bus when the occurrence of the associated fault event is monitored.

S204: the first execution unit is switched from an on state to an off state.

In this embodiment of the present disclosure, after receiving the first prompt information sent by the first execution unit, the first micro control unit may switch the first execution unit from an on state to an off state, where when the first execution unit is in the off state, all units in a control link associated with the first execution unit cannot be started, that is, the first micro control unit cannot control the first execution unit to drive the first parking brake and/or the second parking brake to perform parking braking.

In the embodiment of the disclosure, when the first execution unit is switched from the on state to the off state, the domain control can acquire the fault condition of the first execution unit through the running states of the second execution unit, namely, all units in the associated control link, by the instrument, so that the user can be facilitated, and the subsequent maintenance work can be conveniently unfolded.

S205: and receiving second prompt information sent by the second execution unit, wherein the second prompt information is used for indicating the second execution unit to generate an associated fault event.

In the embodiment of the disclosure, the first micro control unit and the second execution unit are in communication connection, and the communication manner may be, for example, bus communication, which is not limited.

That is, in the embodiment of the present disclosure, the second execution unit may generate and send the second prompt information to the first micro control unit based on the communication bus when the occurrence of the associated fault event is detected.

S206: the second execution unit is switched from the on state to the off state.

In this embodiment of the present disclosure, after receiving the second prompt information sent by the second execution unit, the first micro control unit may switch the second execution unit from an on state to an off state, where when the second execution unit is in the off state, all units in a control link associated with the second execution unit cannot be started, that is, the first micro control unit cannot control the second execution unit to drive the first parking brake and/or the second parking brake to perform parking braking.

In the embodiment of the disclosure, when the second execution unit is switched from the on state to the off state, the domain control can acquire the fault condition of the second execution unit through the running states of the first execution unit, namely, all units in the associated control link, by the instrument, so that the user can be facilitated, and the subsequent maintenance work can be conveniently unfolded.

In the embodiment of the disclosure, under the condition that a parking brake request and fault indication information sent by a second micro control unit are received, a first control instruction is generated according to the parking brake request, and according to the first control instruction, a first parking brake and/or a second parking brake are controlled to perform parking braking, and then first prompt information sent by a first execution unit is received, wherein the first prompt information is used for indicating that the first execution unit has an associated fault event, and the first execution unit is switched from an on state to an off state, so that a user can know the fault condition of the first execution unit conveniently, the subsequent maintenance work is convenient to spread, and second prompt information sent by the second execution unit is received, wherein the second prompt information is used for indicating that the second execution unit has an associated fault event, and the second execution unit is switched from the on state to the off state, so that the user can know the fault condition of the second execution unit conveniently, and the subsequent maintenance work is convenient to spread.

Fig. 3 is a flow chart illustrating a method of parking brake control according to some embodiments of the present disclosure.

For convenience in describing the parking brake control method according to the embodiments of the present disclosure, first, other units associated with the second micro control unit, that is, the first micro control unit and the second micro control unit are in communication connection, the first micro control unit is in communication connection with the first execution unit and the second execution unit, the first execution unit is connected with the first parking brake, and the second execution unit is connected with the second parking brake.

For convenience in explaining the redundant parking scheme of the embodiments of the present disclosure, the first micro-control unit is used to micro-redundancy micro-control unit, and the second micro-control unit is used to micro-master the control unit, that is, in a scenario where the redundant parking brake is not required to be triggered, the parking brake is generally performed based on the second micro-control unit, and in a scenario where the redundant parking brake is required to be triggered, the parking brake is performed based on the redundant micro-control unit (the first micro-control unit), which is not limited.

As shown in fig. 3, the parking brake control method includes the steps of:

S301: a fault event is monitored.

The meaning and description of the terms in this embodiment that are the same as those in the above embodiment may be specifically referred to the above embodiment, and will not be repeated here.

The fault event may be, for example, an event that the second micro control unit cannot be normally started due to a power supply failure of the second micro control unit, a communication failure of the second micro control unit, or the like, which is not limited.

S302: and generating and sending fault indication information to the first micro control unit, wherein the fault indication information is used for indicating the second micro control unit to generate a fault event.

