CN116125854A - Method and device for controlling operation of brake system, device and medium - Google Patents
Method and device for controlling operation of brake system, device and medium Download PDFInfo
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Abstract
The application provides an operation control method and device of a brake system, the brake system, equipment and medium. The braking system comprises a driving module, a driving shaft and an executing module, wherein the driving module drives the driving shaft to rotate so as to control the executing module to brake, and the driving shaft can also drive the magnetic target wheel to rotate, and the method comprises the following steps: receiving a braking signal, determining a target rotation angle of the driving shaft according to the braking signal, and sending a starting signal to the driving module so that the driving module drives the driving shaft to rotate; acquiring an actual rotation angle of the driving shaft, wherein the actual rotation angle is generated based on the induction of the sensor to the change of the magnetic field intensity caused by the rotation of the magnetic target wheel; and sending a stop signal to the driving module under the condition that the difference value between the actual rotation angle and the target rotation angle is in a preset range, so that the driving module stops driving the driving shaft.
Description
Technical Field
The present disclosure relates to the field of engines, and in particular, to a method and apparatus for controlling operation of a brake system, an electronic brake device, and a computer readable storage medium.
Background
At present, electric vehicles have become a development trend of the industry. In addition to the variations in power sources that result in differences in the drive of the vehicle itself, some of the systems that require engine assistance also have responsive variations, such as braking systems, as compared to conventional fuel vehicles.
The braking system of the electric vehicle needs to rotate the driving shaft through the driving module to enable the executing module to generate hydraulic pressure to serve as braking power, and in order to ensure accurate control of braking pressure, accurate measurement of the rotating angle of the driving shaft is needed to be achieved in the working process of the driving module.
Disclosure of Invention
To overcome the problems in the related art, the present application provides a method, apparatus, device, and computer-readable storage medium for controlling operation of a brake system, which can solve the above problems.
According to a first aspect of an embodiment of the present application, there is provided an operation control method of a brake system, where the brake system includes a driving module, a driving shaft, and an executing module, where the driving module drives the driving shaft to rotate so as to control the executing module to implement braking, and the driving shaft can also drive a magnetic target wheel to rotate, and the method includes:
Receiving a braking signal, determining a target rotation angle of the driving shaft according to the braking signal, and sending a starting signal to the driving module so that the driving module drives the driving shaft to rotate;
acquiring an actual rotation angle of the drive shaft, the actual rotation angle being an angle generated based on sensing of a change in magnetic field strength caused by rotation of the magnetic target wheel by a sensor;
and sending a stop signal to the driving module under the condition that the difference value between the actual rotation angle and the target rotation angle is in a preset range, so that the driving module stops driving the driving shaft.
According to a second aspect of the embodiments of the present application, there is provided an operation control device of a braking system, where the braking system includes a driving module, a driving shaft, and an executing module, where the driving module drives the driving shaft to rotate so as to control the executing module to implement braking, and the driving shaft can also drive a magnetic target wheel to rotate, and the device includes:
the receiving unit is used for receiving a braking signal, determining a target rotation angle of the driving shaft according to the braking signal, and sending a starting signal to the driving module so that the driving module drives the driving shaft to rotate;
An acquisition unit configured to acquire an actual rotation angle of the drive shaft, the actual rotation angle being an angle generated based on sensing of a change in magnetic field strength caused by rotation of the magnetic target wheel by a sensor;
and the verification unit is used for sending a stop signal to the driving module so as to enable the driving module to stop driving the driving shaft under the condition that the difference value between the actual rotation angle and the target rotation angle is in a preset range.
According to a third aspect of embodiments of the present application, there is provided an electronic brake system comprising:
the driving module is used for driving the driving shaft to rotate according to a starting signal sent by the electronic controller unit ECU and stopping rotating the driving shaft according to a stopping signal sent by the ECU;
the two ends of the driving shaft are respectively connected to the magnetic target wheel and the execution module, and are used for driving the magnetic target wheel to rotate under the driving of the driving motor and controlling the execution module to realize braking;
the execution module is connected with the driving shaft and used for braking according to the rotation angle of the driving shaft;
the magnetic target wheel is connected to one end of the driving shaft so as to be capable of rotating following the rotation of the driving shaft;
The sensor is used for sensing the magnetic field intensity change in the rotating process of the magnetic target wheel so as to generate an actual rotating angle;
the ECU is configured to implement the operation control method of the brake system according to the first aspect.
