CN115817427A - Brake control method, device, equipment and medium based on double-path controller - Google Patents
Brake control method, device, equipment and medium based on double-path controller Download PDFInfo
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- CN115817427A CN115817427A CN202211675289.8A CN202211675289A CN115817427A CN 115817427 A CN115817427 A CN 115817427A CN 202211675289 A CN202211675289 A CN 202211675289A CN 115817427 A CN115817427 A CN 115817427A
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Abstract
The embodiment of the disclosure discloses a brake control method, a device, equipment and a medium based on a double-channel controller, wherein the method comprises the following steps: receiving a first brake control command sent by an automatic driving main controller and a second brake control command sent by a safety monitoring controller; arbitrating at least the first brake control command and the second brake control command to determine a target brake control command to be responded to; and controlling vehicle braking based on the target braking control command. The control method is used for independently braking the vehicle when the safety monitoring system detects that the automatic driving main controller fails, and is used for improving the driving safety of the vehicle when the automatic driving main controller fails.
Description
Technical Field
The present disclosure relates to the field of automatic driving technologies, and in particular, to a method, an apparatus, a device, and a medium for controlling braking based on a dual-path controller.
Background
Brake-by-wire is one of the core executive components of an autonomous driving system. For each vehicle having an automatic driving function, a driving track of a drive-by-wire vehicle is generally planned by a domain controller based on data of a vehicle body sensor and information such as a high-precision map, and a brake control command for a drive-by-wire chassis is generated based on the track information.
The automatic driving system is a relatively complex system project, and any automatic driving main controller has the possibility of failure, so that the vehicle is not driven as expected, and serious accidents can be caused. Therefore, it is very important to improve the driving safety of the automatic driving system.
Disclosure of Invention
In order to solve the technical problems or at least partially solve the technical problems, embodiments of the present disclosure provide a brake control method, device, apparatus, and medium based on a dual-path controller, which implement the ability of the dual-path controller to simultaneously control the braking of a vehicle, and when a safety monitoring system detects that an autonomous driving main controller fails, provide a control method capable of independently braking the vehicle, so as to improve the driving safety of the vehicle when the autonomous driving main controller fails.
In a first aspect, an embodiment of the present disclosure provides a braking control method based on a two-way controller, where the method includes:
receiving a first brake control command sent by an automatic driving main controller and a second brake control command sent by a safety monitoring controller;
arbitrating at least the first brake control command and the second brake control command to determine a target brake control command to be responded to;
and controlling vehicle braking based on the target braking control command.
In a second aspect, the disclosed embodiments also provide a brake control device based on a two-way controller, where the device includes:
the double-path brake control instruction receiving module is used for receiving a first brake control instruction sent by the automatic driving main controller and a second brake control instruction sent by the safety monitoring controller;
the brake control instruction arbitration module is used for arbitrating at least the first brake control instruction and the second brake control instruction so as to determine a responded target brake control instruction;
and the brake execution module is used for controlling the vehicle brake based on the target brake control command.
In a third aspect, an embodiment of the present disclosure further provides an electronic device, where the electronic device includes: one or more processors; storage means for storing one or more programs; when executed by the one or more processors, cause the one or more processors to implement a two-way controller-based braking control method as described above.
In a fourth aspect, the disclosed embodiments also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the two-way controller-based braking control method as described above.
According to the braking control method, the braking control device, the braking control equipment and the braking control medium based on the double-channel controller, a first braking control command sent by an automatic driving main controller and a second braking control command sent by a safety monitoring controller are received; arbitrating at least the first brake control command and the second brake control command to determine a target brake control command to be responded to; the technical means for controlling the vehicle brake based on the target brake control instruction realizes the capability of controlling the vehicle brake by the two-way controller at the same time, and provides a control method capable of independently braking the vehicle when the safety monitoring system detects that the automatic driving main controller fails, so as to improve the driving safety of the vehicle when the automatic driving main controller fails.
Drawings
The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and features are not necessarily drawn to scale.
