CN110281896A - The electronic control unit control system of EPB+P grades of dual control dual redundant backups - Google Patents
The electronic control unit control system of EPB+P grades of dual control dual redundant backups Download PDFInfo
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- CN110281896A CN110281896A CN201910458417.5A CN201910458417A CN110281896A CN 110281896 A CN110281896 A CN 110281896A CN 201910458417 A CN201910458417 A CN 201910458417A CN 110281896 A CN110281896 A CN 110281896A
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- 230000009977 dual effect Effects 0.000 title claims abstract description 29
- 238000006243 chemical reaction Methods 0.000 claims abstract description 22
- 230000005611 electricity Effects 0.000 claims description 12
- 230000001427 coherent effect Effects 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 8
- 238000005314 correlation function Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000037007 arousal Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
Abstract
The electronic control unit control system backed up the invention discloses a kind of EPB+P grades of dual control dual redundant.Including plug-in unit, plug-in unit is connected to the interface of entire car controller；Including power conversion module, plug-in unit is connected to through power supply line and the first CAN bus；Including the one the second MCU microcontrollers, one is connected to plug-in unit through signal wire and connects with power conversion module；Another is connected to plug-in unit through power supply line, P grades of control lines, signal wire and the second CAN bus；It including Slope Transducer, is integrated in electronic control unit control system, the one the second MCU microcontroller of connection；Including left and right motor-drive circuit module, the one the second MCU microcontroller of connection, the output end of left and right motor-drive circuit module is connected respectively to left and right motor, control left and right motor work.The present invention realizes the design of dual control dual redundant parking system, and the double copies and P grades of parking functions for realizing EPB function back up.
Description
Technical field
The present invention relates to a kind of electronic control unit modules in parking electric automobile braking system, specifically
For the electronic control unit module of electric car EPB double copies and realization P grades of parkings backup, in order to improve EPB functional safety
The electronic control unit of the dual micro processor, dual redundant circuit that are designed with P grades of parking functions of electric car.
Background technique
As automobile industry is higher and higher to the requirement of ISO26262 functional safety, in order to meet product reliability and safety
Property require, the EPB for developing the dual control dual redundant with Safety Redundancy becomes trend, does not have P grades for electric car at the same time
Mechanical parking function, do not have the vehicle of P grades of parking locking mechanisms, be unable to satisfy wanting for GB21670 and ECER13H
It asks, parking braking needs to accomplish that P keeps off Redundancy Design.
Summary of the invention
In order to solve the problems, such as background technique, the parking function of requirements at the higher level is realized, the present invention devises EPB+
P grades of parking dual control dual redundant circuits had not only met ISO26262 functional safety requirement, but also have met the electric vehicle without P grades of lockable mechanisms
It realizes P grades of parking functions, increases the reliability of EPB parking system.
In order to solve the problems in background technique, the following several points description of the purpose that the present invention designs:
Present system contains the independent CAN bus module (first of connector (signal input output interface), two-way
CAN bus communication module, the second CAN bus communication module), two independent high voltages turn the power conversion module of low-voltage
(a first MCU microcontroller of connection, another the 2nd MCU microcontroller are integrated), the first MCU microcontroller
(MCU1), the 2nd MCU microcontroller (MCU2), left motor-drive circuit module (MOTOR Driver L), right motor driven electricity
Road module (MOTOR Driver R), Slope Transducer and EPB or so actuator.
Specifically:
Including plug-in unit, plug-in unit is connected on the interface of entire car controller；
Including power conversion module, plug-in unit is connected to through power supply line and the first CAN bus；
Including the first MCU microcontroller, it is connected to plug-in unit through signal wire, and connect with power conversion module；
Including the 2nd MCU microcontroller, it is connected to through power supply line, P grades of control lines, signal wire and the second CAN bus slotting
Part, while being connected with the first MCU microcontroller；
Including Slope Transducer, Slope Transducer is integrated in electronic control unit control system, respectively with the first MCU micro-control
Device processed, the connection of the 2nd MCU microcontroller；
Including left motor-drive circuit module and right motor-drive circuit module, left motor-drive circuit module, right motor
The input terminal of drive circuit module is separately connected the first MCU microcontroller, the 2nd MCU microcontroller, left motor-drive circuit mould
Block and the output end of right motor-drive circuit module are connected respectively to left and right motor, control left and right motor work.
