一种解耦式线控制动冗余控制方法、装置及系统

The invention relates to the technical field of brake-by-wire, and discloses a decoupling brake-by-wire redundancy control method, a device and a system, wherein the method comprises the steps of obtaining a brake pedal stroke signal, calculating target pressure of a secondary master cylinder and outputting a driving instruction to a motor; the method comprises the steps of monitoring an actual pressure signal fed back by a secondary master cylinder pressure sensor in real time, judging whether the actual pressure signal is normal or not, performing pressure closed-loop control according to target pressure and actual pressure if the actual pressure signal is normal, otherwise, monitoring a motor travel signal in real time, obtaining a first estimated value of the secondary master cylinder pressure by combining a PV curve, monitoring a motor current signal in real time, obtaining a second estimated value of the secondary master cylinder pressure by combining motor output torque and a secondary master cylinder pressure mapping relation, taking a weighted fusion value of one or two estimated values as the secondary master cylinder estimated pressure, and performing pressure closed-loop control according to the target pressure and the estimated pressure. The invention ensures the effectiveness of pressure closed-loop control under the failure working condition of the auxiliary main cylinder pressure sensor.