CN109733460A - Redundant electronic braking in a turn system - Google Patents
Redundant electronic braking in a turn system Download PDFInfo
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- CN109733460A CN109733460A CN201810150007.XA CN201810150007A CN109733460A CN 109733460 A CN109733460 A CN 109733460A CN 201810150007 A CN201810150007 A CN 201810150007A CN 109733460 A CN109733460 A CN 109733460A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention discloses a kind of redundant electronic braking in a turn system, including two electronic power assist steering units, main brake unit and from brake unit；Two electronic power assist steering units are used for co- controlling Vehicular turn；The main brake unit is used to receive control instruction from automobile bus and resolves the control instruction, and implementing result exports；It is described to be used to receive control instruction from automobile bus from brake unit and resolve the control instruction, and the status signal based on main brake unit decides whether that implementing result exports.The present invention can satisfy the safety requirements of automatic Pilot.
Description
Technical field
The invention belongs to automatic driving technical fields, and in particular to a kind of redundant electronic braking in a turn system.
Background technique
With Modern technological progress and development in science and technology, requirement of the people to vehicle is higher and higher, is meeting tradition traveling
On the basis of, it is also necessary to the intelligentized control method that can be realized vehicle, as pilotless automobile, adaptive cruise, vehicle active safety,
It automatically parks etc. functions.Electric Power Steering Control System therein and braking system are as the important portion in intelligentized control method
Point, reliability and safety are particularly important.
Existing Electric Power Steering Control System (EPS) is by corner torque sensor, vehicle speed sensor, control unit
Manage the composition such as device, assist motor.Its basic functional principle is: the steering wheel torque signal and speed that corner torque sensor measures
Signal gives control unit processor together, and the steering to determine assist motor and power-assisted electric current are handled and calculated through processor
Size, to complete power steering control.But existing Electric Power Steering Control System is to turn to improve based on driver to help
Power is designed, and functional safety grade can only achieve KSIL-B, entirely electronic to help if each of these node is in abnormal
Power steering control system will fail, it will bring serious consequence to safe driving, therefore be unable to satisfy the function peace of automatic Pilot
It is complete to require.
Existing braking system includes power CAN line, central controller, power supply, brake unit and wheel speed sensors, the wheel
Fast sensor is connect with brake unit, and the power supply is connect with central controller and brake unit respectively, be central controller and
Brake unit power supply, brake unit are connect by power CAN line with central controller, and the control that central controller is issued is received
Instruction, and corresponding operating is executed based on the control instruction.The structure of existing braking system is simple, does not have system-level redundancy function
Can, during automatic Pilot, the failure if braking system breaks down, automatic driving vehicle will lose braking function, can make
At great loss of personal property.
Therefore, it is necessary to develop a kind of redundant electronic braking in a turn system.
Summary of the invention
The purpose of the present invention is improving a kind of redundant electronic braking in a turn system, to meet the safety requirements of automatic Pilot.
Redundant electronic braking in a turn system of the present invention, including two electronic power assist steering units, main brake unit
With from brake unit；
Two electronic power assist steering units are used for co- controlling Vehicular turn；Wherein, each electronic power assist steering unit is equal
Including processor, and corner torque sensor and motor connected to the processor respectively；The corner torque sensor is used for
Current steering wheel actual torque signal and angle signal are exported, and is sent to coupled processor；The processor is used
In obtaining current desired steering wheel angle signal from automobile bus；The processor is also used to according to current desired direction
Disk angular signal, and the angle signal obtained from corner torque sensor, the total torsion that calculates whole system currently and need to export
Square value K, and the torque value that respectively place electronic power assist steering unit need to export is calculated according to distribution mechanism；The processor is also
The motor that corresponding connection is controlled according to the torque value controls the vehicle and realizes steering；
Wherein, the distribution mechanism are as follows: when two electronic power assist steering units are normal, two electronic power assist steering units are same
When work, and control corresponding motor according to the torque value of respective current desired output and work, co- controlling vehicle, which is realized, to be turned to,
The torque value that two electronic power assist steering units need to export should meet following formula: a+b=K, and 0.3K≤a≤0.7K, a are it
In the current desired output of electronic power assist steering unit torque value, b be another electronic power assist steering unit it is current desired
The torque value of output；When in one of electronic power assist steering unit processor or corner torque sensor or motor occur
When failure, another normal electronic power assist steering unit adapter system individually controls the vehicle and realizes steering；
The main brake unit is for receiving and resolving control instruction, and implementing result exports；It is described to be used to connect from brake unit
Control instruction is received and resolves, and the status signal based on main brake unit decides whether that implementing result exports；Wherein: the main system
It moving cell and indicates whether to break down from partner state signal is mutually monitored between brake unit；In response to the main brake list
When the status signal of member is normal, exported by the main brake unit implementing result, at this point, implementing result is not defeated from brake unit
Out；When there is malfunction and failure in response to the status signal expression of the main brake unit, by described from brake unit implementing result
Output.
