CN103332185A - Safety car line control brake system and control method thereof - Google Patents
Safety car line control brake system and control method thereof Download PDFInfo
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- CN103332185A CN103332185A CN2013102908083A CN201310290808A CN103332185A CN 103332185 A CN103332185 A CN 103332185A CN 2013102908083 A CN2013102908083 A CN 2013102908083A CN 201310290808 A CN201310290808 A CN 201310290808A CN 103332185 A CN103332185 A CN 103332185A
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Abstract
The invention relates to a safety car line control brake system and a control method thereof. The safety car line control brake system comprises a brake pedal sensor, an FTU fault-tolerant unit composed of FCU failure restriction units, a two-passage FlexRay bus, a drive motor and a mechanical operation rod. The brake pedal sensor is directly connected with a car brake pedal. The output end of the brake pedal sensor is simultaneously connected with three certainty copying FCU failure restriction units of an FTU1 pedal sensor signal detection unit (3). Accurate obtained pedal location signals are sent to the two-passage FlexRay bus in a message form. A wheel fault-tolerant unit reads the messages on the FlexRay bus, and calculates, analyzes and distributes brake force. The safety car line control brake system can tolerate random failures of any FCU in any communication system and any fault-tolerant unit and random failures of any motor in a TMR executor, improves the fault-tolerant capacity of an electronic brake system and the safety operation capacity of a car, and promotes the development of the automotive electronic technology.
Description
Technical field
The present invention relates to a kind of brake system of car, particularly a kind of safety automobile line control brake system and control method thereof.
Background technology
In 100 short years of development, automobile has become indispensable walking-replacing tool in people's daily life, and comfortable, fast, simultaneously easily what enjoy that automobile brings, people require also to improve day by day to running safety.Motor vehicle braking system is being played the part of vital role always aspect vehicle safety, along with improving constantly of the develop rapidly of auto-industry technology and automobile driving speed, the importance of motor vehicle braking system shows more and more obviously.
Traditional hydraulic brake system development so far, be unusual proven technique, because people are to improving constantly that deceleration and stopping performance requires, traditional hydraulic pressure or Pneumatic brake systems are adding a large amount of electronic control systems such as ABS(brake anti-blocking system), ESP(body electronics stabilization system) etc. after, its structure and piping layout are complicated all the more, the hidden danger of hydraulic pressure (air) loop leakage also strengthens, and the difficulty of assembling simultaneously and keeping in repair also improves thereupon.Therefore, auto trade has strengthened the simple relatively line control brake system BBW(Brake-by-wire of structure) the research dynamics, its major cause is that the BBW system has the incomparable preceence of conventional hydraulic brake system, this use for brake system electric wire has replaced the brake piping in the traditional braking system, the a lot of valves in the traditional braking system have been saved, simplified the structure of brake system, the difficulty that has reduced assembling and safeguarded, it is fast that while BBW also has braking response speed, characteristics such as deceleration and stopping performance height, in addition, to realize the ABS(anti-lock braking system fully) and the anti-sideslip system of ASR() etc. function, only need to design in electronic control system corresponding program, the manipulation electrically-controlled component controls the size of braking force and the distribution of braking force gets final product.
The brake-by-wire technology has become the research focus of overseas enterprise and research institution, since the nineties in 20th century, some famous vehicle electronics parts manufacturers have carried out the research of EMB aspect successively, three companies such as Bosch, Siemens and Continental Teves have all obtained achievement in research separately, and have applied for a series of relevant patents.At home, research for linear brake system still is in the starting stage so far, only has Tsing-Hua University, Jilin University, Nanjing Aero-Space University, Beijing Institute of Technology and Tongji University, BYD car company etc. to carry out some relevant Primary Study work.Jilin University has designed the material object of EMB, and it has been carried out the emulation experiment of brake-pressure, and these all only are in simulation stage, does not experimentize at automobile, and just single-wheel is controlled, and does not carry out the emulation experiment that four-wheel is controlled simultaneously.