That is, in the embodiment of the present disclosure, the second micro control unit may generate and send fault indication information to the first micro control unit when a fault event is detected, where the fault indication information is used to indicate that the second micro control unit has a fault event.

That is, in the embodiment of the present disclosure, the second may generate and send, when the occurrence of the fault event is detected, fault indication information to the first micro control unit based on the communication serial port inside the domain controller.

In the embodiment of the disclosure, the second micro control unit generates and sends the fault indication information to the first micro control unit by monitoring the fault event, wherein the fault indication information is used for indicating the fault event of the second micro control unit, so that the fault indication information can be directly provided to the first micro control unit when the fault event occurs to the second micro control unit, and the first micro control unit can quickly acquire the fault of the second micro control unit to trigger the redundant parking brake efficiently.

Fig. 4 is a flow chart illustrating a method of parking brake control according to some embodiments of the present disclosure.

As shown in fig. 4, the parking brake control method includes the steps of:

s401: a fault event is monitored.

S402: and generating and sending fault indication information to the first micro control unit, wherein the fault indication information is used for indicating the second micro control unit to generate a fault event.

The descriptions of S401 to S402 may be specifically referred to the above embodiments, and are not repeated herein.

S403: a parking brake request is received.

In the embodiment of the disclosure, the second micro control unit (Microcontroller Unit, mcu 2) is configured with gear management logic, that is, the second micro control unit can directly receive the parking brake request, and then, can directly trigger and execute a subsequent parking brake control method based on the parking brake request.

S404: failure events are monitored.

The second micro control unit is used as a main control unit, and under the condition that the second micro control unit receives a parking brake request and detects that no fault event occurs, the second micro control unit can directly trigger and execute a subsequent parking brake control method based on the parking brake request.

S405: and controlling the first parking brake and/or the second parking brake to perform parking braking according to the second control instruction.

The second micro control unit responds to the parking brake request, and combines commands for redundant parking brake control generated by control logic in the second micro control unit, namely the second control command.

That is, in the embodiment of the present disclosure, the second micro control unit is configured with a gear management logic and a parking brake control logic at the same time, that is, the second micro control unit can directly receive a parking brake request, and then, can directly trigger to generate a second control instruction for performing redundant parking brake control on the vehicle based on the parking brake request.

In the related art, the gear control logic and the parking brake control logic are respectively configured in two independent devices, and in this way, the parking brake request cannot be sensed by the main parking brake control device (the second micro control unit), so that the delay of the implementation process of the parking brake is larger.

Therefore, in the embodiment of the disclosure, in order to reduce the time delay of the parking brake, the gear management logic and the parking brake control logic are configured in the second micro control unit, so that the second micro control unit can directly receive the parking brake request, and then, the second control instruction for performing redundant parking brake control on the vehicle can be directly triggered and generated based on the parking brake request, thereby effectively improving the response efficiency of the parking brake and reducing the time delay in the implementation process of the parking brake.

Optionally, in some embodiments, according to the second control instruction, the first parking brake and/or the second parking brake are controlled to perform parking braking, which may be that the first execution unit is controlled according to the second control instruction, where the first execution unit drives the first parking brake to perform parking braking when being controlled; and/or controlling the second execution unit according to the second control instruction, wherein the second execution unit drives the second parking brake to carry out parking braking when being controlled.

That is, in the embodiment of the present disclosure, the first execution unit may be controlled according to the second control instruction, where the first execution unit drives the first parking brake to perform the parking brake when being controlled; and/or control the second execution unit according to the second control instruction, wherein the second execution unit drives the second parking brake to perform parking braking when being controlled, and because the execution unit is usually an inherent component in the vehicle, parking braking cost can be effectively saved when the combined execution unit performs parking braking on the vehicle.

S406: and receiving first prompt information sent by the first execution unit, wherein the first prompt information is used for indicating the first execution unit to generate an associated fault event.

In the embodiment of the disclosure, the second micro control unit is in communication connection with the first execution unit, and the communication manner may be, for example, bus communication, which is not limited.

That is, in the embodiment of the present disclosure, the first execution unit may generate and send the first prompt information to the second micro control unit based on the communication bus when the occurrence of the associated fault event is detected.