According to a fourth aspect of embodiments of the present application, there is provided an electronic device, including: a processor, a memory;
the memory is used for storing a computer program;
the processor is configured to execute the operation control method of the brake system according to the first aspect by calling the computer program.
According to a fifth aspect of embodiments of the present application, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the operation control method of the brake system according to the first aspect.
The technical scheme provided by the embodiment of the application can comprise the following beneficial effects:
the sensor senses the magnetic target wheel, generates the actual rotation angle of the driving shaft in real time, compares the actual rotation angle with the predetermined target rotation angle, and accurately controls the actual rotation angle and further accurately controls the execution module.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic architecture diagram of an electric brake system according to an exemplary embodiment of the present application.
Fig. 2 is a flowchart illustrating a method of controlling operation of a brake system according to an exemplary embodiment of the present application.
Fig. 3 is a schematic architecture diagram of an electric brake system according to an exemplary embodiment of the present application.
Fig. 4 is a schematic architecture diagram of an electric brake system according to an exemplary embodiment of the present application.
Fig. 5 is a schematic structural diagram of an electronic device where an operation control device of a brake system is located according to an exemplary embodiment of the present application.
Fig. 6 is a block diagram of an operation control device of a brake system according to an exemplary embodiment of the present application.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.
The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first message may also be referred to as a second message, and similarly, a second message may also be referred to as a first message, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.
Next, embodiments of the present application will be described in detail.
Fig. 1 is an architecture diagram of an electric brake system according to an exemplary embodiment of the present application. As shown in fig. 1, the electronic brake system of the present application may include a driving module 11, a driving shaft 12, an executing module 13, a magnetic target wheel 14, a sensor 15, an electronic controller unit (Electronic Control Unit, abbreviated as ECU) 16, and the like.
The driving module 11 is used for driving the driving shaft 12 to rotate according to a starting signal sent by the electronic controller unit ECU16, and stopping the rotation of the driving shaft 12 according to a stopping signal sent by the ECU 16. In some embodiments, the driving module 11 may include a driving motor, and the driving motor is electrically driven to rotate, so as to drive the driving shaft 12 to rotate.
The driving shaft 12 is connected to the magnetic target wheel 14 and the executing module 13 at two ends, and is used for driving the magnetic target wheel 14 to rotate under the driving of the driving motor 11 and controlling the executing module 13 to brake. In one embodiment, when the driving shaft 12 rotates, the pressure generated in the actuating module 13 is generated based on the rotation angle, and the pressure is transmitted to the actuating mechanism of each wheel, so as to realize the braking function.
And the execution module 13 is connected with the driving shaft 12 and is used for braking according to the rotation angle of the driving shaft 12. The execution module 13 may brake the vehicle based on the rotation of the drive shaft 12. In one embodiment, the execution module 13 may include a master cylinder and an execution mechanism, wherein the rotation of the driving shaft 12 generates pressure in the master cylinder, and the pressure built up in the master cylinder is transmitted to the brake execution mechanism of each wheel through the transmission device, so that the execution mechanism realizes braking based on the received pressure, so that in order to realize accurate control on the braking of the wheels, the pressure in the master cylinder must be ensured, and the actual rotation angle of the driving shaft must be ensured to be the target rotation angle.
A magnetic target wheel 14 is connected to one end of the drive shaft 12 so as to be able to rotate following the rotation of the drive shaft 12. The magnetic target wheel 14 may be directly connected to one end of the driving shaft 12, where the angle rotated by the magnetic target wheel 14 is the angle rotated by the driving shaft 12; the magnetic target wheel 14 may also be connected to one end of the drive shaft 12 through a transmission, and a correspondence exists between the angle through which the magnetic target wheel 14 rotates and the angle through which the drive shaft 12 rotates, and based on the correspondence, the actual rotation angle of the drive shaft 12 may be calculated from the detected rotation angle of the magnetic target wheel 14.
A sensor 15 for sensing a change in the magnetic field strength during rotation of the magnetic target wheel 14 for generating an actual rotation angle. The sensor 15 may include a magneto-sensitive element or a magneto-sensitive circuit, and generates a corresponding current for the change of the magnetic field intensity, and determines a magnetic field intensity change value according to the magnitude of the current, thereby determining the rotation angle of the magnetic target wheel; the sensor 15 may generate a corresponding detection parameter based on only the change in the magnetic field strength, and the detection parameter may be transmitted to the ECU16, and the ECU may generate a corresponding rotation angle of the magnetic target wheel based on the received detection parameter of the sensor.