Along with the continuous development of auto manufacturing technology and Eltec, people to automobile environment-protection, energy-conservation, comfortable, safe requirement is more and more higher, existing brake system can not satisfy its fast requirement of response.External research of just rising brake-by-wire, the brake-by-wire technology has represented the developing direction of present automobile brake technology, also can occupy more and more important position at brake field in the future.At home, line control brake system is scarcely out of swaddling-clothes, and does not all have actual use.Therefore, the electric controlled brake system with independent intellectual property right that exploitation and development are used for car and electronlmobil has tangible economic and social benefit, the development that it can be auto parts and components enterprise provides new growth engines, therefore it is simple relatively, multiple functional to research and develop a kind of blanket structure, and safe and reliable and brake-by-wire maneuvering system that can apply in the actual production has good practical value.
The FlexRay bus becomes the following main vehicle-mounted bus of safety-type because it has advantages such as high bandwidth, communication line redundancy, communication be flexible.External famous car company benz, BMW, Audi all should be used as trial to the FlexRay bus on automobile.Line control brake system is communicated by letter with FlexRay although abroad begin one's study very early, until today, also fails to realize uniting two into one at automobile.
Summary of the invention
Technical matters to be solved by this invention is the deficiency that overcomes in the existing automobile line control brake system, a kind of safety automobile line control brake system is provided, can realize fault-tolerant safety brake control method, improve the safety of braking control system, reliability and maintainability etc.
Technical scheme of the present invention is: a kind of safety automobile line control brake system, between the hydraulic braking cylinder of automobile brake pedal and four wheels, comprise brake pedal sensor, suppress the fault-tolerant unit of FTU, two passage FlexRay buses, CD-ROM drive motor and the mechanical control bar that the unit is formed by the FCU fault, it is characterized in that: brake pedal sensor directly is connected with automobile brake pedal, and the output of brake pedal sensor inserts FTU simultaneously
1Three of pedal sensor detecting signal unit 3 are copied deterministic FCU fault and suppress the unit, three are copied deterministic FCU fault and suppress in the unit connects each wheel respectively by two passage FlexRay buses 12 the fault-tolerant unit of FTU three and copy deterministic FCU fault and suppress the unit, and copy deterministic FCU fault by three and suppress the unit and connect TMR actr and wheel hydraulic braking cylinder.
The TMR actr is made of CD-ROM drive motor and mechanical control bar.
Each is described to copy deterministic FCU fault and suppresses unit and comprise a voting machine, and the signal that can produce the pedal position detecting unit is made accurate voting.
Pedal sensor 2 detects the position signal of automobile brake pedal 1, and position signal enters FTU
1Three of pedal sensor detecting signal unit 3 are copied deterministic FCU fault and suppress the unit, three are copied deterministic FCU fault and suppress in the message that the unit produces, if two messages that copy deterministic FCU fault inhibition unit have identical bit pattern, choose in these two messages one so and copy the messages output that deterministic FCU fault suppresses the unit group as three, and the A by the FlexRay bus, two passages of B, message is sent to the fault-tolerant unit of FTU on each wheel, three FCU faults that comprise voting machine in the fault-tolerant unit of FTU on each wheel suppress the unit after receiving message, at first relatively three FCU faults suppress unit respectively according to the brakig force distribution result on the wheel of the position calculation of brake pedal, and the result of calculation of selecting most FCU faults to suppress the unit then determines the position of mechanical control bar point of action for output.
Two channel A, B of FlexRay bus 12 are configured to the separate certainty passage that copies, do not having under the situation of fault, each transmission FCU fault inhibition unit independently copies the certainty passage by two and respectively sends 1 message, and each receives FCU fault inhibition unit will receive 6 messages that send FCU faults inhibition unit from three.
The invention has the beneficial effects as follows: can realize fault-tolerant safety brake control method, improve the safety of braking control system, reliability and maintainability etc.The present invention can tolerate arbitrary FCU in arbitrary communication system, the fault-tolerant unit and the random failure of the arbitrary motor in the TMR actr, has improved the fault-tolerant ability of electronic brake system and the safe operation ability of automobile, promotes the development of automotive electronic technology.
Description of drawings
Fig. 1 is line control brake system schematic diagram of the present invention;
Fig. 2 is system works flow process figure of the present invention;
Fig. 3 is the FlexRay communication scheme of pedal position message of the present invention.
The specific embodiment
Now the present invention is described in detail in conjunction with concrete accompanying drawing.