FIG. 1 is a flow chart of a two-way controller based braking control method in an embodiment of the present disclosure;
FIG. 2 is a schematic illustration of a process for determining the validity of a brake control command in accordance with an embodiment of the disclosure;
fig. 3 is a schematic process diagram of feeding back the brake oil pressure represented by the target brake control command to the brake actuator, and reading the oil pressure fed back by the brake actuator in real time to perform anomaly monitoring in the embodiment of the present disclosure;
FIG. 4 is a schematic illustration of a process for determining a brake control oil pressure based on a brake pedal displacement signal in an embodiment of the present disclosure;
FIG. 5 is a schematic structural diagram of a braking control device based on a two-way controller according to an embodiment of the disclosure;
fig. 6 is a schematic diagram illustrating an operation process of a two-way braking control command receiving module 511 according to the embodiment of the disclosure;
fig. 7 is a schematic diagram illustrating an operation process of the brake control instruction arbitration module 512 according to the embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of an electronic device in an embodiment of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and the embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.
It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.
The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.
Fig. 1 is a flowchart of a braking control method based on a dual-path controller in an embodiment of the disclosure. The method can be executed by a brake control device based on a two-way controller, the device can be realized in a software and/or hardware mode, and the device can be configured in electronic equipment. As shown in fig. 1, the method may specifically include the following steps:
and S110, receiving a first brake control command sent by the automatic driving main controller and a second brake control command sent by the safety monitoring controller.
The method comprises the steps that a VCU of a vehicle receives a first brake control command and a second brake control command through a CAN bus of the vehicle, wherein the first brake control command and the second brake control command are respectively sent by an automatic driving main controller, and the second brake control command is sent by a safety monitoring controller, and then the VCU of the vehicle sends the first brake control command and the second brake control command to a brake-by-wire system of the vehicle. In other words, the automatic driving main controller sends the first brake control command to a CAN bus of the vehicle, the safety monitoring controller sends the second brake control command to the CAN bus of the vehicle, and the VCU of the vehicle respectively obtains the first brake control command and the second brake control command from the CAN bus of the vehicle.
The automatic driving main controller is a main controller of an automatic driving system, and the safety monitoring controller is a main controller of a safety monitoring system. For safety reasons, the driving safety of the automatic driving system is further ensured, an independent safety monitoring system can be additionally arranged on the vehicle, and when the automatic driving vehicle does not drive according to an expected route, the safety monitoring system can independently control the vehicle to brake.
For example, the safety monitoring controller triggers the second brake control command when detecting that the vehicle is not traveling along the specified route.
Further, after receiving a first braking control command and a second braking control command respectively sent by the autonomous driving main controller and the safety monitoring controller, the method further comprises:
and respectively carrying out validity judgment on the first brake control command and/or the second brake control command, and discarding the first brake control command and/or the second brake control command which are judged to be invalid.
The determining the effectiveness of the first brake control command and/or the second brake control command, respectively, includes:
when the first brake control instruction indicates that the current driving mode of the vehicle is an automatic driving mode and the first brake control instruction is a true instruction, determining that the first brake control instruction is an effective instruction; and when the second brake control instruction indicates that the current driving mode of the vehicle is the automatic driving mode and the second brake control instruction is a true instruction, determining that the second brake control instruction is an effective instruction.
Specifically, when the driving mode is the manual driving mode, neither the main controller of the automatic driving system nor the main controller of the safety monitoring system sends a corresponding brake control instruction, so that only the brake control instruction received when the driving mode is the automatic driving mode may be an effective control instruction. The meaning that the first brake control command is a true command is as follows: the first brake control command is a command conforming to a communication protocol of the CAN bus, and only the command conforming to the communication protocol of the CAN bus is correctly transmitted through the CAN bus. Further, whether the brake control command is a command according with a communication protocol of the CAN bus or not and whether the brake control command is a command without communication abnormality CAN be determined by judging whether a preset valid bit in the brake control command is expected data or not, and if the preset valid bit in the brake control command is the expected data, the brake control command CAN be judged to be a true command. Furthermore, if the brake oil pressure contained in the brake control command exceeds a preset range, the brake oil pressure can be automatically corrected to the brake oil pressure within the preset range, so that the stability of braking is improved, and the situation that the brake cannot be performed due to the abnormal brake oil pressure caused by some program errors is reduced. Correspondingly, referring to a process schematic diagram for determining the validity of the brake control command as shown in fig. 2, when the validity bit of the first brake control command is determined to be true and the automatic driving mode is indicated, the first brake control command is determined to be the valid command; when it is determined that the validity bit of the second brake control command is true and the autonomous driving mode is indicated, the second brake control command is determined to be a valid command. Arbitration processing is further performed for the valid command to determine the target brake control command to be responded to.