The ECU16 is used to implement the braking system operation control method proposed in the present application. The ECU16 is also a control center of the entire electronic brake system.
When the electronic braking system is used for realizing braking, the braking module generates pressure under the driving control of the driving module, so that the braking control of each wheel is realized, and therefore, in order to realize the accurate control of the braking, the driving module is required to be accurately controlled based on the rotating angle of the driving shaft.
Fig. 2 is a flowchart of an operation control method of a brake system, which may be applied to the ECU16 shown in fig. 1 described above, provided in an exemplary embodiment. The method may comprise the steps of:
s201: and receiving a braking signal, determining a target rotation angle of the driving shaft according to the braking signal, and sending a starting signal to the driving module so that the driving module drives the driving shaft to rotate.
When a vehicle driver executes braking operation through a brake pedal, a hand brake and the like, or the vehicle automatically executes braking based on an energy recovery system, a braking signal is sent to an ECU of the braking system, the ECU can determine the pressure required to be established by an execution module according to the received braking signal, and determine the target rotation angle of a driving shaft required to be driven by a driving module according to a preset calibration data table, wherein the calibration data table can comprise the corresponding relation between the pressure in the execution module and the target rotation angle and the corresponding relation between the intensity of the braking signal and the target rotation angle.
The ECU determines the target rotation angle and sends a start signal to the drive module, where the start signal may include powering up the drive module or may include a signal that causes the drive module to operate. The starting signal sent by the ECU enables the driving module to work and the driving module drives the driving shaft to rotate, if the driving shaft is connected with the driving module through the transmission device, a mapping relation exists between the rotation angle of the driving shaft and the rotation angle of the driving module, and if the driving shaft is directly driven by the driving module, the rotation angle of the driving shaft is consistent with the rotation angle of the driving module.
S202, acquiring an actual rotation angle of the driving shaft, wherein the actual rotation angle is generated based on the induction of the change of the magnetic field intensity caused by the rotation of the magnetic target wheel by a sensor.
The magnetic target wheel can change the surrounding magnetic field intensity through rotation, so that the sensor can determine the rotated angle of the magnetic target wheel through detection of the magnetic field intensity.
In an embodiment, the magnetic target wheel may be formed by alternately arranging N poles and S poles to form a ring, and the greater the number of magnetic poles arranged around the magnetic target wheel, the greater the change in the intensity of the surrounding magnetic field caused by rotation of the magnetic target wheel, so that the sensor can more accurately measure the rotation angle of the driving shaft.
In one embodiment, the magnetic target wheel may be directly connected to one end of the driving shaft, and the determined rotation angle of the magnetic target wheel is the actual rotation angle of the driving shaft.
In an embodiment, the magnetic target wheel may be connected to the driving shaft through a transmission device such as a gear or a transmission rod, and the determined rotation angle of the magnetic target wheel may generate the actual rotation angle of the driving shaft through a corresponding mapping relationship based on the transmission device.
Indeed, in one embodiment, obtaining the actual rotation angle of the drive shaft comprises: the actual rotation angle generated by the sensor sensing the change in the magnetic field strength is received, that is, the actual rotation angle of the drive shaft is calculated by the sensor having a calculation function based on the detected change in the magnetic field strength, and then the actual rotation angle is transmitted to the ECU.
For example, the corresponding relation between the magnetic field intensity variation value and the rotation angle of the driving shaft is preset as calibration data K, and when the sensor senses that the magnetic field intensity variation value is B, the sensor can calculate the actual rotation angle a=b/K, where the corresponding relation K may include the corresponding relation between the magnetic field intensity variation value and the rotation angle of the magnetic target wheel and the corresponding relation between the rotation angle of the magnetic target wheel and the actual rotation angle of the driving shaft.
In one embodiment, obtaining the actual rotation angle of the drive shaft includes: and receiving induction data generated by the sensor for inducing the change of the magnetic field intensity, and generating the actual rotation angle according to the induction data, namely, the sensor can only detect the change of the magnetic field intensity to generate corresponding induction data, the induction data is sent to the ECU, and the ECU generates the corresponding actual rotation angle of the driving shaft through calculation.