S407: the first execution unit is switched from an on state to an off state.

In this embodiment of the present disclosure, after receiving the first prompt information sent by the first execution unit, the second micro control unit may switch the first execution unit from an on state to an off state, where when the first execution unit is in the off state, all units in a control link associated with the first execution unit cannot be started, that is, the second micro control unit cannot control the first execution unit to drive the first parking brake and/or the second parking brake to perform parking braking.

S408: and receiving second prompt information sent by the second execution unit, wherein the second prompt information is used for indicating the second execution unit to generate an associated fault event.

In the embodiment of the disclosure, the second micro control unit and the second execution unit are in communication connection, and the communication manner may be, for example, bus communication, which is not limited.

That is, in the embodiment of the present disclosure, the second execution unit may generate and send the second prompt information to the second micro control unit based on the communication bus when the occurrence of the associated fault event is detected.

S409: the second execution unit is switched from the on state to the off state.

In this embodiment of the present disclosure, after receiving the second prompt information sent by the second execution unit, the second micro control unit may switch the second execution unit from an on state to an off state, where when the second execution unit is in the off state, all units in a control link associated with the second execution unit cannot be started, that is, the second micro control unit cannot control the second execution unit to drive the first parking brake and/or the second parking brake to perform parking braking.

In the embodiment of the disclosure, by monitoring a fault event, generating and sending fault indication information to the first micro control unit, wherein the fault indication information is used for indicating that the second micro control unit has the fault event, receiving a parking brake request, monitoring that the second micro control unit has no fault event, controlling the first parking brake and/or the second parking brake to perform parking braking according to a second control instruction, further effectively improving the response efficiency of the parking braking, reducing the time delay of a parking braking implementation process, receiving first prompt information sent by the first execution unit, wherein the first prompt information is used for indicating that the first execution unit has the associated fault event, switching the first execution unit from an on state to an off state, thereby facilitating a user to acquire the fault condition of the first execution unit, facilitating the development of subsequent maintenance work, and receiving second prompt information sent by the second execution unit, wherein the second prompt information is used for indicating that the second execution unit has the associated fault event, switching the second execution unit from the on state to the off state, thereby facilitating the user to acquire the fault condition of the second execution unit, and facilitating the development of the subsequent maintenance work.

Fig. 5 is a block diagram of a first micro control unit shown according to some embodiments of the present disclosure, and referring to fig. 5, the first micro control unit 50 is used to perform the parking brake control method of the corresponding embodiments of fig. 1 and 2 of the present disclosure.

According to the embodiment of the disclosure, the first micro control unit generates the first control instruction according to the parking brake request under the condition that the parking brake request and the fault indication information sent by the second micro control unit are received, wherein the fault indication information is used for indicating that the second micro control unit has a fault event, and the first parking brake and/or the second parking brake are controlled to carry out parking braking according to the first control instruction, so that the first micro control unit can directly trigger and generate the first control instruction for carrying out parking braking based on the parking brake request when the parking brake request is received and the second micro control unit has a fault, redundant parking braking is effectively realized, the response efficiency of the redundant parking braking can be effectively improved, and the time delay of the redundant parking braking realization process is reduced.

Fig. 6 is a block diagram of a second micro control unit 60, referring to fig. 6, for performing the parking brake control method of the corresponding embodiment of fig. 3 and 4 of the present disclosure, according to some embodiments of the present disclosure.

Fig. 7 is a block diagram of a domain controller shown according to some embodiments of the present disclosure, referring to fig. 7, a domain controller 70 includes: a first micro-control unit 50 and a second micro-control unit 60.

In the embodiment of the present disclosure, the first micro control unit 50 and the second micro control unit 60 are integrally disposed in the domain controller 70, and the first micro control unit 50 and the second micro control unit 60 communicate with each other using a communication serial port inside the domain controller 70.