When two electronic power assist steering units are normal, a meets: 0.4K≤a≤0.6K.
When two electronic power assist steering units are normal, a meets: a=0.5K；That is two electronic power assist steering lists
First each output 0.5K；When two electronic power assist steering units are normal, since two electronic power assist steering units are uniformly to do
Function, therefore do not have a side and the problem of loss occurred；When any one node in some electronic power assist steering unit occurs
When malfunction and failure, the output of another electronic power assist steering unit can be promoted rapidly from 0.5K to target value K, relative to from
0 is promoted to target value, and response speed can faster, therefore this system can satisfy the safety requirements of automatic Pilot.
The automobile bus includes:
First automobile bus, two electronic power assist steering units, main brake unit and from brake unit with the first automobile bus
Connection；
Second automobile bus, two electronic power assist steering units, main brake unit and from brake unit with the second automobile bus
Connection；Redundancy Design has been carried out to automobile bus, when wherein automobile bus failure failure all the way, another way automobile bus
It can also ensure that system operates normally.
Further include:
Central controller is connect with the first automobile bus and the second automobile bus respectively, and the central controller is current for calculating
Desired steering wheel angle signal, and for issuing control instruction and monitoring main brake unit and from the state of brake unit
Signal, and current desired steering wheel angle signal, control instruction are respectively sent to the first automobile bus and the second automobile is total
On line.
Further include:
Safety governor is connect with the first automobile bus and the second automobile bus respectively；
The safety governor is monitoring that central controller do not fail for calculating current desired steering wheel angle signal
When, current desired steering wheel angle signal is not sent to two processors, or by the current desired steering wheel angle signal
Invalid tag is added, and the current desired steering wheel angle signal with invalid tag is sent to two processors；It is monitoring
To when central controller failure, the safety governor directly sends the calculated current desired steering wheel angle signal of institute
On first automobile bus and the second automobile bus；
And for sending control instruction and monitoring main brake unit and referring to from the status signal of brake unit, and by the control
Order is respectively sent on the first automobile bus and the second automobile bus；The redundancy for realizing controller, when one of control
When device failure is realized, another controller also can ensure that the normal operation of system.
It further include power supply unit；
The power supply unit includes main power source and from power supply；
The main power source respectively with central controller, main brake unit and wherein an electronic power assist steering unit is electrically connected；
It is described to be electrically connected respectively with safety governor, from brake unit and another electronic power assist steering unit from power supply；It is i.e. real
The redundancy for having showed power supply, when the failure of one of power supply fails, another power supply can also for from brake unit and
Electronic power assist steering unit is powered all the way, additionally it is possible to ensure that system is operated normally or operated normally in a short time.
Also pass through one or two the first communication line connections between the processor of two electronic power assist steering units；At two
The interaction for carrying out information between device by the first communication line is managed, mutual verification and the monitoring being mainly used between two processors
Deng；Two the first communication lines are preferably used, that is, the redundancy of the first communication line are realized, when wherein first communication line loses
When effect, another the first communication line also can ensure that the normal operation of system；
The main brake unit and from, also by one or the connection of two the second communication lines, being used for main brake list between brake unit
Member and from the data interaction between brake unit；Main brake unit and between brake unit by the second communication line carry out information
Interaction；Two the second communication lines are preferably used, that is, the redundancy of the second communication line are realized, when wherein second communication line goes out
When now failing, another the second communication line also can ensure that the normal operation of system；
The peak torque of the motor of each electronic power assist steering unit is respectively that maximum torque B(i.e. vehicle needed for vehicle is in
Static and fully loaded, torque needed for steering wheel is gone to ultimate angle) 50%-100%, when vehicle is under nonstatic state, i.e.,
Make there is a motor to break down, another motor also can satisfy the steering requirement of vehicle.
The peak torque of the motor of each electronic power assist steering unit is respectively 50% of maximum torque B needed for vehicle；Its
Advantage are as follows: (1) when two electronic power assist steering units are normal, the two ability after being added is B, can satisfy Car design
Demand；(2) experiment proves that, in single point failure, even if setting 0.5B, Single Electron for the peak torque of motor
Power-assisted steering unit also can satisfy steering demand, and in addition to power-assisted needed for static or Ultra-Low Speed operating condition end, but vehicle is quiet
Only or when Ultra-Low Speed, automatic Pilot state originally belongs to safe condition, therefore the peak torque of each motor is designed as 0.5B energy
Enough ensure the safety of system；(3) the peak torque value of motor is higher, and cost configuration is higher, by the peak torque of each motor
It is designed as 0.5B, can either guarantee the safety and reliability of system, it is minimum to also achieve cost configuration；(4) if two motors
Peak torque it is not identical, such as；One peak torque is 0.3B, and a peak torque is 0.7B, when two need are used simultaneously
Biggish torque (such as: when 0.3B), peak torque is that the motor of 0.3B needs oepration at full load；And it is for peak torque
Then very comfortable, such case will lead to the motor that peak torque is 0.3B and be easier to lose the torque of the motor output 0.3B of 0.7B
Effect；In addition, peak torque is that the motor of 0.3B is the torsion that can not export 0.6B if peak torque is the motor failure of 0.7B
Square, therefore in some single point failure, system not can guarantee the basic assist function that automatic Pilot is switched to mankind's driving.