For example, the sensor senses that the magnetic field intensity change value is B, the sensing data is sent to the ECU, and the ECU calculates the actual rotation angle a=b/K of the driving shaft according to the correspondence K between the sensing data and the actual rotation angle of the driving shaft, where the correspondence K may include the correspondence between the sensing data and the rotation angle of the magnetic target wheel and the correspondence between the rotation angle of the magnetic target wheel and the actual rotation angle of the driving shaft.
S203: and sending a stop signal to the driving module under the condition that the difference value between the actual rotation angle and the target rotation angle is in a preset range, so that the driving module stops driving the driving shaft.
In step S201, the ECU determines the target rotation angle of the driving shaft based on the braking signal, and in step S202, the actual rotation angle of the driving shaft may be detected in real time, and if the difference between the actual rotation angle and the target rotation angle is within the preset range, that is, if the rotation of the driving shaft has reached the target angle required for braking, a stop signal is sent to the driving module, so that the driving module terminates driving of the driving shaft, and further, the driving shaft may be maintained at the target angle, so that the control module has the preset target pressure, and further, accurate control of braking is achieved.
Because the actual rotation angle is generated based on the induction of the sensor to the magnetic field change generated by the rotation of the magnetic target wheel, certain deviation exists in the actual use process, and the allowable range of the deviation is the preset range.
In one embodiment, the preset range may include an upper boundary of acceptable error and a lower boundary of error, and when the difference between the actual rotation angle and the target rotation angle is between the upper boundary and the lower boundary of the preset range, the driving shaft is considered to have reached the target rotation angle, and the pressure provided to the control module is sufficient to perform the braking.
For example, the upper and lower boundaries of the preset range may be between-0.5 ° and +0.5°, i.e., the difference between the actual rotation angle and the target rotation angle may be between-0.5 ° and +0.5°.
In one embodiment, the upper and lower boundary values of the predetermined range may be different. For example, the upper and lower boundaries of the predetermined range may be-0.3 ° to +0.5°.
According to the operation control method of the braking system, dynamic real-time detection can be carried out on the actual rotation angle of the driving shaft, and when the difference value between the actual rotation angle of the driving shaft and the target rotation angle is judged to be in the preset range, the rotation of the driving shaft is stopped, so that the rotation angle of the driving shaft can be detected more accurately based on the induction of the magnetic field change caused by the rotation of the magnetic target wheel, and further the accurate control of the pressure required by the control module is realized.
In the actual application process, if the sensor fails and cannot generate an actual rotation angle, the brake system is out of control or fails, and therefore, redundant standby sensors are necessary to be arranged in the brake system, so that the use of the brake function is not affected when part of the sensors fail.
In one embodiment, as shown in fig. 3, the sensor includes a main sensor and a backup sensor, wherein: the actual rotation angle is an angle generated based on induction of a change in magnetic field intensity by rotation of the magnetic target wheel by the main sensor in a normal state of the main sensor; in the case where the main sensor is in a failure state, the actual rotation angle is an angle generated based on the sensing of the change in the magnetic field strength caused by the rotation of the magnetic target wheel by the spare sensor. In practical application, the main sensor and the standby sensor may be one identity of the sensor, that is, any sensor may be used as the main sensor, or may be the standby sensor, where the main sensor and the standby sensor have no substantial difference, and the number of the main sensors and the number of the standby sensors are not limited in the present application.
By arranging redundant spare sensors, the control method can ensure that when the main sensor fails, the sensors are switched into the spare sensors which do not fail, so that braking failure caused by sensor failure of a braking system is avoided.
When the operation control method of the braking system is used, the sensor senses the magnetic field intensity change to generate an actual rotation angle, and the ECU controls the driving module to depend on the actual rotation angle to a certain extent, so that the accuracy of the actual rotation angle can greatly influence the accuracy of the control of the braking system.
In order to avoid deviation of actual rotation angle caused by abnormality of one sensor, in one embodiment, as shown in fig. 4, the execution module may include a hydraulic cylinder and a brake execution mechanism, where the hydraulic cylinder includes a pressure sensor; a plurality of sensors for sensing the rotation of the magnetic target wheel; in step S202 of the foregoing embodiment, acquiring the actual rotation angle of the driving shaft includes:
s301: and acquiring a pressure parameter generated by detection of the pressure sensor, wherein the pressure parameter corresponds to rotation of the driving shaft.
By the rotation of the drive shaft, pressure is generated in the hydraulic cylinder, and thus there is a correspondence between the pressure parameter and the rotation angle of the drive shaft.