Fig. 8 is a block diagram of a parking brake control system shown according to some embodiments of the present disclosure, referring to fig. 8, a parking brake control system 80 includes: a first micro control unit 801, a second micro control unit 802, a first parking brake 803, and a second parking brake 804; wherein, the liquid crystal display device comprises a liquid crystal display device,

the first micro control unit 801 is configured to generate a first control instruction according to the parking brake request and control the first parking brake and/or the second parking brake to perform parking braking according to the first control instruction under the condition that the parking brake request and the fault indication information sent by the second micro control unit are received, where the fault indication information is used to indicate that the second micro control unit has a fault event;

the second micro control unit 802 is configured to monitor a fault event, generate and send fault indication information to the first micro control unit, where the fault indication information is used to indicate the fault event of the second micro control unit.

Optionally, in some embodiments of the present disclosure, the parking brake control system 80 further includes: a first execution unit 805, a second execution unit 806, a first bus 807, and a second bus 808, the first execution unit being coupled to the first parking brake, the second execution unit being coupled to the second parking brake;

the first execution unit is communicated with the first micro control unit and the second micro control unit based on the first bus and the second bus respectively;

the second execution unit communicates with the first micro control unit and the second micro control unit based on the first bus and the second bus, respectively.

Optionally, in some embodiments of the present disclosure, the first micro control unit 801 is further configured to: controlling a first execution unit according to a first control instruction, wherein the first execution unit drives a first parking brake to carry out parking braking when being controlled; and/or controlling the second execution unit according to the first control instruction, wherein the second execution unit drives the second parking brake to carry out parking braking when being controlled.

Optionally, in some embodiments of the present disclosure, the second micro control unit 802 is further configured to: receiving a parking brake request; monitoring that no fault event occurs; generating a second control instruction according to the parking brake request; and controlling the first parking brake and/or the second parking brake to perform parking braking according to the second control instruction.

Optionally, in some embodiments of the present disclosure, the second micro control unit 802 is further configured to: controlling a first execution unit according to the second control instruction, wherein the first execution unit drives a first parking brake to carry out parking braking when being controlled; and/or controlling the second execution unit according to the second control instruction, wherein the second execution unit drives the second parking brake to carry out parking braking when being controlled.

Optionally, in some embodiments of the present disclosure, the first micro control unit 801 is further configured to: receiving first prompt information sent by a first execution unit, wherein the first prompt information is used for indicating the first execution unit to generate an associated fault event; the first execution unit is switched from an on state to an off state.

Optionally, in some embodiments of the present disclosure, the first micro control unit 801 is further configured to: receiving second prompt information sent by a second execution unit, wherein the second prompt information is used for indicating the occurrence of an associated fault event by the second execution unit; the second execution unit is switched from the on state to the off state.

Optionally, in some embodiments of the present disclosure, the second micro control unit 802 is further configured to: receiving first prompt information sent by a first execution unit, wherein the first prompt information is used for indicating the first execution unit to generate an associated fault event; the first execution unit is switched from an on state to an off state.

Optionally, in some embodiments of the present disclosure, the second micro control unit 802 is further configured to: receiving second prompt information sent by a second execution unit, wherein the second prompt information is used for indicating the occurrence of an associated fault event by the second execution unit; the second execution unit is switched from the on state to the off state.

Optionally, in some embodiments of the present disclosure, the associated failure event includes any one of: the first execution unit generates a fault event; a first parking brake failure event; the connection between the first execution unit and the first parking brake is interrupted; the second execution unit generates a fault event; a second parking brake failure event; the connection between the second actuator unit and the second parking brake is interrupted.

Optionally, in some embodiments of the present disclosure, the parking brake control system 80 further includes: domain controller 809; the first micro control unit and the second micro control unit are integrally arranged in the domain controller, and communication serial ports inside the domain controller are used for communication between the first micro control unit and the second micro control unit.

The parking brake control system in the embodiment of the disclosure comprises: the first micro-control unit, the second micro-control unit, the first parking brake and the second parking brake; the second micro control unit is used for monitoring a fault event and generating and sending fault indication information to the first micro control unit, wherein the fault indication information is used for indicating the second micro control unit to generate the fault event, the first micro control unit is used for generating a first control instruction according to the parking brake request and controlling the first parking brake and/or the second parking brake to perform parking braking according to the first control instruction under the condition that the parking brake request and the fault indication information sent by the second micro control unit are received, the fault indication information is used for indicating the second micro control unit to generate the fault event, the parking brake control system can effectively save hardware cost, and the gear management logic and the parking brake control logic are configured in the first micro control unit together, so that the parking brake request can be directly received, then the first control instruction for performing redundancy parking brake control on a vehicle can be directly triggered based on the parking brake request, the first micro control unit can directly or the fault condition of the second micro control unit can be directly triggered, the parking brake can be effectively improved, the parking brake response efficiency of the redundancy brake can be effectively improved, and the time delay of the parking brake can be reduced.