Further, when in one of electronic power assist steering unit processor or corner torque sensor or motor go out
When now failing, total torque value K control pair that another normal electronic power assist steering unit need to currently be exported according to whole system
The motor work answered.
Beneficial effects of the present invention:
(1) when two electronic power assist steering units are normal, the vehicle as described in two electronic power assist steering unit co- controllings
It realizes and turns to, the peak torque of each motor does not need peak torque needed for reaching vehicle, therefore can suitably reduce to motor
Performance requirement can reduce vehicle cost to reach under the premise of meeting automatic Pilot safety.In addition, as two in system
In a processor, two corner torque sensors and two motors when any one equal failure, another electricity operated normally
Sub- power-assisted steering unit also can individually control vehicle and realize steering, therefore can satisfy the safety requirements of automatic Pilot.
(2) another set of when wherein a set of brake unit breaks down failure with two sets of brake units of Redundancy Design
Brake unit can adapter system so that driver is had the sufficient reaction time come adapter tube vehicle to guarantee that vehicle operates normally, from
And improve the stability and reliability of motor vehicle braking system；
(3) when main brake unit and from brake unit after receiving control instruction, due to both resolve control instruction, and
Also mutually whether monitoring other side breaks down (such as: the calculated result of other side's health status and other side) between the two, if discovery pair
Side breaks down failure (such as: it is wrong to monitor other side's calculated result, or monitoring other side is unhealthy status), one not failed
Side is enable to respond quickly and adapter system (switching time is about in 100ms)；That is two brake units are due to using internal coordination
Mode realize mutual switching, coordinate without peripheral control unit, therefore fast response time and smooth.
Detailed description of the invention
Fig. 1 is the functional block diagram in the present invention；
Fig. 2 is the control flow chart of two electronic power assist steering units in the present invention；
Fig. 3 is the control flow chart of two brake units in the present invention；
Fig. 4 is the control flow chart of central controller and safety governor in the present invention；
Fig. 5 is main power source and the control flow chart from power supply in the present invention；
Fig. 6 is the control flow chart of the first automobile bus and the second automobile bus in the present invention；
Fig. 7 is the functional block diagram of electronic power assist steering unit in the present invention；
In figure: 1, electronic power assist steering unit Y, the 2, first communication line, 3, electronic power assist steering unit X, the 4, second automobile bus,
5, from brake unit, the 6, second communication line, 7, main brake unit, 8, safety governor, 9, central controller, 10, power supply unit,
10a, main power source, 10b, from power supply, the 11, first automobile bus, the 12, first wheel speed sensors, the 13, second wheel speed sensors.
Specific embodiment
It is described in detail below in conjunction with attached drawing redundant electronic braking in a turn system of the invention.
Embodiment one
As shown in Figure 1 and Figure 4, redundant electronic braking in a turn system of the present invention, including two electronic power assist steering units
(i.e. electronic power assist steering unit X3 and electronic power assist steering unit Y1), main brake unit 7 are controlled from brake unit 5 and center
Device 9.Wherein, central controller 9 is that operation and decision Function for Automatic Pilot are used on vehicle.
Two electronic power assist steering units (i.e. EPS system) are used for co- controlling Vehicular turn；Wherein, each electronics
Power-assisted steering unit (i.e. EPS) includes processor, and corner torque sensor and motor connected to the processor respectively.Its
In, the corner torque sensor is sent to and its phase for exporting current steering wheel actual torque signal and angle signal
The processor of connection.The processor from automobile bus for obtaining current desired steering wheel angle signal.The processing
Device is also used to be calculated according to current desired steering wheel angle signal, and the angle signal obtained from corner torque sensor
The total torque value K that whole system need to currently export out, and respectively place electronic power assist steering unit is calculated according to distribution mechanism
The torque value that need to be exported.The processor controls the motor of corresponding connection also according to the torque value, and it is real to control the vehicle
It turns now to.
As shown in Figure 2, wherein the distribution mechanism are as follows:
When two electronic power assist steering units are normal, two electronic power assist steering units are worked at the same time, and according to respectively working as
The torque value exported needed for preceding controls corresponding motor work, and co- controlling vehicle, which is realized, to be turned to, two electronic power assist steering lists
The torque value that member need to export should meet following formula: a+b=K, and 0.3K≤a≤0.7K, a are one of electronic power assist steering
The torque value of the current desired output of unit, b are the torque value of another current desired output of electronic power assist steering unit.
