CN110395236A - A kind of dual redundant brake-by-wire method - Google Patents
A kind of dual redundant brake-by-wire method Download PDFInfo
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- CN110395236A CN110395236A CN201910743595.2A CN201910743595A CN110395236A CN 110395236 A CN110395236 A CN 110395236A CN 201910743595 A CN201910743595 A CN 201910743595A CN 110395236 A CN110395236 A CN 110395236A
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- electric brake
- brake controller
- braking
- controller
- wheel
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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
- B60T13/10—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 fluid assistance, drive, or release
- B60T13/58—Combined or convertible systems
-
- 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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The invention discloses a kind of dual redundant brake-by-wire methods, are related to automatic Pilot brake-by-wire technical field.The present invention is the following steps are included: step 1, entire car controller send braking instruction into electro-hydraulic brake controller, the first electric brake controller and the second electric brake controller respectively, step 2, the starting of electrohydraulic controller control electro-hydraulic brake mechanism, wheel group is braked by electro-hydraulic brake mechanism, step 301, the first electric brake controller and the second electric brake controller judge electro-hydraulic brake controller whether failure.The present invention is using electro-hydraulic brake system as main braking system, electrical brake system intervenes braking when electro-hydraulic brake system EHB breaks down, and the first electric brake controller and the second electric brake controller control independent electric brake mechanism respectively, it can ensure that full vehicle has stopping power always, so that unpiloted brake-by-wire redundancy increases, the safety of automatic driving vehicle traveling is improved.
Description
Technical field
The present invention relates to automatic Pilot brake-by-wire technical field, specially a kind of dual redundant brake-by-wire method.
Background technique
Brake system of car is broadly divided into electro-hydraulic brake and two kinds of electric mechanical braking, and above two braking system is each
It is advantageous, also have the shortcomings that respective.The electro-hydraulic brake EHB market coverage is wider, and technology is more mature, and it is raw to be easy batch
It produces；Electric mechanical braking EMB technology is not mature enough, but EMB eliminates hydraulic system, directly uses motor drive machinery piston system
Dynamic, the electro-hydraulic brake response time that compares is shorter, does not have liquid leakage, maintenance-free.
Most of automatic driving vehicle is all only equipped with a set of line control brake system currently on the market, only equips a set of line
Control braking system can improve the risk of car steering, if the controller or actuator in system break down, will lead to system
Dynamic failure, the huge security risk for causing automatic driving vehicle to travel.Therefore how to improve the braking system of automatic Pilot is this
Field technical staff's technical issues that need to address.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of dual redundant brake-by-wire method, above-mentioned background is solved
The problem of being proposed in technology.
In order to achieve the above object, the present invention is achieved by the following technical programs: a kind of dual redundant brake-by-wire method,
The following steps are included:
Step 1, the entire car controller send braking instruction to electro-hydraulic brake controller, the first electric brake controller respectively
In the second electric brake controller；
Step 2, the starting of electrohydraulic controller control electro-hydraulic brake mechanism, the electro-hydraulic brake mechanism carry out wheel group
Braking；
Whether step 301, first electric brake controller and the second electric brake controller judge electro-hydraulic brake controller
Failure, if the electro-hydraulic brake controller breaks down, first electric brake controller and the starting of the second electric brake controller
Electric brake mechanism, the electric brake mechanism brake wheel group, conversely, if event does not occur for the electro-hydraulic brake controller
Barrier, into next step；
Step 302, first electric brake controller and the second electric brake controller judge brake pressure on brake piping
It is whether abnormal, if pressure anomaly on the brake piping, first electric brake controller and the starting of the second electric brake controller
Electric brake mechanism, the electric brake mechanism brake wheel group, conversely, entering if pressure is normal on the brake piping
Next step；
Step 303, first electric brake controller and the second electric brake controller judge braking instruction and actual speed of a wheel
Whether signal deceleration deviates from, if the braking instruction and actual speed of a wheel signal deceleration mismatch, the first electric braking control
Device processed and the second electric brake controller start electric brake mechanism, and the electric brake mechanism brakes wheel group, conversely, if institute
It states braking instruction to match with actual speed of a wheel signal deceleration, gos to step 301.
Further, the electro-hydraulic brake mechanism includes the first hydraulic pump and the second hydraulic pump, the electric brake mechanism packet
Include the first braking motor, the second braking motor, third braking motor and the 4th braking motor, the wheel group include off-front wheel,
The near front wheel, off hind wheel and left rear wheel.