Fig. 9 is a block diagram of a parking brake control apparatus according to some embodiments of the present disclosure. Referring to fig. 9, the parking brake control apparatus 90 is applied to a first micro control unit; comprising the following steps: a receiving module 901, a first generating module 902 and a control module 902.

The receiving module 901 is configured to generate a first control instruction according to a parking brake request under the condition that a parking brake request and fault indication information sent by a second micro control unit are received, where the fault indication information is used to indicate that the second micro control unit has a fault event;

the control module 902 is configured to control the first parking brake and/or the second parking brake to perform parking braking according to the first control instruction.

The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.

Fig. 10 is a block diagram of a parking brake control apparatus according to some embodiments of the present disclosure. Referring to fig. 10, the parking brake control apparatus 100 is applied to a second micro control unit; comprising the following steps: a monitoring module 1001 and a generating module 1002.

A monitoring module 1001, configured to monitor for a fault event;

the generating module 1002 is configured to generate and send fault indication information to the first micro control unit, where the fault indication information is used to indicate that the second micro control unit has a fault event.

FIG. 11 is a block diagram of a vehicle, according to an exemplary embodiment. For example, the vehicle 1100 may be a hybrid vehicle, but may also be a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. The vehicle 1100 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

Referring to FIG. 11, a vehicle 1100 may include various subsystems, such as an infotainment system 1110, a perception system 1120, a decision control system 1130, a drive system 1140, and a computing platform 1150. Vehicle 1100 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, interconnections between each subsystem and between each component of the vehicle 1100 may be achieved by wired or wireless means.

In some embodiments, the infotainment system 1110 may include a communication system, an entertainment system, a navigation system, and the like.

The perception system 1120 may include several sensors for sensing information of the environment surrounding the vehicle 1100. For example, sensing system 1120 may include a global positioning system (which may be a GPS system, or may be a beidou system or other positioning system), an inertial measurement unit (inertial measurement unit, IMU), a lidar, millimeter wave radar, an ultrasonic radar, and a camera device.

Decision control system 1130 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

The drive system 1140 may include components that provide powered movement of the vehicle 1100. In one embodiment, the drive system 1140 may include an engine, an energy source, a transmission, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

Some or all of the functions of vehicle 1100 are controlled by computing platform 1150. Computing platform 1150 may include at least one processor 1151 and memory 1152, and processor 1151 may execute instructions 1153 stored in memory 1152.

The processor 1151 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, an image processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a System On Chip (SOC), an application specific integrated Chip (Application Specific Integrated Circuit, ASIC), or a combination thereof.

The memory 1152 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

In addition to the instructions 1153, the memory 1152 may also store data, such as road maps, route information, position, direction, speed, etc., of the vehicle. Data stored by memory 1152 may be used by computing platform 1150.

In the disclosed embodiment, the processor 1151 may execute instructions 1153 to perform all or part of the steps of the parking brake control method described above.

Furthermore, the word "exemplary" is used herein to mean serving as an example, instance, illustration. Any aspect or design described herein as "exemplary" is not necessarily to be construed as advantageous over other aspects or designs. Rather, the use of the word exemplary is intended to present concepts in a concrete fashion. As used herein, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or". That is, unless specified otherwise, or clear from context, "X application a or B" is intended to mean any one of the natural inclusive permutations. I.e. if X applies a; x is applied with B; or both X applications a and B, "X application a or B" is satisfied under any of the foregoing examples. In addition, the articles "a" and "an" as used in this application and the appended claims are generally understood to mean "one or more" unless specified otherwise or clear from context to be directed to a singular form.