And S120, arbitrating at least the first brake control command and the second brake control command to determine a responded target brake control command.
When a first brake control command and a second brake control command are received simultaneously, which brake control command is responded to at all, a target brake control command is selected from the first brake control command and the second brake control command through a certain logic to serve as the responded brake control command with the aim of ensuring the driving safety of the vehicle. The process of selecting one target brake control command from the first brake control command and the second brake control command as the responded brake control command is a process of arbitrating the first brake control command and the second brake control command.
Illustratively, arbitrating at least the first brake control command and the second brake control command to determine a target brake control command to be responded comprises:
arbitrating the first brake control command and the second brake control command, determining an intermediate result, and determining the responded target brake control command based on the intermediate result;
the arbitration of the first brake control command and the second brake control command and the determination of the intermediate result comprise any one of the following steps:
if the first brake control instruction is an effective instruction and the second brake control instruction is an ineffective instruction, determining the first brake control instruction as the intermediate result;
if the first brake control instruction is an invalid instruction and the second brake control instruction is an effective instruction, determining the second brake control instruction as the intermediate result;
and if the first brake control instruction and the second brake control instruction are both effective instructions, determining the intermediate result from the first brake control instruction and the second brake control instruction based on a set rule.
Further, the determining the intermediate result from the first brake control command and the second brake control command based on a set rule may include any one of:
comparing a first brake oil pressure contained in the first brake control command with a second brake oil pressure contained in the second brake control command, and if the first brake oil pressure is greater than the second brake oil pressure, determining the first brake control command as the intermediate result; determining the second brake control command as the intermediate result if the second brake oil pressure is greater than the first brake oil pressure;
randomly selecting one of the first brake control command and the second brake control command as the intermediate result;
and taking a pre-designated one of the first brake control command and the second brake control command as the intermediate result.
Optionally, the determining the responded target braking control command based on the intermediate result includes: and directly determining the intermediate result as the target brake control command.
And S130, controlling the vehicle brake based on the target brake control command.
Wherein the controlling vehicle braking based on the target braking control command comprises:
and feeding back the brake oil pressure represented by the target brake control command to a brake actuating mechanism, and controlling the vehicle brake through the brake actuating mechanism according to the brake oil pressure. Specifically, after the brake oil pressure represented by the target brake control command is fed back to the brake actuator, the oil pressure fed back by the brake actuator is read in real time, and whether the brake execution process is abnormal or not is monitored according to the fed-back oil pressure. Correspondingly, a schematic process diagram shown in fig. 3 is referred to, in which the brake oil pressure represented by the target brake control command is fed back to the brake actuator, and the oil pressure fed back by the brake actuator is read in real time to perform abnormality monitoring.
In some embodiments, the method further comprises:
receiving a third brake control instruction from a brake pedal, wherein the third brake control instruction comprises displacement information of the brake pedal; and determining a third brake oil pressure corresponding to the third brake control command according to the mapping relation between the pedal displacement and the brake oil pressure. The automatic driving main controller and the safety monitoring controller can control the vehicle braking, and the vehicle can be automatically braked manually, so that the driving safety of the vehicle can be improved by supporting a multi-path braking control command. Accordingly, reference may be made to a schematic diagram of a process for determining the brake control oil pressure based on the brake pedal displacement signal as shown in fig. 4.