S302: and determining the rotation angle corresponding to the pressure parameter according to the corresponding relation between the predefined pressure parameter and the rotation angle.
The correspondence between the pressure parameter generated by the pressure sensor in the hydraulic cylinder and the rotation angle of the drive shaft may be a preset calibration data table.
S303: and if the difference between the angle corresponding to at least one sensor and the determined rotation angle is within the preset range, calculating the average angle corresponding to the at least one sensor as the actual rotation angle in the sensor for sensing the rotation of the magnetic target wheel.
The pressure sensor in the hydraulic cylinder of the execution module can detect and generate a pressure parameter in real time, the pressure parameter can correspond to a preset rotation angle of the driving shaft according to a preset calibration data table, the determined rotation angle is the rotation angle of the driving shaft corresponding to the preset pressure parameter in ideal condition, however, due to possible partial sensor faults or larger errors, the interference of partial sensors with larger errors is required to be eliminated when the actual rotation angle is generated, therefore, in the case of a plurality of sensors, only at least one angle of the difference value between the angle corresponding to the sensor and the determined rotation angle is calculated, and the average angle of the at least one angle is taken as the actual rotation angle.
Through the embodiment, by means of the pressure sensor in the execution module, partial angles with larger deviation in the plurality of sensors can be eliminated when the actual rotation angle is generated, so that the partial angles with larger deviation can be prevented from influencing the actual rotation angle.
Further, when it is determined that the angular deviation sensed by a part of the sensors in the previous embodiment is large, the part of the sensors with large angular deviation may be corrected to a certain extent, or it is determined that the sensors are in an abnormal state, and a specific method will be described in detail in the following embodiments.
In an embodiment, in addition to the at least one sensor, the sensor for sensing the rotation of the magnetic target wheel further comprises: the remaining sensors having a difference from the determined rotation angle outside the preset range, the method further comprising:
s401: if the difference value between the angle corresponding to the residual sensor and the determined rotation angle does not change along with the change of the pressure parameter, correcting the angle corresponding to the residual sensor according to the difference value;
when any residual sensor exists, the difference value between the corresponding angle and the determined rotation angle is a fixed value, namely the difference value does not change along with the change of the pressure parameter, and the angle corresponding to the sensor can be corrected according to the difference value. For example, if there is a difference of +10° between the angle corresponding to one sensor and the rotation angle determined by the pressure parameter, which exceeds the upper limit +0.5° of the preset range and does not change with the change of the pressure parameter, the angle corresponding to the sensor is corrected by-10 °.
Similarly, it is also conceivable that when there is a fixed correspondence between the angle corresponding to the remaining sensor and the determined rotation angle, the angle corresponding to the remaining sensor is corrected based on the fixed correspondence. For example, if the fixed correspondence is that the angle corresponding to the remaining sensor is always twice the determined rotation angle, the corresponding correction is performed.
S402: and if the difference value between the angle corresponding to the residual sensor and the determined rotation angle changes along with the change of the pressure parameter, judging that the residual sensor is in an abnormal working state.
When any residual sensor exists, the difference value between the corresponding angle and the determined rotation angle is not a fixed value, namely the difference value is changed along with the change of the pressure parameter, and the proper corresponding relation cannot be found to correct the difference value, the residual sensor is indicated to be faulty, and the residual sensor is judged to be in an abnormal working state.
In one embodiment, the ECU reports the sensor in the abnormal operating state, and finally the driver is informed of the sensor failure and maintains the sensor.
In one embodiment, the ECU marks the sensor in the abnormal operation state, and causes the sensor in the abnormal operation state to stop operating, or discards the actual rotation angle generated by the sensor in the abnormal operation state.
Through the embodiment, in the scene of a plurality of sensors, the method provided by the application can realize a certain function of sensor inspection and correct partial deviation sensors to a certain degree.
In the above-described embodiments with pressure sensors, it is also possible that the pressure sensors are abnormal.
In an embodiment, in the sensor for sensing the rotation of the magnetic target wheel, if the difference between the angle corresponding to each sensor and the determined rotation angle exceeds the preset range, and the difference between the maximum angle corresponding to each sensor is not greater than the difference between the upper and lower boundaries of the preset range, it is determined that the pressure sensor is in an abnormal working state. That is, when two conditions are satisfied, it is determined that the pressure sensor has failed: the method comprises the following steps that (1) the difference value between the angles corresponding to all the sensors and the rotation angle determined according to the pressure parameter exceeds a preset range; and 2, the maximum difference value between the angles corresponding to all the sensors is not larger than the difference between the upper boundary and the lower boundary of the preset range, namely, the difference value between the angles corresponding to all the sensors and a certain angle is within the preset range. By these two conditions, it is possible to determine with a high probability that the pressure sensor has failed, without considering that all sensors with a very small probability have failed, and that the angle deviation value due to the failure and the like.