First CAN bus is communicated for the first MCU microcontroller with vehicle CAN bus, and the second CAN bus is used for
2nd MCU microcontroller is communicated with vehicle CAN bus.
First CAN bus is used for transmission speed, four wheel speeds, engine speed, engine operating state, engine and turns round
Square, accelerator pedal position letter related to gear positions switch, clutch position status signal, brake pedal, EPB alarm lamp etc.
Number.
Second CAN bus be used for transmission speed, four wheel speeds, engine speed, engine operating state, engine torque,
Accelerator pedal position and the coherent signals such as gear positions switch, clutch position status signal, brake pedal, EPB alarm lamp.
Signal wire between the first MCU microcontroller and plug-in unit be respectively EPB switching signal EPB_SWITCH,
The signal wire of ignition signal IGN, brake signal BRAKE, vehicle coherent signal Signal.
Signal wire between the 2nd MCU microcontroller and plug-in unit be respectively EPB switching signal EPB_SWITCH,
The signal wire of ignition signal IGN, brake signal BRAKE.
The plug-in unit arrives power conversion module through two power supply lines (the first power supply line and second source line), and power supply turns
High voltage is converted to low-voltage and supplies the first MCU microcontroller by mold changing block, and the first MCU microcontroller is received to be inputted from plug-in unit
EPB switching signal EPB SWITCH, ignition signal IGN, brake signal BRAKE, vehicle coherent signal Signal and come from
The signal of Slope Transducer, by the first MCU microcontroller processing output drive signal control left motor-drive circuit module and
Right motor-drive circuit module controls left and right EPB motor by judging electric motor loop electric current.
Through other two power supply lines to the 2nd MCU microcontroller, the 2nd MCU microcontroller is received from slotting the plug-in unit
EPB switching signal EPB SWITCH, ignition signal IGN, brake signal BRAKE, P of part input keep off signal and come from the gradient
The signal of sensor controls left motor-drive circuit module and right electricity by the first MCU microcontroller processing output drive signal
Drive circuit module controls left and right EPB motor by judging electric motor loop electric current.
The vehicle coherent signal Signal refers to clutch stroke sensor signal, gear signal.
Mutual Direct Communication between first MCU microcontroller and the 2nd MCU microcontroller；The first MCU microcontroller just
Under normal working condition, the 2nd MCU microcontroller keeps suspend mode, realizes the function of EPB by the first MCU microcontroller first；When
Under first MCU microcontroller failure conditions, by the function of the 2nd MCU microcontroller implementation EPB, if MCU2 realizes EPB parking phase
Disabler is closed, then parking is kept off by the 2nd MCU microcontroller implementation P；When unilateral mistake occurs in left and right motor-drive circuit module
When imitating situation, first by the first unilateral parking of MCU microcontroller implementation；If the first MCU microcontroller fails, pass through second
MCU microcontroller realizes the unilateral parking of EPB first, if the EPB correlation function of the 2nd MCU microcontroller fails, then passes through
2nd MCU microcontroller implementation P keeps off unilateral parking.
The power conversion module is a integrated CAN transceiver, power supply conversion and arousal function in the electricity of one
Source module.
2nd MCU microcontroller is a integrated power supply conversion, CAN transceiver and arousal function in the chip of one.
The left motor-drive circuit and right motor-drive circuit are one with electrical fault detection, motor failure
The modularized circuit of protection.
The beneficial effects of the present invention are:
The present invention realizes the double copies of parking braking system, is on the one hand realization EPB function on the basis of traditional EPB
On the other hand the double copies of energy are the electric vehicles for no P block locking mechanism, increase P gear parking, improve automobile and stay
The integrality of vehicle braking system, reliability, safety, contingency caused by reducing because of parking failure.