Also, although the disclosure has been shown and described with respect to one or more implementations, equivalent alterations and modifications will occur to others skilled in the art upon the reading and understanding of this specification and the annexed drawings. The present disclosure includes all such modifications and alterations and is limited only by the scope of the claims. In particular regard to the various functions performed by the above described components (e.g., elements, resources, etc.), the terms used to describe such components are intended to correspond, unless otherwise indicated, to any component which performs the specified function of the described component (which is functionally equivalent), even though not structurally equivalent to the disclosed structure. In addition, while a particular feature of the disclosure may have been disclosed with respect to only one of several implementations, such feature may be combined with one or more other features of the other implementations as may be desired and advantageous for any given or particular application. Furthermore, to the extent that the terms "includes," including, "" has, "" having, "or variants thereof are used in either the detailed description or the claims, such terms are intended to be inclusive in a manner similar to the term" comprising.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A parking brake control method characterized by being executed by a first micro control unit; wherein the method comprises the following steps:

generating a first control instruction according to a parking brake request under the condition that the parking brake request and fault indication information sent by a second micro control unit are received, wherein the fault indication information is used for indicating the second micro control unit to generate a fault event;

And controlling the first parking brake and/or the second parking brake to perform parking braking according to the first control instruction.

2. The method according to claim 1, wherein controlling the first parking brake and/or the second parking brake to perform parking braking according to the first control command comprises:

controlling a first execution unit according to the first control instruction, wherein the first execution unit drives the first parking brake to perform parking braking when being controlled; and/or

And controlling a second execution unit according to the first control instruction, wherein the second execution unit drives the second parking brake to carry out parking braking when being controlled.

3. The method of claim 2, wherein the method further comprises:

receiving first prompt information sent by the first execution unit, wherein the first prompt information is used for indicating the first execution unit to generate an associated fault event;

and switching the first execution unit from the on state to the off state.

4. A method as claimed in claim 3, wherein the method further comprises:

receiving second prompt information sent by the second execution unit, wherein the second prompt information is used for indicating the second execution unit to generate an associated fault event;

And switching the second execution unit from the on state to the off state.

5. The method of claim 4, wherein the association failure event comprises at least one of:

the first execution unit generates a fault event;

a failure event of the first parking brake;

the connection between the first execution unit and the first parking brake is interrupted;

the second execution unit generates a fault event;

a failure event of the second parking brake;

the connection between the second execution unit and the second parking brake is interrupted.

6. The method of claim 1, wherein the first micro-control unit and the second micro-control unit are integrally disposed in a domain controller, and wherein the first micro-control unit and the second micro-control unit communicate using a communication serial port internal to the domain controller.

7. A parking brake control method characterized by being executed by a second micro control unit; wherein the method comprises the following steps:

monitoring a fault event;

generating and sending fault indication information to a first micro control unit, wherein the fault indication information is used for indicating the second micro control unit to generate a fault event.

8. The method of claim 7, wherein the method further comprises:

receiving a parking brake request;

detecting that the fault event does not occur;

generating a second control instruction according to the parking brake request;

and controlling the first parking brake and/or the second parking brake to perform parking braking according to the second control instruction.

9. The method of claim 8, wherein controlling the first parking brake and/or the second parking brake to perform parking braking according to the second control command comprises:

controlling a first execution unit according to the second control instruction, wherein the first execution unit drives the first parking brake to perform parking braking when being controlled; and/or

And controlling a second execution unit according to the second control instruction, wherein the second execution unit drives the second parking brake to carry out parking braking when being controlled.

10. The method of claim 9, wherein the method further comprises:

And switching the first execution unit from the on state to the off state.

11. The method of claim 10, wherein the method further comprises:

and switching the second execution unit from the on state to the off state.

12. The method of claim 11, wherein the association failure event comprises at least one of:

the first execution unit generates a fault event;

a failure event of the first parking brake;

the second execution unit generates a fault event;

a failure event of the second parking brake;

13. The method of claim 7, wherein the first micro-control unit and the second micro-control unit are integrally disposed in a domain controller, and wherein the first micro-control unit and the second micro-control unit communicate using a communication serial port internal to the domain controller.