When in one of electronic power assist steering unit processor or corner torque sensor or motor fail
When, another normal electronic power assist steering unit adapter system individually controls the vehicle and realizes steering.
Central controller 9 is for calculating current desired steering wheel angle signal and being sent to automobile bus.
The advantages of such distribution mechanism, is:
(1) mechanism that central controller 9 and EPS system mutually completely cut off, central controller 9 only generally issue totality to EPS system
Steering angle target, and reciprocally negotiated by the dual processor inside EPS system, the torque task based on overall corner target point
Match, is not necessarily to consider the task division of labor of EPS system in 9 stage of central controller, realizes intelligent automobile field EPS system and center
Another system may be implemented when central controller 9 or EPS system need respectively upgrading in the isolation of the respective calculation function of controller 9
The seamless connection of system.
(2) consider intelligent vehicle running safety, it is necessary to realize the redundancy of important EPS, also having in the prior art will be electric
Sub- steering system is designed as dual redundant system, i.e. two sets of electrical steering power-assisted units, under normal circumstances, only a set of electrical steering
Power-assisted be it is in running order, the electrical steering of another set of redundancy only can be just called after the electrical steering element failure of default
Power-assisted unit.And in the present embodiment, when two electronic power assist steering units are normal, it is total to by two electronic power assist steering units
Steering is realized with the vehicle is controlled, and can be realized the utilization of redundant electronic servo steering system efficient resource.
(3) when two electronic power assist steering units are normal, as described in two electronic power assist steering unit co- controllings
Vehicle, which is realized, to be turned to, and the peak torque of each motor does not need peak torque needed for reaching vehicle, therefore can suitably reduce to electricity
The configuration requirement of machine, to reach the cost that can reduce vehicle under the premise of meeting automatic Pilot safety.
(4) any one node in some electronic power assist steering unit (such as: processor or corner torque pass
Sensor or motor) when failing, under no special operating condition, what another electronic power assist steering unit can also guarantee to drive
Safety.
As an example, when two corner torque sensors, two processors and normal two motors, if distribution mechanism
It is that electronic power assist steering unit X3 exports 0.3K, electronic power assist steering unit Y1 exports 0.7K, then electronic power assist steering unit X3
The torque of 0.3K is exported, electronic power assist steering unit Y1 exports the torque of 0.7K.
As another example, when two corner torque sensors, two processors and normal two motors, if distribution
Mechanism is that electronic power assist steering unit X3 output 0.7K, electronic power assist steering unit Y1 export 0.3K, then electronic power assist steering list
The torque of first X3 output 0.7K, electronic power assist steering unit Y1 export the torque of 0.3K.
As another example, when two corner torque sensors, two processors and normal two motors, if distribution
Mechanism is that electronic power assist steering unit X3 output 0.4K, electronic power assist steering unit Y1 export 0.6K, then electronic power assist steering list
The torque of first X3 output 0.4K, electronic power assist steering unit Y1 export the torque of 0.6K.
As another example, when two corner torque sensors, two processors and normal two motors, if distribution
Mechanism is that electronic power assist steering unit X3 output 0.6K, electronic power assist steering unit Y1 export 0.4K, then electronic power assist steering list
The torque of first X3 output 0.6K, electronic power assist steering unit Y1 export the torque of 0.4K.
As another example, when two corner torque sensors, two processors and normal two motors, if distribution
Mechanism is two electronic power assist steering cell-average distribution, then electronic power assist steering unit X3 exports the torque of 0.5K, and electronics helps
The torque of power steering unit Y1 output 0.5K.
Each motor, which respectively exports the advantages of 0.5K, is:
(1) when two electronic power assist steering units are normal, each motor only exports 0.5K, two electronic power assist steering units
Uniformly acting makes service life of two electronic power assist steering units also base since the stress of two electronic power assist steering units is impartial
It can guarantee equalization on this, therefore not have a side and loss occurred；
(2) when any one point in some electronic power assist steering unit fails, another electronic power assist steering list
Member also can quickly 0.5K be promoted to target value K, be promoted relative to from 0 to target value K, and faster, therefore this is response speed
System can ensure vehicle drive safety.
When in one of electronic power assist steering unit processor or corner torque sensor or motor fail
When, another normal electronic power assist steering unit adapter system individually controls the vehicle and realizes steering.
As an example, when the processor in electronic power assist steering unit Y1 breaks down failure, at this point, by electronics power-assisted
Steering unit X3 adapter system individually controls the vehicle and realizes steering.
As another example, when the corner torque sensor in electronic power assist steering unit Y1 breaks down failure, this
When, by electronic power assist steering unit X3 adapter system, individually controls the vehicle and realize steering.