Detailed description of the invention
Fig. 1 is system structure diagram of the invention
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
As shown in Figure 1, Electronic controller module of the invention is mainly by plug-in unit, two-way independence CAN bus communication module
CAN1 and CAN2, EPB switching signal, P grade button signal, vehicle external signal, signal processing circuit, the conversion of independent power supply
Module, two MCU microcontrollers 1 and MCU2, left and right motor-drive circuit, left and right electronic parking actuator composition.
Specific implementation is as shown in Figure 1, comprising:
Including plug-in unit 1, plug-in unit 1 is connected on the interface of entire car controller；
Including power conversion module 2, Jing Lianggen power supply line and the first CAN bus are connected to plug-in unit 1, and power supply line is for supplying
Electricity, a high level, another low level；
Including the first MCU microcontroller 3, Jing Sigen signal wire is connected to plug-in unit 1, and connects with power conversion module 2；
Including the 2nd MCU microcontroller 4, Jing Lianggen power supply line, P grade control line, three signal wires and the second CAN bus
It is connected to plug-in unit 1, while being connected with the first MCU microcontroller 3, power supply line is for powering, a high level, another low electricity
Flat, P grades of control line use transmit the P grades of P shelves button signals for whether hanging shelves；
Including Slope Transducer 5, Slope Transducer 5 is integrated in electronic control unit control system, micro- with the first MCU respectively
Controller 3, the connection of the 2nd MCU microcontroller 4；
Including left motor-drive circuit module 6 and right motor-drive circuit module 7, left motor-drive circuit module 6, the right side
The input terminal of motor-drive circuit module 7 is separately connected the first MCU microcontroller 3, the 2nd MCU microcontroller 4, and left motor drives
Dynamic circuit module 6 and the output end of right motor-drive circuit module 7 are connected respectively to left and right motor, control left and right motor work.
Practical plug-in unit 1 is an insert row, is connected on the interface of entire car controller.
Plug-in unit 1 arrives power conversion module 2, power supply modulus of conversion through two power supply lines (the first power supply line and second source line)
High voltage is converted to low-voltage and supplies the first MCU microcontroller 3 by block 2, and the first MCU microcontroller 3 is received to be inputted from plug-in unit 1
EPB switching signal EPB SWITCH, ignition signal IGN, brake signal BRAKE, vehicle coherent signal Signal and come from
The signal of Slope Transducer 5 controls left motor-drive circuit module by the first MCU microcontroller 1 processing output drive signal
6 and right motor-drive circuit module 7, left and right EPB motor is controlled by judging electric motor loop electric current.Plug-in unit 1 is through other two
To the 2nd MCU microcontroller 4, the 2nd MCU microcontroller 4 is received from plug-in unit power supply line (the first power supply line and second source line)
EPB switching signal EPB SWITCH, ignition signal IGN, brake signal BRAKE, P of 1 input keep off signal and pass from the gradient
The signal of sensor 5 controls left motor-drive circuit module 6 and the right side by the first MCU microcontroller 2 processing output drive signal
Motor-drive circuit module 7 controls left and right EPB motor by judging electric motor loop electric current.
Mutual Direct Communication between first MCU microcontroller 3 and the 2nd MCU microcontroller 4；In the first MCU microcontroller
Under 3 normal operations, the 2nd MCU microcontroller 4 keeps suspend mode, realizes the function of EPB by the first MCU microcontroller 3 first
Energy；Under first MCU microcontroller, 3 failure conditions, the function of EPB is realized by the 2nd MCU microcontroller 4, if MCU2 is realized
EPB parking correlation function fail (such as: EPB switch failure, EPB correlation function network input signal and hard signal are lost
Effect), then realize that P keeps off parking, i.e. parking position switch (Parking Gear) parking, to realize by the 2nd MCU microcontroller 4
The dual redundant work of EPB function and P keep off backup functionality；When unilateral failure conditions occurs in left and right motor-drive circuit module 6,7
When, unilateral parking is realized by the first MCU microcontroller 3 first；If the first MCU microcontroller 3 fails, pass through the 2nd MCU micro-control
Device 4 processed realizes the unilateral parking of EPB first, if the 2nd MCU microcontroller 4 EPB correlation function (such as: EPB switch failure,
EPB correlation function network input signal and hard signal failure) fail, then realize that P gear is single by the 2nd MCU microcontroller 4
Side parking.