With this embodiment, it is possible to detect a possible malfunction of the pressure sensor.
Corresponding to the embodiment of the operation control method of the braking system, the application also provides an embodiment of an operation control device of the braking system.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an electronic device where an operation control device of a brake system is located in an embodiment of the present application. At the hardware level, the device includes a processor 510, a network interface 520, a memory 530, and a non-volatile storage 540, although other hardware required for the service is possible. One or more embodiments of the present application may be implemented in a software-based manner, such as by processor 510 reading a corresponding computer program from non-volatile storage 540 into memory 530 and then running. Of course, in addition to software implementation, one or more embodiments of the present application do not exclude other implementation, such as a logic device or a combination of software and hardware, etc., that is, the execution subject of the following process flows is not limited to each logic unit, but may also be hardware or a logic device.
Referring to fig. 6, fig. 6 is a block diagram of an operation control device of a brake system in an embodiment of the present application. The operation control device of the braking system can be applied to the electronic equipment shown in fig. 5 to realize the technical scheme of the application. Wherein, the operation control device of the braking system may include:
A receiving unit 610, configured to receive a braking signal, determine a target rotation angle of the driving shaft according to the braking signal, and send a start signal to the driving module, so that the driving module drives the driving shaft to rotate;
an acquisition unit 620 for acquiring an actual rotation angle of the drive shaft, the actual rotation angle being an angle generated based on sensing of a change in magnetic field strength caused by rotation of the magnetic target wheel by a sensor;
and the verification unit 630 is configured to send a stop signal to the driving module when the difference between the actual rotation angle and the target rotation angle is within a preset range, so that the driving module terminates driving the driving shaft.
Optionally, the sensor includes a main sensor and a standby sensor, wherein:
the actual rotation angle is an angle generated based on induction of a change in magnetic field intensity by rotation of the magnetic target wheel by the main sensor in a normal state of the main sensor;
in the case where the main sensor is in a failure state, the actual rotation angle is an angle generated based on the sensing of the change in the magnetic field strength caused by the rotation of the magnetic target wheel by the spare sensor.
Optionally, the execution module comprises a hydraulic cylinder and a brake execution mechanism, wherein the hydraulic cylinder comprises a pressure sensor; a plurality of sensors for sensing the rotation of the magnetic target wheel; the acquiring the actual rotation angle of the driving shaft includes:
acquiring a pressure parameter generated by detection of the pressure sensor, wherein the pressure parameter corresponds to rotation of the driving shaft;
determining a rotation angle corresponding to a pressure parameter according to a corresponding relation between the pressure parameter and the rotation angle which are defined in advance;
and if the difference between the angle corresponding to at least one sensor and the determined rotation angle is within the preset range, calculating the average angle corresponding to the at least one sensor as the actual rotation angle in the sensor for sensing the rotation of the magnetic target wheel.
Optionally, in addition to the at least one sensor, the sensor that senses rotation of the magnetic target wheel further includes: the remaining sensors having a difference from the determined rotation angle outside the preset range, the method further comprising:
if the difference value between the angle corresponding to the residual sensor and the determined rotation angle does not change along with the change of the pressure parameter, correcting the angle corresponding to the residual sensor according to the difference value;
And if the difference value between the angle corresponding to the residual sensor and the determined rotation angle changes along with the change of the pressure parameter, judging that the residual sensor is in an abnormal working state.
Optionally, the method further comprises:
and in the sensor for sensing the rotation of the magnetic target wheel, if the difference between the angle corresponding to each sensor and the determined rotation angle exceeds the preset range and the difference between the maximum angle corresponding to each sensor is not larger than the difference between the upper boundary and the lower boundary of the preset range, judging that the pressure sensor is in an abnormal working state.
Optionally, the acquiring the actual rotation angle of the driving shaft includes:
receiving the actual rotation angle generated by the sensor sensing the change in the magnetic field strength; or alternatively, the process may be performed,
and receiving induction data generated by the sensor for inducing the change of the magnetic field intensity, and generating the actual rotation angle according to the induction data.