As another example, when the motor in electronic power assist steering unit X3 breaks down failure, at this point, being helped by electronics
Power steering unit Y1 adapter system individually controls the vehicle and realizes steering.
In this hair embodiment, the main brake unit 7 is used to receive control instruction from automobile bus and resolves the control
Instruction, and implementing result exports.It is described to refer to from brake unit 5 for receiving control instruction from automobile bus and resolving the control
It enables, and the status signal based on main brake unit 7 decides whether that implementing result exports.
As shown in figure 3, central controller 5 is also used to issue control instruction, and such as: target deceleration signal and target deceleration
Spend useful signal.
Main brake unit 7 is used to receive and resolve the control instruction of the sending of central controller 5, and implementing result exports.
It is used to receive and resolve the control instruction that central controller 5 issues from brake unit 5, and is based on main brake unit 7
Status signal decide whether implementing result export.
Wherein: the main brake unit 7 and indicating whether occur from partner state signal is mutually monitored between brake unit 5
(whether Jian Kang mode is divided into passive monitoring and actively monitors monitoring other side failure, and passive monitoring refers to the passive event for receiving other side
Hinder information, actively monitoring refers to the fault message for actively obtaining other side).In response to the main brake unit 7 and from brake unit 5
When status signal is normal, exported by 7 implementing result of main brake unit, at this point, implementing result is not defeated from brake unit 5
Out.Malfunction and failure occurs in status signal expression in response to monitoring the main brake unit 7, and (malfunction and failure only refers in current point
The expendable failure occurred in the fiery period, does not include recoverable failure) when, knot is executed from brake unit 5 by described
Fruit output.In response to monitor it is described there is malfunction and failure from the expression of the status signal of brake unit 5 when, by main brake unit 7
Implementing result output.
Embodiment two
As shown in Figure 1, redundant electronic braking in a turn system also achieves the redundancy of automobile bus.The automobile bus includes first
Automobile bus 11 and the second automobile bus 4；First automobile bus 11 is used for transmission the feedback of control instruction and status signal；The
One automobile bus 11 is also used to transmit current desired steering wheel angle signal.Second automobile bus 4 is used for total with the first automobile
Control instruction described in 11 synchronous transfer of line and the feedback of status signal, the second automobile bus 4 are also used to transmit current desired
Steering wheel angle signal.
It two electronic power assist steering units, main brake unit 7 and is connect from brake unit 5 with the first automobile bus 11.
It two electronic power assist steering units, main brake unit 7 and is also connect from brake unit 5 with the second automobile bus 4.
As shown in fig. 6, another automobile bus, which also can ensure that, is when wherein automobile bus failure failure all the way
System operates normally.
For brake portion:
When communication failure failure occurs in the second automobile bus 4, main brake unit 7 continues to keep brake control function, simultaneously will
4 fault-signal of the second automobile bus is issued to central controller.
When communication failure failure occurs in the first automobile bus 11, main brake unit 7 continues to keep brake control function, together
When will issue 11 fault-signal of the first automobile bus to central controller.
For knuckle section:
When communication failure failure occurs in the first automobile bus 11, two electronic power assist steering units are from the second automobile bus 4
Obtain current desired steering wheel angle signal.11 fault-signal of the first automobile bus will be issued simultaneously to central controller.
When communication failure failure occurs in the second automobile bus 4, two electronic power assist steering units are from the first automobile bus
Current desired steering wheel angle signal is obtained on 11.4 fault-signal of the second automobile bus will be issued simultaneously to central controller.
Rest part is the same as example 1.
Embodiment three
As shown in Figure 1, redundant electronic braking in a turn system further includes safety governor 8, that is, realize the redundancy of controller.
Central controller 9 is connect with the first automobile bus 11 and the second automobile bus 4 respectively, which is used for
Calculate current desired steering wheel angle signal, and for issuing control instruction and monitoring main brake unit 7 and from braking
The working condition of unit 5, and current desired steering wheel angle signal, control instruction are respectively sent to the first automobile bus 11
On the second automobile bus 4.
Safety governor 8 is connect with the first automobile bus 11 and the second automobile bus 4 respectively；The safety governor 8 is used for
Current desired steering wheel angle signal is calculated, when monitoring that central controller 9 does not fail, does not send current desired direction
Disk angular signal gives two processors, or the current desired steering wheel angle signal is added invalid tag, and will be with invalid
The current desired steering wheel angle signal of label is sent to two processors, to guarantee that two electronic power assist steering units receive
Signal only all the way be useful signal.When monitoring that central controller 9 fails, the safety governor 8 will directly be counted
The current desired steering wheel angle signal calculated is sent on the first automobile bus 11 and the second automobile bus 4, to guarantee center
When controller 9 fails, two electronic power assist steering units can also receive effective current desired steering wheel angle signal.