When the factors such as interference in vehicle parking circuit due to battery by other high-power electric appliances cause big electricity
Stream, high impulse impact circuit and influence, and cause the damage and failure of parking circuit, and element therein or period is caused to lose
Effect, parking function can not work, and control system through the invention can stablize realization parking function, realize the normal of automobile
It uses, avoids accident.
Failure conditions include: 1, internal processes operational failure leads to microcontroller reset；2, temperature is excessively high, component
Failure；3, EPB switchs clamping stagnation, the input failure of vehicle signal；4, vehicle EMC environment is exceeded；5, CAN bus is saved by other CAN
There is situations such as loss of data, CAN BUSOFF in point interference.
The structural measure of EPB Module Fail of the present invention includes:
1) there is the independent CAN network of two-way, i.e. the first CAN bus (CAN1) and the second CAN bus (CAN2), when
When CAN1 fails, CAN2 still can independent communication work, the whole vehicle control signal of vehicle CAN bus can be still input to by CAN2
2nd MCU microcontroller 4 (MCU2).
2) tool is there are two independent power conversion module, and vehicle high-voltage power supply is converted to low-voltage respectively, MCU1 by
Independent 2 chip of power conversion module power supply, MCU2 is as the power conversion module power supply built in itself, when power conversion module 2
When failure, voltage source is received from plug-in unit 1 by the power module built in MCU2 itself and gives MCU2 power itself, passes through MCU2
Realize EPB function.
3) there are two MCU microcontrollers, as MCU1 and MCU2 for tool, and in normal parking, MCU1 can handle completion
The institute of EPB is functional, under MCU1 failure conditions, realizes that the functional or P of EPB institute keeps off parking function by MCU2.
The course of work that the present invention is realized is as follows:
1, the dual redundant work of EPB function:
In the normal mode, the 2nd MCU microcontroller 4 (MCU2) is in suspend mode, at this time the first MCU microcontroller 3
Signal transmission is carried out by the first CAN bus (CAN1) and vehicle CAN bus, it is EPB switch, igniting, brake, brake pedal, whole
Vehicle coherent signal Signal be reserved for for auxiliary, etc. vehicles coherent signal the first MCU microcontroller is input to by card i/f
It is left to handle output control by the first MCU microcontroller 3 (MCU1) in conjunction with built-in Slope Transducer signal value by 3 (MCU1)
Right motor signal drives EPB or so electric motor actuator by judging electric motor loop electric current to driving circuit.
Under the first MCU microcontroller 3 (MCU1) failure mode, i.e., when some the relevant mould of the first MCU microcontroller 3
When block fails (such as the failure of the first CAN bus (CAN1) communication network, the failure of power conversion module 2 or the first MCU micro-control
Device failure processed), it is worked by the 2nd MCU microcontroller 4 (MCU2) backed up, the institute for fully achieving EPB is functional, obtains EPB
Backup functionality realizes the dual redundant design of EPB function.
2nd MCU microcontroller 4 (MCU2) combines EPB switching signal EPB SWITCH, ignition signal IGN, brake signal
The input signal processing judgement of BRAKE, the signal from Slope Transducer (5) and the second CAN bus obtain EPB or so electricity
The control signal of machine actuator work.P keeps off signal and retains as the control of P gear backup functionality.
2, EPB driving circuit cross-over control designs
MCU1 can independently export control left and right motor-drive circuit module 6,7, MCU2 can also independently export control left and right electricity
Drive circuit module 6,7.