A kind of dual redundant line control brake system of master control braking, including entire car controller, electro-hydraulic brake controller, the first electricity
Brake monitor and the second electric brake controller, the entire car controller output end respectively with electro-hydraulic brake controller, first electricity
Brake monitor and the second electric brake controller input terminal are electrically connected；
Including the first hydraulic pump and the second hydraulic pump, the electro-hydraulic brake controller output end respectively with the first hydraulic pump and
Second hydraulic pump input terminal is electrically connected, and first electric brake controller and the second electric brake controller acquire electro-hydraulic system in real time
The fault message of movement controller；
Including the first braking motor, the second braking motor, third braking motor and the 4th braking motor, the first electricity system
Movement controller output end is electrically connected with the first braking motor and the second braking motor input terminal respectively, the second electric braking control
Device output end processed is electrically connected with third braking motor and the 4th braking motor input terminal respectively；It is adopted including 12V lithium battery, wheel speed
Collecting mechanism and pressure acquisition mechanism, the measuring wheel speed mechanism and pressure acquisition mechanism output end are controlled with the first electric braking respectively
Device and the second electric brake controller are electrically connected, and the 12V lithium battery output end is made with electro-hydraulic brake controller, the first electricity respectively
Movement controller and the second electric brake controller are electrically connected.
Further, the Braking of first hydraulic pump is in off-front wheel and the near front wheel, the second hydraulic pump system
Power act on off hind wheel and left rear wheel, the Braking of first braking motor is in off-front wheel, second braking
The Braking of motor is in the near front wheel, and the Braking of the third braking motor is in off hind wheel, the 4th braking electricity
The Braking of machine is in left rear wheel.
Further, the measuring wheel speed mechanism includes the first wheel speed sensors, the second wheel speed sensors, third wheel speed biography
Sensor and fourth round speed sensor, first wheel speed sensors acquire off-front wheel rotary speed information in real time, and second wheel speed passes
Sensor acquires the near front wheel rotary speed information in real time, and the third wheel speed sensors acquire off hind wheel rotary speed information in real time, and the described 4th
Wheel speed sensors acquire left rear wheel rotary speed information, first wheel speed sensors and the second wheel speed sensors output end and in real time
One electric brake controller input terminal is electrically connected, the third wheel speed sensors and fourth round speed sensor output and the second electricity
Brake monitor input terminal is electrically connected.
Further, the pressure acquisition mechanism includes first pressure sensor and second pressure sensor, and described first
Pressure sensor acquires the pressure information of the first hydraulic pump in real time, and the second pressure sensor acquires the second hydraulic pump in real time
Pressure information, the first pressure sensor output end and the first electric brake controller input terminal are electrically connected, second pressure
Force snesor output end and the second electric brake controller input terminal are electrically connected.
The invention has the following advantages:
The dual redundant brake-by-wire method, using electro-hydraulic brake system as main braking system, electrical brake system is as one
The line control brake system for covering redundancy is intervened when electro-hydraulic brake system EHB, which breaks down, to generate brake force and is braked, and first
Any one of electric brake controller and the second electric brake controller break down, and all only will affect corresponding electric brake mechanism, energy
It enough ensures that full vehicle has stopping power always, so that unpiloted brake-by-wire redundancy increases, improves automatic driving car
Traveling safety.
Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will be described below to embodiment required
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of dual redundant line control brake system block diagram of master control braking of the present invention；
Fig. 2 is control flow schematic diagram of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
The present invention provides a kind of technical solution referring to FIG. 1-2: a kind of dual redundant brake-by-wire method, including following step
It is rapid:
Step 1, entire car controller send braking instruction to electro-hydraulic brake controller, the first electric brake controller and respectively
In two electric brake controllers；
Step 2, the starting of electrohydraulic controller control electro-hydraulic brake mechanism, wheel group is braked by electro-hydraulic brake mechanism；
Step 301, the first electric brake controller and the second electric brake controller judge electro-hydraulic brake controller whether failure,
If electro-hydraulic brake controller breaks down, the first electric brake controller and the second electric brake controller start electric brake mechanism, electricity
Arrestment mechanism brakes wheel group, conversely, if electro-hydraulic brake controller does not break down, into next step；
Step 302, the first electric brake controller and the second electric brake controller judge on brake piping whether is brake pressure
Abnormal, if pressure anomaly on brake piping, the first electric brake controller and the second electric brake controller start electric brake mechanism, electricity
Arrestment mechanism brakes wheel group, conversely, if pressure is normal on brake piping, into next step；
Step 303, the first electric brake controller and the second electric brake controller judge braking instruction and actual speed of a wheel signal
Whether deceleration deviates from, if braking instruction and actual speed of a wheel signal deceleration mismatch, the first electric brake controller and the second electricity
Brake monitor starts electric brake mechanism, and electric brake mechanism brakes wheel group, conversely, if braking instruction and actual speed of a wheel
The matching of signal deceleration, gos to step 301.
Wherein, electro-hydraulic brake mechanism includes the first hydraulic pump and the second hydraulic pump, and electric brake mechanism includes the first braking electricity
Machine, the second braking motor, third braking motor and the 4th braking motor, wheel group include off-front wheel, the near front wheel, off hind wheel and a left side
Rear-wheel；Each braking motor individually brakes each tire, braking motor forward and reverse driving in running car, braking
Motor pros' forwarding electricity in braking automobile recovers energy.