Safety governor 8 is also used to send control instruction and monitoring main brake unit 7 and the working condition from brake unit 5, and will
The control instruction is respectively sent on the first automobile bus 11 and the second automobile bus 4.
As shown in figure 4, this redundant electronic braking in a turn system realizes the redundancy of controller, when wherein central controller goes out
When existing malfunction and failure, safety governor also can ensure that system operates normally.
Rest part is identical as embodiment two
Example IV
As shown in Figure 1, redundant electronic braking in a turn system further includes power supply unit 10；The power supply unit 10 includes main power source 10a
With from power supply 10b.The main power source 10a respectively with central controller 9, main brake unit 7 and electronic power assist steering unit X3
Electrical connection；It is described to be electrically connected respectively with safety governor 8, from brake unit 5 and electronic power assist steering unit Y1 from power supply 10b
It connects, that is, realizes the redundancy of power supply.
As shown in figure 5, main power source 10a breaks down when failure, i.e. main brake unit 7 and electronic power assist steering unit X3 institute
Network power-off, at this time by keeping braking and course changing control from brake unit 5 and electronic power assist steering unit Y1 adapter system
Function, while mains power failure signal will be issued to safety governor.
When breaking down failure from power supply 10b, i.e., from the network where brake unit 5 and electronic power assist steering unit Y1
Power-off keeps braking and course changing control function, together at this time by main brake unit 7 and electronic power assist steering unit X3 adapter system
When will issue from power failure signal central controller.
Rest part is identical as embodiment three.
As shown in Figure 1, in one~embodiment of embodiment four, it is also logical by one or two first between two processors
Believe that line 2 connects, carries out the interaction of information between two processors by the first communication line 2, be mainly used between two processors
Calculated result it is mutual verification and malfunction monitoring.Preferably, the first communication line 2 uses two, that is, realizes the first communication line 2
Redundancy, when first communication line 2 therein break down fail when, another the first communication line 2 can also ensure that EPS system
The normal operation of system.
As shown in Figure 1, main brake unit 7 and from brake unit 5 also by the connection of second communication line 6, be used for main system
Moving cell 7 and from the data interaction between brake unit 5.Wherein, the two is monitored by data that the second communication line 6 is interacted
Whether other side breaks down (including the information such as the health status of itself and calculated result), if one of brake unit occurs
When malfunction and failure, another brake unit can find failure and adapter system in time, improve the stabilization of entire braking system
Property and reliability.Main brake unit 7 and also can be by two the second communication line 6(such as from brake unit 5: it privately owned CAN) connects.
Redundancy has also been carried out to the second communication line 6, when second communication line 6 breaks down failure, the second communication line of another way 6
It can also ensure that braking system operates normally.
In one~embodiment of embodiment four, the main brake unit 7 includes conventional braking system, electronic stability journey
Sequence control system (i.e. ESP), assisted deceleration control (i.e. CDD), electronics parking brake control system (i.e. EPB), automatic emergency brake are (i.e.
) and active brake auxiliary system (i.e. BAS) AEB.
In one~embodiment of embodiment four, it is described from described in brake unit 5 from brake unit 3 by conventional brake system
System, anti-blocking brake system, automatic emergency brake and assisted deceleration control (CDD) composition.It is described also can be by normal from brake unit 5
Advise braking system, anti-blocking brake system (ABS) and assisted deceleration control composition.Because being Redundancy Design from brake unit 5, therefore only
Brake riggings requirement need to be met.
In one~embodiment of embodiment four, first automobile bus 11 and the second automobile bus 4 are CAN total
Flexray bus also can be used in line.
In one~embodiment of embodiment four, as shown in Figure 1, automatic driving vehicle braking control system further includes
One wheel speed sensors 12 and the second wheel speed sensors 13, the first wheel speed sensors 12 are connect with main brake unit 7, and the second wheel speed passes
Sensor 13 is connect with from brake unit 5.Wheel speed sensors are also subjected to Redundancy Design, when one of wheel speed sensors occur
When malfunction and failure, another wheel speed sensors also can ensure that brake portion operates normally.
In one~embodiment of embodiment four, for brake portion, the expendable failure includes: that braking is built
Pressure failure, sensor signal interruption and system cut-off etc.；Recoverable failure includes that control instruction, sensing data are lost once in a while
Frame, short time data check mistake etc..
In one~embodiment of embodiment four, the peak torque of each motor be respectively peak torque B(needed for vehicle i.e.
Vehicle is in static and fully loaded, torque needed for steering wheel is gone to ultimate angle) 50%~100%, when vehicle is in nonstatic
Under state, failed even if there is an electrical steering power-assisted unit to break down, another electrical steering power-assisted unit also can
Meet the steering requirement of vehicle.