The implementation process of the functions and roles of each unit in the above device is specifically shown in the implementation process of the corresponding steps in the above method, and will not be described herein again.
For the device embodiments, since they correspond substantially to the method embodiments, relevant indications are only necessary for the part of the description of the method embodiments. The apparatus embodiments described above are illustrative only, in that the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purposes of the present application. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
In the 90 s of the 20 th century, improvements to one technology could clearly be distinguished as improvements in hardware (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software (improvements to the process flow). However, with the development of technology, many improvements of the current method flows can be regarded as direct improvements of hardware circuit structures. Designers almost always obtain corresponding hardware circuit structures by programming improved method flows into hardware circuits. Therefore, an improvement of a method flow cannot be said to be realized by a hardware entity module. It will also be apparent to those skilled in the art that a hardware circuit implementing the logic method flow can be readily obtained by merely slightly programming the method flow into an integrated circuit using several of the hardware description languages described above.
The controller may be implemented in any suitable way, it will be well known to those skilled in the art that it is entirely possible to implement the same functionality by logically programming the method steps such that the controller is implemented in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc., except that the controller is implemented in pure computer readable program code. Such a controller may thus be regarded as a kind of hardware component, and means for performing various functions included therein may also be regarded as structures within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.
The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation device is a server system. Of course, the present application does not exclude that as future computer technology evolves, the computer implementing the functions of the above-described embodiments may be, for example, a personal computer, a laptop computer, a car-mounted human-computer interaction device, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
Although one or more embodiments of the present application provide method operational steps as described in the embodiments or flowcharts, more or fewer operational steps may be included based on conventional or non-inventive means. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. When implemented in an actual device or end product, the instructions may be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment, or even in a distributed data processing environment) as illustrated by the embodiments or by the figures. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, it is not excluded that additional identical or equivalent elements may be present in a process, method, article, or apparatus that comprises a described element. For example, if first, second, etc. words are used to indicate a name, but not any particular order.
For convenience of description, the above devices are described as being functionally divided into various modules, respectively. Of course, when one or more of the present application is implemented, the functions of each module may be implemented in the same piece or pieces of software and/or hardware, or a module that implements the same function may be implemented by a plurality of sub-modules or a combination of sub-units, or the like. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, read only compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage, graphene storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
One skilled in the relevant art will recognize that one or more embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, one or more embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Moreover, one or more embodiments of the present application may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
One or more embodiments of the present application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. One or more embodiments of the present application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
All embodiments in the application are described in a progressive manner, and identical and similar parts of all embodiments are mutually referred, so that each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments. In the description of the present application, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this application, the schematic representations of the above terms are not necessarily for the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the various embodiments or examples described herein, as well as the features of the various embodiments or examples, may be combined and combined by those skilled in the art without contradiction.
The foregoing description is merely illustrative of one or more embodiments of the present application and is not intended to limit one or more embodiments of the present application. Various modifications and alterations to one or more embodiments of the present application will be apparent to those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims.
Claims (10)
1. The operation control method of the braking system is characterized in that the braking system comprises a driving module, a driving shaft and an executing module, the driving module drives the driving shaft to rotate so as to control the executing module to brake, and the driving shaft can also drive a magnetic target wheel to rotate, and the method comprises the following steps of:
receiving a braking signal, determining a target rotation angle of the driving shaft according to the braking signal, and sending a starting signal to the driving module so that the driving module drives the driving shaft to rotate;
acquiring an actual rotation angle of the drive shaft, the actual rotation angle being an angle generated based on sensing of a change in magnetic field strength caused by rotation of the magnetic target wheel by a sensor;
And sending a stop signal to the driving module under the condition that the difference value between the actual rotation angle and the target rotation angle is in a preset range, so that the driving module stops driving the driving shaft.
2. The method of claim 1, wherein the sensor comprises a primary sensor and a backup sensor, wherein:
the actual rotation angle is an angle generated based on induction of a change in magnetic field intensity by rotation of the magnetic target wheel by the main sensor in a normal state of the main sensor;
in the case where the main sensor is in a failure state, the actual rotation angle is an angle generated based on the sensing of the change in the magnetic field strength caused by the rotation of the magnetic target wheel by the spare sensor.