Control left and right motor-drive circuit is exported by MCU1 in the normal mode, it is defeated by MCU2 under MCU1 failure conditions
Left and right motor-drive circuit is controlled out.
In specific implementation, under the unilateral motor-drive circuit failure conditions in the motor-drive circuit of left and right, first by MCU1
Output control another side motor-drive circuit, so that meeting 8% on-grade parking power parking requirement of standard requirements.If working as MCU1
Also simultaneously under failure conditions, control another side motor-drive circuit is exported by MCU2.
As a result, under technical solution of the present invention, MCU1 and MCU2 can independently export control left and right motor, realize
MCU1 and MCU2 cross-over control or so motor-drive circuit improves the reliability of EPB function.
3, P keeps off parking backup functionality
When the EPB backup functionality of the EPB function of MCU1 control and MCU2 control all fails (comprising connector, outside
The electronic control unit of EPB is interior each other than P keeps off signal and MCU2 in vain, in attached drawing 1 for EPB parking switch, CAN network input signal
The single point failure of a module), EPB has failed at this time, and the reservation of the 2nd MCU microcontroller 4 (MCU2) is provided with the P finally backed up
Gear realizes parking: in the case that there are also when wheel speed signal, receiving P grades of parking signals (by P gear switch or P grades of touch screen panel
The input of plate button), it is by P grades of parking backup functionalities that the complete parking of vehicle is successful.
Claims (6)
1. a kind of electronic control unit control system of EPB+P grades of dual control dual redundant backups, it is characterised in that:
Including plug-in unit (1), plug-in unit (1) is connected on the interface of entire car controller；
Including power conversion module (2), plug-in unit (1) is connected to through power supply line and the first CAN bus；
It including the first MCU microcontroller (3), is connected to plug-in unit (1) through signal wire, and is connected with power conversion module (2)；
Including the 2nd MCU microcontroller (4), plug-in unit is connected to through power supply line, P grades of control lines, signal wire and the second CAN bus
(1), it while with the first MCU microcontroller (3) connects；
Including Slope Transducer (5), Slope Transducer (5) is integrated in electronic control unit control system, respectively with the first MCU micro-control
Device (3) processed, the connection of the 2nd MCU microcontroller (4)；
Including left motor-drive circuit module (6) and right motor-drive circuit module (7), left motor-drive circuit module (6), the right side
The input terminal of motor-drive circuit module (7) is separately connected the first MCU microcontroller (3), the 2nd MCU microcontroller (4), left electricity
The output end of drive circuit module (6) and right motor-drive circuit module (7) is connected respectively to left and right motor, control left and right electricity
Machine work.
2. a kind of electronic control unit control system of EPB+P grades of dual control dual redundant backups according to claim 1, feature exist
In: the signal wire between the first MCU microcontroller (3) and plug-in unit (1) be respectively EPB switching signal EPB_SWITCH,
The signal wire of ignition signal IGN, brake signal BRAKE, vehicle coherent signal Signal.
3. a kind of electronic control unit control system of EPB+P grades of dual control dual redundant backups according to claim 1, feature exist
In: the signal wire between the 2nd MCU microcontroller (4) and plug-in unit (1) be respectively EPB switching signal EPB_SWITCH,
The signal wire of ignition signal IGN, brake signal BRAKE.
4. a kind of electronic control unit control system of EPB+P grades of dual control dual redundant backups according to claim 1, feature exist
In: described plug-in unit (1) the Jing Lianggen power supply line (the first power supply line and second source line) arrives power conversion module (2), and power supply turns
Mold changing block (2) by high voltage be converted to low-voltage supply the first MCU microcontroller (3), the first MCU microcontroller (3) receive from
EPB switching signal EPB SWITCH, the ignition signal IGN, brake signal BRAKE, vehicle coherent signal of plug-in unit (1) input
Signal and the signal for coming from Slope Transducer (5), by the processing output drive signal control of the first MCU microcontroller (1)
Left motor-drive circuit module (6) and right motor-drive circuit module (7) control left and right by judging electric motor loop electric current
EPB motor；
The plug-in unit (1) is received through other two power supply lines to the 2nd MCU microcontroller (4), the 2nd MCU microcontroller (4)
EPB switching signal EPB SWITCH, ignition signal IGN, brake signal BRAKE, the P inputted from plug-in unit (1) keeps off signal and comes
Signal from Slope Transducer (5) controls left motor driven electricity by the first MCU microcontroller (2) processing output drive signal
Road module (6) and right motor-drive circuit module (7), left and right EPB motor is controlled by judging electric motor loop electric current.