Preferably, the peak torque of each motor is respectively 50% of maximum torque B needed for vehicle；Its advantage are as follows:
(1) when entire braking system is normal, the two ability after being added is B, can satisfy the demand of Car design；(2) through trying
Verifying, in single point failure, even if setting 0.5B, Single Electron power-assisted steering unit for the peak torque of motor
It can satisfy steering demand, in addition to power-assisted needed for static or Ultra-Low Speed operating condition end, but vehicle is in static or Ultra-Low Speed, from
Dynamic driving condition originally belongs to safe condition, therefore the peak torque of each motor is designed as the peace that 0.5B ensures that system
Entirely；(3) the peak torque value of motor is higher, and cost configuration is higher, and the peak torque of each motor is designed as 0.5B, can
It is minimum to also achieve cost configuration for the safety and reliability for enough guaranteeing system；(4) if the peak torque of two motors not phase
Together, such as；One peak torque is 0.3B, and a peak torque is 0.7B, when two need use biggish torque (ratio simultaneously
When such as: 0.3B), peak torque is that the motor of 0.3B needs oepration at full load；And the motor that peak torque is 0.7B is exported
Then very comfortable, such case will lead to the motor that peak torque is 0.3B and be easier to fail the torque of 0.3B；In addition, if peak
It is worth the motor failure that torque is 0.7B, peak torque is the torque that can not export 0.6B for the motor of 0.3B, therefore at some
When single point failure, system not can guarantee the basic assist function that automatic Pilot is switched to mankind's driving.
Claims (11)
1. a kind of redundant electronic braking in a turn system, which is characterized in that including two electronic power assist steering units, main brake unit
(7) and from brake unit (5)；
Two electronic power assist steering units are used for co- controlling Vehicular turn；Wherein, each electronic power assist steering unit is equal
Including processor, and corner torque sensor and motor connected to the processor respectively；The corner torque sensor is used for
Current steering wheel actual torque signal and angle signal are exported, and is sent to coupled processor；The processor is used
In obtaining current desired steering wheel angle signal from automobile bus；The processor is also used to according to current desired direction
Disk angular signal, and the angle signal obtained from corner torque sensor, the total torsion that calculates whole system currently and need to export
Square value K, and the torque value that respectively place electronic power assist steering unit need to export is calculated according to distribution mechanism；The processor is also
The motor that corresponding connection is controlled according to the torque value controls the vehicle and realizes steering；
Wherein, the distribution mechanism are as follows: when two electronic power assist steering units are normal, two electronic power assist steering units are same
When work, and control corresponding motor according to the torque value of respective current desired output and work, co- controlling vehicle, which is realized, to be turned to,
The torque value that two electronic power assist steering units need to export should meet following formula: a+b=K, and 0.3K≤a≤0.7K, a are it
In the current desired output of electronic power assist steering unit torque value, b be another electronic power assist steering unit it is current desired
The torque value of output；When in one of electronic power assist steering unit processor or corner torque sensor or motor occur
When failure, another normal electronic power assist steering unit adapter system individually controls the vehicle and realizes steering；
The main brake unit (7) is for receiving and resolving control instruction, and implementing result exports；
It is described to be used to receive and resolve control instruction from brake unit (5), and the status signal based on main brake unit (7) determines
Whether implementing result exports；
Wherein: the main brake unit (7) and indicating whether occur from partner state signal is mutually monitored between brake unit (5)
Failure；It is defeated by main brake unit (7) implementing result when status signal in response to the main brake unit (7) is normal
Out, at this point, implementing result does not export from brake unit (5)；Status signal in response to the main brake unit (7) is event occur
When barrier failure, exported by described from brake unit (5) implementing result.
2. the redundant electronic braking in a turn system according to claim 1, it is characterised in that: when two electronic power assist steerings
When unit is normal, a meets: 0.4K≤a≤0.6K.
3. the redundant electronic braking in a turn system according to claim 2, it is characterised in that: when two electronic power assist steerings
When unit is normal, a meets: a=0.5K.
4. redundant electronic braking in a turn system according to any one of claims 1 to 3, it is characterised in that: the automobile bus
Include:
First automobile bus (11), two electronic power assist steering units, main brake unit (7) and from brake unit (5) with
One automobile bus (11) connection；
Second automobile bus (4), two electronic power assist steering units, main brake unit (7) and from brake unit (5) with second
Automobile bus (4) connection.
5. redundant electronic braking in a turn system according to claim 4, which is characterized in that further include:
Central controller (9) is connect with the first automobile bus (11) and the second automobile bus (4) respectively, the central controller (9)
For calculating current desired steering wheel angle signal, and for issue control instruction and monitoring main brake unit (7) and
Status signal from brake unit (5), and current desired steering wheel angle signal, control instruction are respectively sent to the first vapour
In vehicle bus (11) and the second automobile bus (4).