Correspondingly, the determining the responded target braking control command based on the intermediate result comprises at least one of the following steps:
determining a first brake control command or a second brake control command represented by the intermediate result as the target brake control command;
comparing a first brake oil pressure or a second brake oil pressure corresponding to the intermediate result with the third brake oil pressure, and if the third brake oil pressure is greater than the first brake oil pressure or the second brake oil pressure corresponding to the intermediate result, determining the third brake control command as the target brake control command; and if the third brake oil pressure is smaller than the first brake oil pressure or the second brake oil pressure corresponding to the intermediate result, determining the first brake control command or the second brake control command represented by the intermediate result as the target brake control command. For example, if the intermediate result is substantially a first brake control command, a first brake oil pressure included in the first brake control command is compared with the third brake oil pressure, and if the third brake oil pressure is greater than the first brake oil pressure, the third brake control command is determined as the target brake control command, and if the third brake oil pressure is less than the first brake oil pressure, the first brake control command is determined as the target brake control command. Similarly, if the intermediate result is substantially a second brake control command, a second brake oil pressure included in the second brake control command is compared with the third brake oil pressure, and if the third brake oil pressure is greater than the second brake oil pressure, the third brake control command is determined as the target brake control command, and if the third brake oil pressure is less than the second brake oil pressure, the second brake control command is determined as the target brake control command.
According to the braking control method based on the two-way controller, a first braking control command sent by an automatic driving main controller and a second braking control command sent by a safety monitoring controller are received; arbitrating at least the first brake control command and the second brake control command to determine a target brake control command to be responded to; the technical means for controlling the vehicle brake based on the target brake control instruction realizes the capability of the double-channel controller for controlling the vehicle brake simultaneously, and provides a control method capable of independently braking the vehicle when the safety monitoring system detects that the automatic driving main controller fails, so as to improve the driving safety of the vehicle when the automatic driving main controller fails.
On the basis of the above embodiments, the embodiments of the present disclosure also provide a brake control device based on a two-way controller, which is integrated in a brake-by-wire system of a vehicle. Referring to a schematic structural diagram of a two-way controller-based brake control device as shown in fig. 5, the two-way controller-based brake control device is integrated in a brake-by-wire system 510 of a vehicle, and the two-way controller-based brake control device includes: a two-way brake control instruction receiving module 511, a brake control instruction arbitration module 512 and a brake execution module 513.
The double-path brake control instruction receiving module 511 is configured to receive a first brake control instruction sent by the autonomous driving main controller and a second brake control instruction sent by the safety monitoring controller; specifically, the automatic driving main controller 520 sends a first brake control instruction to a CAN bus of the vehicle, the safety monitoring controller 530 sends a second brake control instruction to the CAN bus of the vehicle, the VCU540 of the vehicle obtains the first brake control instruction and the second brake control instruction from the CAN bus of the vehicle, and the double-path brake control instruction receiving module 511 obtains the first brake control instruction and the second brake control instruction from the VCU540 of the vehicle. The two-way brake control instruction receiving module 511 is provided with two ways of CAN control id interfaces, wherein one way of CAN control id interface is used for receiving a first brake control instruction sent by the automatic driving main controller, and the other way of CAN control id interface is used for receiving a second brake control instruction sent by the safety monitoring controller.
Referring to the schematic working process diagram of the dual-path brake control instruction receiving module 511 shown in fig. 6, the dual-path brake control instruction receiving module 511 receives a first brake control instruction sent by the autopilot main controller through one path of CAN control id1 interface, and is used for receiving a second brake control instruction sent by the safety monitoring controller through the other path of CAN control id2 interface, and then performs validity determination on the first brake control instruction and/or the second brake control instruction respectively, discards the first brake control instruction and/or the second brake control instruction determined to be invalid, and outputs the first brake control instruction and/or the second brake control instruction determined to be valid to the brake control instruction arbitration module 512.
Specifically, when the first brake control instruction indicates that the current driving mode of the vehicle is the automatic driving mode and the first brake control instruction is a true instruction, it is determined that the first brake control instruction is an effective instruction; and when the second brake control instruction indicates that the current driving mode of the vehicle is the automatic driving mode and the second brake control instruction is a true instruction, determining that the second brake control instruction is an effective instruction.