See also Fig. 1, line control brake system schematic diagram of the present invention, this system is positioned between the hydraulic braking cylinder (left and right front-wheel hydraulic braking cylinder 8,9, left and right trailing wheel hydraulic braking cylinder 11,10) of automobile brake pedal 1 and four wheels, the fault-tolerant unit of FTU comprising brake pedal sensor 2, FCU fault suppress the unit and form thus is respectively: FTU
1Pedal sensor detecting signal unit 3, FTU
2The fault-tolerant unit 4 of the near front wheel, FTU
3The fault-tolerant unit 5 of off front wheel, FTU
4The fault-tolerant unit 6 of off hind wheel, FTU
5The near front wheel TMR actr 21, off front wheel TMR actr 22, off hind wheel TMR actr 23 and left rear wheel TMR actr 24 that the fault-tolerant unit of left rear wheel 7, two passage FlexRay buses 12, left and right f-w-d motor 13,14, left and right back- wheel drive motor 16,15 constitute with left and right front-wheel mechanical control bar 17,18, left and right trailing wheel mechanical control bar 20,19 respectively.Pedal sensor 2 directly is connected with automobile brake pedal 1, and the output of pedal sensor 2 enters FTU simultaneously
1The FCU of pedal sensor detecting signal unit 3
1Copy determinant fault and suppress unit, FCU
2Copy determinant fault and suppress unit and FCU
3Copying determinant fault and suppress the unit, is deterministic because these three FCU copy determinant fault inhibition unit, and correct FCU fault suppresses the unit will produce identical automobile brake pedal position message.Produce the space near the possibility of fault for reducing, copy certainty FTU
1Three FCU faults inhibition unit that fault suppresses in the unit can be physically separated.Copy certainty FCU
1Fault suppresses the unit, copies certainty FCU
2Fault suppresses the unit and copies certainty FCU
3Fault suppresses the unit by two passages of A, B of FlexRay bus 12, and message is sent to four FTU on the wheel
2The fault-tolerant unit 4 of the near front wheel, FTU
3The fault-tolerant unit 5 of off front wheel, FTU
4The fault-tolerant unit 6 of off hind wheel, FTU
5The fault-tolerant unit 7 of left rear wheel.The fault-tolerant unit of FTU on each wheel comprises that also three FCU faults suppress the unit, but these copy certainty FCU fault inhibition unit and FTU
1It is different that FCU fault in the detecting unit suppresses the unit, they all comprise a voting machine, after receiving message, they are the independent result of calculation of three FCU fault inhibition unit at first relatively, select most of FCU faults to suppress the result of calculation of unit then, namely three FCU faults suppress the result of calculation of two gained in the unit, can detect within a step and find error message, and shield this mistake.Two channel A, B of FlexRay bus 12 are configured to the separate certainty passage that copies, communication system is known the legal time behavior of each FCU in advance, if a FCU fault suppresses the unit and has run counter to the time standard of self, communication system will be abandoned suppressing all messages that the unit is received from this FCU fault so, take place to prevent overload situations.Do not having under the situation of fault, each FCU fault inhibition unit that sends message respectively sends 1 message by two independent communication systems, and therefore, each receives the FCU fault inhibition unit of message and will receive from FCU
1Copy determinant fault and suppress unit, FCU
2Copy determinant fault and suppress unit and FCU
3Copy 6 messages that determinant fault suppresses the unit.Suppress the unit by FlexRay bus 12 interconnective faults, can tolerate certain inefficacy of any one communication system.The triplication redundancy of each wheel (TMR) hydraulic braking actr comprises three motors separately, each motor suppresses one of unit output with three FCU faults of fault-tolerant unit respectively and is connected, the strength sum of any two motors surpasses the 3rd motor, majority output during namely three FCU fault inhibition unit are exported has determined the position of joystick point of action, removed inconsistent output, TMR can be counted as mechanical voting machine.FTU on each wheel
2The fault-tolerant unit 4 of the near front wheel, FTU
3The fault-tolerant unit 5 of off front wheel, FTU
4The fault-tolerant unit 6 of off hind wheel, FTU
5There is a distributed algorithm the fault-tolerant unit 7 of left rear wheel, uses identical algorithm but three included FCU faults of fault-tolerant unit suppress the unit, and these algorithms are according to the brakig force distribution on the position calculation wheel of brake pedal.