14. A first micro control unit for performing a parking brake method according to any of the preceding claims 1-6.

15. A second micro control unit for performing a parking brake method according to any of the preceding claims 7-13.

16. A domain controller, the domain controller comprising:

the first microcontrol unit according to claim 14; and

the second microcontrol unit according to claim 15.

17. The domain controller of claim 16, wherein the first micro-control unit and the second micro-control unit are integrally disposed in the domain controller, and wherein the first micro-control unit and the second micro-control unit communicate using a communication serial port internal to the domain controller.

18. A parking brake control system, comprising: the first micro-control unit, the second micro-control unit, the first parking brake and the second parking brake; wherein, the liquid crystal display device comprises a liquid crystal display device,

the first micro control unit is used for generating a first control instruction according to the parking brake request and controlling the first parking brake and/or the second parking brake to perform parking braking according to the first control instruction under the condition that the parking brake request and the fault indication information sent by the second micro control unit are received, wherein the fault indication information is used for indicating the second micro control unit to perform a fault event;

The second micro control unit is used for monitoring occurrence of the fault event, generating and sending the fault indication information to the first micro control unit, wherein the fault indication information is used for indicating the second micro control unit to generate the fault event.

19. The system of claim 18, wherein the system further comprises: the first execution unit is connected with the first parking brake, and the second execution unit is connected with the second parking brake;

wherein the first execution unit communicates with the first micro control unit and the second micro control unit based on the first bus and the second bus, respectively;

the second execution unit communicates with the first and second micro-control units based on the first and second buses, respectively.

20. The system of claim 19, wherein the first micro-control unit is further configured to:

the first execution unit is controlled according to the first control instruction, wherein the first execution unit drives the first parking brake to carry out parking braking when being controlled; and/or

And controlling the second execution unit according to the first control instruction, wherein the second execution unit drives the second parking brake to carry out parking braking when being controlled.

21. The system of claim 20, wherein the second micro-control unit is further configured to:

receiving the parking brake request;

detecting that the fault event does not occur;

generating a second control instruction according to the parking brake request;

22. The system of claim 21, wherein the second micro-control unit is further configured to:

the first execution unit is controlled according to the second control instruction, wherein the first execution unit drives the first parking brake to carry out parking braking when being controlled; and/or

And controlling the second execution unit according to the second control instruction, wherein the second execution unit drives the second parking brake to carry out parking braking when being controlled.

23. The system of claim 19, wherein the first micro-control unit is further configured to:

and switching the first execution unit from the on state to the off state.

24. The system of claim 23, wherein the first micro-control unit is further configured to:

and switching the second execution unit from the on state to the off state.

25. The system of claim 19, wherein the second micro-control unit is further configured to:

and switching the first execution unit from the on state to the off state.

26. The system of claim 25, wherein the second micro-control unit is further configured to:

And switching the second execution unit from the on state to the off state.

27. The system of any one of claims 24 or 26, wherein the association failure event comprises any one of:

the first execution unit generates a fault event;

a failure event of the first parking brake;

the second execution unit generates a fault event;

a failure event of the second parking brake;

28. The system of any one of claims 18-26, wherein the system further comprises: a domain controller; wherein, the liquid crystal display device comprises a liquid crystal display device,

the first micro control unit and the second micro control unit are integrally arranged in the domain controller, and the first micro control unit and the second micro control unit are communicated by using a communication serial port inside the domain controller.

29. A parking brake control device characterized by being applied to a first micro control unit; wherein the device comprises:

the receiving module is used for generating a first control instruction according to the parking brake request under the condition that the parking brake request and fault indication information sent by the second micro control unit are received, wherein the fault indication information is used for indicating the second micro control unit to generate a fault event;

And the control module is used for controlling the first parking brake and/or the second parking brake to carry out parking braking according to the first control instruction.

30. A parking brake control device characterized by being applied to a second micro control unit; wherein the device comprises:

the monitoring module is used for monitoring a fault event;

the generating module is used for generating and sending fault indication information to the first micro control unit, wherein the fault indication information is used for indicating the second micro control unit to generate a fault event.

31. A vehicle, characterized by comprising:

a processor;

a memory for storing processor-executable instructions; wherein the processor is configured to implement the steps of the method of any one of claims 1-13.