6. redundant electronic braking in a turn system according to claim 5, which is characterized in that further include:
Safety governor (8) is connect with the first automobile bus (11) and the second automobile bus (4) respectively；
The safety governor (8) is monitoring central controller (9) not for calculating current desired steering wheel angle signal
When failure, current desired steering wheel angle signal is not sent to two processors, or by the current desired steering wheel angle
Signal adds invalid tag, and the current desired steering wheel angle signal with invalid tag is sent to two processors；?
When monitoring central controller (9) failure, the safety governor (8) directly turns the calculated current desired steering wheel of institute
Angle signal is sent on the first automobile bus (11) and the second automobile bus (4)；
And the status signal for sending control instruction and monitoring main brake unit (7) and from brake unit (5), and should
Control instruction is respectively sent on the first automobile bus (11) and the second automobile bus (4).
7. redundant electronic braking in a turn system according to claim 6, which is characterized in that further include power supply unit (10)；
The power supply unit (10) includes main power source (10a) and from power supply (10b)；
The main power source (10a) respectively with central controller (9), main brake unit (7) and a wherein electronic power assist steering list
Member electrical connection；
It is described from power supply (10b) respectively with safety governor (8), from brake unit (5) and another electronic power assist steering unit
Electrical connection.
8. redundant electronic braking in a turn system described according to claim 1 or 2 or 3 or 5 or 6 or 7, it is characterised in that:
Also pass through one or two the first communication line (2) connections between the processor of two electronic power assist steering units；
The main brake unit (7) and from also passing through one or the connection of two the second communication lines (6) between brake unit (5).
9. redundant electronic braking in a turn system according to any one of claims 1 to 8, it is characterised in that: each electronics power-assisted
The peak torque of the motor of steering unit is respectively 50%~100% of maximum torque B needed for vehicle.
10. redundant electronic braking in a turn system according to any one of claims 1 to 9, it is characterised in that: each electronics power-assisted
The peak torque of the motor of steering unit is respectively 50% of maximum torque B needed for vehicle.
11. redundant electronic braking in a turn system according to any one of claims 1 to 10, it is characterised in that: when one of them
When processor or corner torque sensor or motor in electronic power assist steering unit fail, another normal electronics
Power-assisted steering unit controls corresponding motor according to the total torque value K that whole system need to currently export and works.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810150007.XA CN109733460B (en) | 2018-02-13 | 2018-02-13 | Redundant electronic steering brake system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810150007.XA CN109733460B (en) | 2018-02-13 | 2018-02-13 | Redundant electronic steering brake system |
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| CN109733460A true CN109733460A (en) | 2019-05-10 |
| CN109733460B CN109733460B (en) | 2023-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810150007.XA Active CN109733460B (en) | 2018-02-13 | 2018-02-13 | Redundant electronic steering brake system |
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| CN110224867A (en) * | 2019-05-31 | 2019-09-10 | 东南（福建）汽车工业有限公司 | A kind of network automatically bus test rack and its test method |
| CN110712677A (en) * | 2019-11-29 | 2020-01-21 | 吉林大学 | Redundant electric power steering system of automatic driving vehicle and control method thereof |
| CN111038480A (en) * | 2019-12-12 | 2020-04-21 | 苏州智加科技有限公司 | Automatic driving execution system and automatic driving control command execution method |
| CN111762260A (en) * | 2020-06-22 | 2020-10-13 | 北京汽车股份有限公司 | Power-assisted steering system redundancy control system and method based on calibrated vehicle speed and vehicle |
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| CN113460152A (en) * | 2020-03-31 | 2021-10-01 | 华为技术有限公司 | Electric power steering device and control method thereof |
| CN114026010A (en) * | 2019-06-20 | 2022-02-08 | 株式会社万都 | Steering control device and steering assist system including the same |
| WO2022133997A1 (en) * | 2020-12-25 | 2022-06-30 | 华为技术有限公司 | Control method, monitoring method, electronic control units, controller and control system |
| WO2024060745A1 (en) * | 2022-09-20 | 2024-03-28 | 博世华域转向系统有限公司 | Fully-redundant power system for steering gear of vehicle, and control method therefor |
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| CN111762260A (en) * | 2020-06-22 | 2020-10-13 | 北京汽车股份有限公司 | Power-assisted steering system redundancy control system and method based on calibrated vehicle speed and vehicle |
| WO2022133997A1 (en) * | 2020-12-25 | 2022-06-30 | 华为技术有限公司 | Control method, monitoring method, electronic control units, controller and control system |
| CN112896128A (en) * | 2021-02-08 | 2021-06-04 | 一汽解放汽车有限公司 | Braking system |
| CN113459832A (en) * | 2021-08-13 | 2021-10-01 | 爱思盟汽车科技(重庆)有限公司 | Circuit system of vehicle power chassis |
| WO2024060745A1 (en) * | 2022-09-20 | 2024-03-28 | 博世华域转向系统有限公司 | Fully-redundant power system for steering gear of vehicle, and control method therefor |
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