Further, a brake control command arbitration module 512, configured to arbitrate at least the first brake control command and the second brake control command to determine a target brake control command to be responded; specifically, the first brake control command and the second brake control command are arbitrated, an intermediate result is determined, and the responded target brake control command is determined based on the intermediate result; the arbitration of the first brake control command and the second brake control command and the determination of the intermediate result comprise any one of the following steps: if the first brake control instruction is an effective instruction and the second brake control instruction is an ineffective instruction, determining the first brake control instruction as the intermediate result; if the first brake control instruction is an invalid instruction and the second brake control instruction is an effective instruction, determining the second brake control instruction as the intermediate result; and if the first brake control instruction and the second brake control instruction are both effective instructions, determining the intermediate result from the first brake control instruction and the second brake control instruction based on a set rule. The determining the intermediate result from the first brake control command and the second brake control command based on a set rule includes any one of: comparing a first brake oil pressure contained in the first brake control instruction with a second brake oil pressure contained in the second brake control instruction, and if the first brake oil pressure is greater than the second brake oil pressure, determining the first brake control instruction as the intermediate result; if the second brake oil pressure is greater than the first brake oil pressure, determining the second brake control instruction as the intermediate result; randomly selecting one of the first brake control command and the second brake control command as the intermediate result; and setting a pre-specified one of the first brake control command and the second brake control command as the intermediate result.
Referring to fig. 7, a schematic working process diagram of a brake control command arbitration module 512 is further configured to receive a third brake control command from a brake pedal, where the third brake control command includes displacement information of the brake pedal; determining a third brake oil pressure corresponding to the third brake control instruction according to a mapping relation between pedal displacement and brake oil pressure; determining a first brake control command or a second brake control command represented by the intermediate result as the target brake control command; comparing a first brake oil pressure or a second brake oil pressure corresponding to the intermediate result with the third brake oil pressure, and if the third brake oil pressure is greater than the first brake oil pressure or the second brake oil pressure corresponding to the intermediate result, determining the third brake control command as the target brake control command; if the third brake oil pressure is less than the first brake oil pressure or the second brake oil pressure corresponding to the intermediate result, determining the first brake control instruction or the second brake control instruction represented by the intermediate result as the target brake control instruction, and outputting the brake oil pressure corresponding to the target brake control instruction to a brake execution module 513, where the brake execution module 513 is configured to control vehicle braking based on the target brake control instruction, specifically, send the brake oil pressure to a brake execution mechanism 550, and execute a braking action by the brake execution mechanism 550.
The braking control device based on the two-way controller provided by the embodiment of the disclosure can execute the steps in the braking control method based on the two-way controller provided by the embodiment of the disclosure, and has the execution steps and the beneficial effects which are not described again.
Fig. 8 is a schematic structural diagram of an electronic device in an embodiment of the present disclosure. Referring now specifically to fig. 8, a schematic diagram of an electronic device 500 suitable for use in implementing embodiments of the present disclosure is shown. The electronic device shown in fig. 8 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 8, electronic device 500 may include a processing means (e.g., central processing unit, graphics processor, etc.) 501 that may perform various suitable actions and processes to implement the methods of embodiments as described in this disclosure in accordance with a program stored in a Read Only Memory (ROM) 502 or a program loaded from a storage means 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the electronic apparatus 500 are also stored. The processing device 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a non-transitory computer readable medium, the computer program containing program code for executing the method illustrated by the flowchart, thereby implementing the two-way controller-based brake control method as described above. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 509, or installed from the storage means 508, or installed from the ROM 502. The computer program, when executed by the processing device 501, performs the above-described functions defined in the methods of the embodiments of the present disclosure.
It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. 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 (EPROM or 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 disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. 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. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: receiving a first brake control command sent by an automatic driving main controller and a second brake control command sent by a safety monitoring controller; arbitrating at least the first brake control command and the second brake control command to determine a target brake control command to be responded to; and controlling vehicle braking based on the target braking control command.
Optionally, when the one or more programs are executed by the electronic device, the electronic device may further perform other steps described in the above embodiments.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on 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 (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other embodiments in which any combination of the features described above or their equivalents does not depart from the spirit of the disclosure. For example, the above features and the technical features disclosed in the present disclosure (but not limited to) having similar functions are replaced with each other to form the technical solution.
Claims (10)
1. A brake control method based on a two-way controller is characterized by comprising the following steps:
receiving a first brake control command sent by an automatic driving main controller and a second brake control command sent by a safety monitoring controller;
arbitrating at least the first brake control command and the second brake control command to determine a target brake control command that is responded to;
and controlling vehicle braking based on the target braking control command.