3. The method of claim 1, wherein the actuation module comprises a hydraulic cylinder and a brake actuator, the hydraulic cylinder including a pressure sensor therein; a plurality of sensors for sensing the rotation of the magnetic target wheel; the acquiring the actual rotation angle of the driving shaft includes:
acquiring a pressure parameter generated by detection of the pressure sensor, wherein the pressure parameter corresponds to rotation of the driving shaft;
Determining a rotation angle corresponding to a pressure parameter according to a corresponding relation between the pressure parameter and the rotation angle which are defined in advance;
and if the difference between the angle corresponding to at least one sensor and the determined rotation angle is within the preset range, calculating the average angle corresponding to the at least one sensor as the actual rotation angle in the sensor for sensing the rotation of the magnetic target wheel.
4. A method according to claim 3, wherein in addition to the at least one sensor, the sensor for sensing the rotation of the magnetic target wheel comprises: the remaining sensors having a difference from the determined rotation angle outside the preset range, the method further comprising:
if the difference value between the angle corresponding to the residual sensor and the determined rotation angle does not change along with the change of the pressure parameter, correcting the angle corresponding to the residual sensor according to the difference value;
and if the difference value between the angle corresponding to the residual sensor and the determined rotation angle changes along with the change of the pressure parameter, judging that the residual sensor is in an abnormal working state.
5. A method according to claim 3, further comprising:
and in the sensor for sensing the rotation of the magnetic target wheel, if the difference between the angle corresponding to each sensor and the determined rotation angle exceeds the preset range and the difference between the maximum angle corresponding to each sensor is not larger than the difference between the upper boundary and the lower boundary of the preset range, judging that the pressure sensor is in an abnormal working state.
6. The method of claim 1, wherein the obtaining an actual rotation angle of the drive shaft comprises:
receiving the actual rotation angle generated by the sensor sensing the change in the magnetic field strength; or alternatively, the process may be performed,
and receiving induction data generated by the sensor for inducing the change of the magnetic field intensity, and generating the actual rotation angle according to the induction data.
7. An operation control device of a brake system, wherein the brake system comprises a driving module, a driving shaft and an executing module, the driving module drives the driving shaft to rotate so as to control the executing module to brake, and the driving shaft can also drive a magnetic target wheel to rotate, the device comprises:
The receiving unit is used for receiving a braking signal, determining a target rotation angle of the driving shaft according to the braking signal, and sending a starting signal to the driving module so that the driving module drives the driving shaft to rotate;
an acquisition unit configured to acquire an actual rotation angle of the drive shaft, the actual rotation angle being an angle generated based on sensing of a change in magnetic field strength caused by rotation of the magnetic target wheel by a sensor;
and the verification unit is used for sending a stop signal to the driving module so as to enable the driving module to stop driving the driving shaft under the condition that the difference value between the actual rotation angle and the target rotation angle is in a preset range.
8. An electric brake system, the system comprising:
the driving module is used for driving the driving shaft to rotate according to a starting signal sent by the electronic controller unit ECU and stopping rotating the driving shaft according to a stopping signal sent by the ECU;
the two ends of the driving shaft are respectively connected to the magnetic target wheel and the execution module, and are used for driving the magnetic target wheel to rotate under the driving of the driving motor and controlling the execution module to realize braking;
The execution module is connected with the driving shaft and used for braking according to the rotation angle of the driving shaft;
the magnetic target wheel is connected to one end of the driving shaft so as to be capable of rotating following the rotation of the driving shaft;
the sensor is used for sensing the magnetic field intensity change in the rotating process of the magnetic target wheel so as to generate an actual rotating angle;
the ECU being adapted to implement the method of any one of claims 1-7.
9. An electronic device, comprising: a processor, a memory;
the memory is used for storing a computer program;
the processor is configured to execute the operation control method of the brake system according to any one of claims 1 to 6 by calling the computer program.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the operation control method of the brake system according to any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211516871.XA CN116125854A (en) | 2022-11-29 | 2022-11-29 | Method and device for controlling operation of brake system, device and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211516871.XA CN116125854A (en) | 2022-11-29 | 2022-11-29 | Method and device for controlling operation of brake system, device and medium |
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| CN116125854A true CN116125854A (en) | 2023-05-16 |
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| CN202211516871.XA Pending CN116125854A (en) | 2022-11-29 | 2022-11-29 | Method and device for controlling operation of brake system, device and medium |
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| CN (1) | CN116125854A (en) |
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- 2022-11-29 CN CN202211516871.XA patent/CN116125854A/en active Pending
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