Workflow diagram of the present invention is seen Fig. 2, concrete steps are as follows: described pedal sensor 2 detects the position signal of automobile brake pedal 1, position signal enters three of pedal sensor detecting signal unit 3 and copies certainty FCU fault and suppress the unit, because it is deterministic that these three FCU faults suppress the unit, in the available message that three FCU faults inhibition unit of pedal sensor detecting signal unit 3 produce, if the message of two FCU fault inhibition unit has identical bit pattern, choose the output as triple in these two messages so.Can within a step, detect and find error message, and shield this mistake, correct FCU fault inhibition unit will produce identical pedal position message and send on the FlexRay bus 12, two channel A, B of FlexRay bus 12 are configured to the separate certainty passage that copies, and this helps to tolerate certain inefficacy in arbitrary communication system.All communication systems are the same with FCU fault inhibition unit, base when all having the right to visit the overall situation, and communication system is understood the legal time behavior that the FCU fault suppresses the unit.If a FCU fault suppresses the unit and run counter to the time standard of self, communication system will be abandoned suppressing all messages that the unit is received from this FCU fault so, take place to prevent overload situations.Do not having under the situation of fault, each sends FCU fault inhibition unit and respectively sends 1 message by two independent communication systems, and therefore, each receives FCU fault inhibition unit will receive 6 messages that suppress the unit from three transmission FCU faults.
FCU fault in the fault-tolerant unit of described wheel FTU suppresses the unit, with the fault-tolerant unit F TU of the near front wheel
2Be example, FCU
4, FCU
5, FCU
6, each self-contained voting machine, receive the signal that pedal sensor detecting signal unit 3 produces by FlexRay bus 12, after receiving message, they are three independent result of calculations of these three FCU faults inhibition unit at first relatively, select most of FCU faults to suppress the result of calculation of unit then, namely three FCU faults suppress the result of calculation of two gained in the unit, make accurate voting and then obtain correct pedal position information.System's control node is distributed on each wheel of automobile.Each node has a distributed algorithm, and these algorithms are according to the brakig force distribution on the positional information calculation wheel of brake pedal.Message dropping or the motor of single node random failure, single passage are malfunctioning, do not influence the normal operation of system.
Fig. 2 on the software, at first adopts twin-channel FlexRay communication network for the FlexRay communication scheme of pedal position message of the present invention, itself has twin-channel communication structure, in static time slot 1, and FTU
1Send FCU at passage A and B respectively
1, in the static time slot 2, FTU
1Send FCU at passage A and B respectively
2In the static time slot 3, FTU
1Send FCU at passage A and B respectively
3Simultaneously, in order to guarantee the real-time of sensor message, must utilize the static time slot of FlexRay to transmit, this just means that also the same time can only have a node to transmit at this time slot.During normal operation, only the data with one of them passage communicate, and when a passage generation garble, under the prerequisite of the communication unanimity that two passages carry out, system still can rely on the work of another one passage.
Claims (5)
1. safety automobile line control brake system, be positioned between the hydraulic braking cylinder of automobile brake pedal (1) and four wheels, comprise brake pedal sensor (2), suppress the fault-tolerant unit of FTU, two passage FlexRay buses (12), CD-ROM drive motor and the mechanical control bar that the unit is formed by the FCU fault, it is characterized in that: described brake pedal sensor (2) directly is connected with automobile brake pedal (1), and the output of brake pedal sensor (2) inserts FTU simultaneously
1Three of pedal sensor detecting signal unit (3) are copied deterministic FCU fault and suppress the unit, three are copied deterministic FCU fault and suppress in the unit connects each wheel respectively by two passage FlexRay buses (12) the fault-tolerant unit of FTU three and copy deterministic FCU fault and suppress the unit, and copy deterministic FCU fault by three and suppress unit connection TMR actr and wheel hydraulic braking cylinder.
2. according to the described safety automobile line control brake system of claim 1, it is characterized in that: described TMR actr is made of CD-ROM drive motor and mechanical control bar.
3. according to the described safety automobile line control brake system of claim 1, it is characterized in that: each is described to copy deterministic FCU fault and suppresses unit and comprise a voting machine, and the signal that can produce the pedal position detecting unit is made accurate voting.