5. a kind of electronic control unit control system of EPB+P grades of dual control dual redundant backups according to claim 4, feature exist
In: the vehicle coherent signal Signal refers to clutch stroke sensor signal, gear signal.
6. a kind of electronic control unit control system of EPB+P grades of dual control dual redundant backups according to claim 4, feature exist
In: mutual Direct Communication between the first MCU microcontroller (3) and the 2nd MCU microcontroller (4)；In the first MCU microcontroller
(3) under normal operation, the 2nd MCU microcontroller (4) keeps suspend mode, by the first MCU microcontroller (3) Lai Shixian EPB's
Function；Under first MCU microcontroller (3) failure conditions, the function of EPB is realized by the 2nd MCU microcontroller (4), if MCU2
It realizes that EPB parking correlation function fails, then realizes that P keeps off parking by the 2nd MCU microcontroller (4)；When left and right motor driven electricity
When unilateral failure conditions occurs in road module (6,7), unilateral parking is realized by the first MCU microcontroller (3) first；If the first MCU
Microcontroller (3) failure, the unilateral parking of EPB is realized by the 2nd MCU microcontroller (4), if the 2nd MCU microcontroller first
(4) EPB correlation function fails, then realizes that P keeps off unilateral parking by the 2nd MCU microcontroller (4).
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Cited By (13)
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| CN111252079A (en) * | 2020-03-11 | 2020-06-09 | 中国第一汽车股份有限公司 | Parking redundancy control method, automatic driving system and driving equipment |
| CN111665823A (en) * | 2020-06-19 | 2020-09-15 | 上海万捷汽车控制系统有限公司 | Distributed electronic parking control system |
| CN112124280A (en) * | 2020-10-12 | 2020-12-25 | 南昌智能新能源汽车研究院 | VCU vehicle control unit of integrated electron parking control |
| CN112622844A (en) * | 2020-12-18 | 2021-04-09 | 东风越野车有限公司 | Multi-axis EPB peak shifting area clamping control method |
| CN112721897A (en) * | 2021-01-28 | 2021-04-30 | 坤泰车辆系统（常州）有限公司 | Double-control double-drive pull-wire type EPB control system and parking force self-adaptive control method |
| CN113428125A (en) * | 2021-07-27 | 2021-09-24 | 中汽创智科技有限公司 | Parking control system and method and vehicle |
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| CN113830053A (en) * | 2020-06-24 | 2021-12-24 | 苏州萨克汽车科技有限公司 | Motor control switching circuit, redundancy backup electronic parking controller and parking system |
| CN113830052A (en) * | 2020-06-24 | 2021-12-24 | 苏州萨克汽车科技有限公司 | Motor control switching circuit, redundancy backup electronic parking controller and parking system |
| WO2022133744A1 (en) * | 2020-12-22 | 2022-06-30 | 华为技术有限公司 | Parking brake system of automobile, automobile and control method therefor |
| CN115210121A (en) * | 2020-03-06 | 2022-10-18 | 大陆汽车科技有限公司 | Braking system with redundant parking braking function |
| CN115279637A (en) * | 2020-03-30 | 2022-11-01 | 大陆汽车科技有限公司 | Brake system with at least two energy sources |
| WO2023093269A1 (en) * | 2021-11-29 | 2023-06-01 | 广州汽车集团股份有限公司 | Vehicle mcu failure control circuit and method |
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