2. The system of claim 1, wherein prior to arbitrating the first brake control command and the second brake control command, the method further comprises:
and respectively carrying out validity judgment on the first brake control command and/or the second brake control command, and discarding the first brake control command and/or the second brake control command which are judged to be invalid.
3. The method of claim 2, wherein the determining the validity of the first brake control command and/or the second brake control command, respectively, comprises:
when the first brake control instruction indicates that the current driving mode of the vehicle is an automatic driving mode and the first brake control instruction is a true instruction, determining that the first brake control instruction is an effective instruction;
and when the second brake control instruction indicates that the current driving mode of the vehicle is the automatic driving mode and the second brake control instruction is a true instruction, determining that the second brake control instruction is an effective instruction.
4. The method of claim 1, wherein arbitrating at least the first brake control command and the second brake control command to determine a target brake control command to be responded comprises:
arbitrating the first brake control command and the second brake control command, determining an intermediate result, and determining the responded target brake control command based on the intermediate result;
the arbitration of the first brake control command and the second brake control command and the determination of the intermediate result comprise any one of the following steps:
if the first brake control instruction is an effective instruction and the second brake control instruction is an ineffective instruction, determining the first brake control instruction as the intermediate result;
if the first brake control instruction is an invalid instruction and the second brake control instruction is an effective instruction, determining the second brake control instruction as the intermediate result;
and if the first brake control instruction and the second brake control instruction are both effective instructions, determining the intermediate result from the first brake control instruction and the second brake control instruction based on a set rule.
5. The method of claim 4, wherein the determining the intermediate result from the first brake control command and the second brake control command based on a set rule comprises any one of:
comparing a first brake oil pressure contained in the first brake control command with a second brake oil pressure contained in the second brake control command, and if the first brake oil pressure is greater than the second brake oil pressure, determining the first brake control command as the intermediate result; determining the second brake control command as the intermediate result if the second brake oil pressure is greater than the first brake oil pressure;
randomly selecting one of the first brake control command and the second brake control command as the intermediate result;
and setting a pre-specified one of the first brake control command and the second brake control command as the intermediate result.
6. The method of claim 4, further comprising:
receiving a third brake control instruction from a brake pedal, wherein the third brake control instruction comprises displacement information of the brake pedal;
determining a third brake oil pressure corresponding to the third brake control instruction according to a mapping relation between pedal displacement and brake oil pressure;
correspondingly, the determining the responded target braking control command based on the intermediate result comprises at least one of the following:
determining a first brake control command or a second brake control command represented by the intermediate result as the target brake control command;
comparing a first brake oil pressure or a second brake oil pressure corresponding to the intermediate result with the third brake oil pressure, and if the third brake oil pressure is greater than the first brake oil pressure or the second brake oil pressure corresponding to the intermediate result, determining the third brake control command as the target brake control command; and if the third brake oil pressure is smaller than the first brake oil pressure or the second brake oil pressure corresponding to the intermediate result, determining the first brake control command or the second brake control command represented by the intermediate result as the target brake control command.
7. The method of claim 6, wherein said controlling vehicle braking based on said target brake control command comprises:
feeding back the brake oil pressure represented by the target brake control command to a brake executing mechanism, and controlling the vehicle brake through the brake executing mechanism according to the brake oil pressure;
and the safety monitoring controller triggers the second brake control instruction when detecting that the vehicle does not run according to the specified route.
8. A brake control device based on a two-way controller is characterized by comprising:
the double-path brake control instruction receiving module is used for receiving a first brake control instruction sent by the automatic driving main controller and a second brake control instruction sent by the safety monitoring controller;
the brake control instruction arbitration module is used for arbitrating at least the first brake control instruction and the second brake control instruction so as to determine a responded target brake control instruction;
and the brake execution module is used for controlling the vehicle brake based on the target brake control command.
9. An electronic device, characterized in that the electronic device comprises:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211675289.8A CN115817427A (en) | 2022-12-26 | 2022-12-26 | Brake control method, device, equipment and medium based on double-path controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211675289.8A CN115817427A (en) | 2022-12-26 | 2022-12-26 | Brake control method, device, equipment and medium based on double-path controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115817427A true CN115817427A (en) | 2023-03-21 |
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