4. the control method of a safety automobile brake-by-wire, it is characterized in that: described pedal sensor (2) detects the position signal of automobile brake pedal (1), and position signal enters FTU
1Three of pedal sensor detecting signal unit (3) are copied deterministic FCU fault and suppress the unit, three are copied deterministic FCU fault and suppress in the message that the unit produces, if two messages that copy deterministic FCU fault inhibition unit have identical bit pattern, choose in these two messages one so and copy the messages output that deterministic FCU fault suppresses the unit group as three, and the A by FlexRay bus (12), two passages of B, message is sent to the fault-tolerant unit of FTU on each wheel, three FCU faults that comprise voting machine in the fault-tolerant unit of FTU on each wheel suppress the unit after receiving message, at first relatively three FCU faults suppress unit respectively according to the brakig force distribution result on the wheel of the position calculation of brake pedal, and the result of calculation of selecting most FCU faults to suppress the unit then determines the position of mechanical control bar point of action for output.
5. the control method of safety automobile brake-by-wire according to claim 4, it is characterized in that: two channel A, B of described FlexRay bus (12) are configured to the separate certainty passage that copies, do not having under the situation of fault, each transmission FCU fault inhibition unit independently copies the certainty passage by two and respectively sends 1 message, and each receives FCU fault inhibition unit will receive 6 messages that send FCU faults inhibition unit from three.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310290808.3A CN103332185B (en) | 2013-07-11 | 2013-07-11 | Safety automobile line control brake system and control method thereof |
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| CN201310290808.3A CN103332185B (en) | 2013-07-11 | 2013-07-11 | Safety automobile line control brake system and control method thereof |
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| CN103332185B CN103332185B (en) | 2015-08-26 |
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Cited By (8)
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| CN103612562A (en) * | 2013-12-02 | 2014-03-05 | 上海理工大学 | Fault-tolerant electronic clutch system |
| CN103628992A (en) * | 2013-12-02 | 2014-03-12 | 上海理工大学 | Fault-tolerant electronic accelerator system |
| CN107792040A (en) * | 2016-08-30 | 2018-03-13 | 通用汽车环球科技运作有限责任公司 | Line control brake system |
| CN108284843A (en) * | 2017-01-10 | 2018-07-17 | 通用汽车环球科技运作有限责任公司 | Fault-tolerant brake system of car |
| CN108839650A (en) * | 2018-06-25 | 2018-11-20 | 浙江吉润汽车有限公司 | Fault tolerant control method and device |
| CN113085815A (en) * | 2021-03-31 | 2021-07-09 | 南京航空航天大学 | Digital twin-based line control brake system and dynamic optimization control method thereof |
| CN113232641A (en) * | 2021-06-04 | 2021-08-10 | 北京车和家信息技术有限公司 | Vehicle braking method, system, storage medium, electronic device and vehicle |
| CN113625694A (en) * | 2021-08-30 | 2021-11-09 | 一汽解放汽车有限公司 | Chassis line control device and chassis line control test system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103612562A (en) * | 2013-12-02 | 2014-03-05 | 上海理工大学 | Fault-tolerant electronic clutch system |
| CN103628992A (en) * | 2013-12-02 | 2014-03-12 | 上海理工大学 | Fault-tolerant electronic accelerator system |
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| CN108284843B (en) * | 2017-01-10 | 2021-06-08 | 通用汽车环球科技运作有限责任公司 | Fault-tolerant automobile brake system |
| CN108839650A (en) * | 2018-06-25 | 2018-11-20 | 浙江吉润汽车有限公司 | Fault tolerant control method and device |
| CN113085815A (en) * | 2021-03-31 | 2021-07-09 | 南京航空航天大学 | Digital twin-based line control brake system and dynamic optimization control method thereof |
| CN113085815B (en) * | 2021-03-31 | 2022-04-08 | 南京航空航天大学 | Digital twin-based line control brake system and dynamic optimization control method thereof |
| CN113232641A (en) * | 2021-06-04 | 2021-08-10 | 北京车和家信息技术有限公司 | Vehicle braking method, system, storage medium, electronic device and vehicle |
| CN113625694A (en) * | 2021-08-30 | 2021-11-09 | 一汽解放汽车有限公司 | Chassis line control device and chassis line control test system |
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| CN103332185B (en) | 2015-08-26 |
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