A kind of dual redundant line control brake system of master control braking, including entire car controller, electro-hydraulic brake controller, the first electricity
Brake monitor and the second electric brake controller, entire car controller output end respectively with electro-hydraulic brake controller, the first electric braking
Controller and the second electric brake controller input terminal are electrically connected；Entire car controller and electro-hydraulic brake controller form electro-hydraulic brake
System EHB, entire car controller, the first electric brake controller and the second electric brake controller form electrical brake system EMB；Vehicle control
Device processed is the car running computer ECU of existing automobile；
Including the first hydraulic pump and the second hydraulic pump, electro-hydraulic brake controller output end respectively with the first hydraulic pump and second
Hydraulic pump input terminal is electrically connected, and the first electric brake controller and the second electric brake controller acquire electro-hydraulic brake controller in real time
Fault message；
Including the first braking motor, the second braking motor, third braking motor and the 4th braking motor, the first electric braking control
Device output end processed is electrically connected with the first braking motor and the second braking motor input terminal respectively, the output of the second electric brake controller
End is electrically connected with third braking motor and the 4th braking motor input terminal respectively；
Including 12V lithium battery, measuring wheel speed mechanism and pressure acquisition mechanism, measuring wheel speed mechanism and pressure acquisition mechanism are defeated
Outlet is electrically connected with the first electric brake controller and the second electric brake controller respectively, 12V lithium battery output end respectively with electricity
Liquid brake monitor, the first electric brake controller and the second electric brake controller are electrically connected.
Wherein, the Braking of the first hydraulic pump is acted in off-front wheel and the near front wheel, the power of the second hydraulic pump
Off hind wheel and left rear wheel, the Braking of the first braking motor is in off-front wheel, and the Braking of the second braking motor is in a left side
Front-wheel, the Braking of third braking motor is in off hind wheel, and the Braking of the 4th braking motor is in left rear wheel.
Wherein, measuring wheel speed mechanism includes the first wheel speed sensors, the second wheel speed sensors, third wheel speed sensors and the
Four wheel speed sensors, the first wheel speed sensors acquire off-front wheel rotary speed information in real time, and the second wheel speed sensors acquire left front in real time
Wheel speed information, third wheel speed sensors acquire off hind wheel rotary speed information in real time, and fourth round speed sensor acquires left rear wheel in real time
Rotary speed information, the first wheel speed sensors electrically connect with the second wheel speed sensors output end and the first electric brake controller input terminal
It connects, third wheel speed sensors and fourth round speed sensor output and the second electric brake controller input terminal are electrically connected；First
Wheel speed sensors, the second wheel speed sensors, third wheel speed sensors and fourth round speed sensor are 89543-42040 model vehicle
Wheel speed sensor.
Wherein, pressure acquisition mechanism includes first pressure sensor and second pressure sensor, and first pressure sensor is real
When acquire the pressure information of the first hydraulic pump, second pressure sensor acquires the pressure information of the second hydraulic pump, the first pressure in real time
Force snesor output end and the first electric brake controller input terminal are electrically connected, and second pressure sensor output and the second electricity are made
Movement controller input terminal is electrically connected；First pressure sensor and second pressure sensor are 55CP09-03 model brake fluid
Pressure sensor.
It should be noted that the first electric brake controller and the second electric brake controller receive the system of entire car controller simultaneously
Dynamic instruction, the first electric brake controller independent can judge and control corresponding electric braking machine with the second electric brake controller
Structure；The present invention not only has electro-hydraulic brake system EHB, while also having electrical brake system EMB；Wherein, electro-hydraulic brake system EHB
As main braking system, line control brake system of the electrical brake system EMB as a set of redundancy is sent out in electro-hydraulic brake system EHB
Intervention braking when raw failure can not generate brake force；And any one of the first electric brake controller and the second electric brake controller go out
Existing failure, all only will affect corresponding electric brake mechanism, can ensure that full vehicle has stopping power always；Therefore, electric braking system
The EMB that unites is specially dual redundant line control brake system, greatly improves unpiloted brake-by-wire redundancy, also greatly mentions
The high safety of automatic driving vehicle traveling.
Claims (6)
1. a kind of dual redundant brake-by-wire method, it is characterised in that the following steps are included:
Step 1, the entire car controller send braking instruction to electro-hydraulic brake controller, the first electric brake controller and respectively
In two electric brake controllers；
Step 2, the starting of electrohydraulic controller control electro-hydraulic brake mechanism, the electro-hydraulic brake mechanism is to wheel group system
It is dynamic；
Step 301, first electric brake controller and the second electric brake controller judge electro-hydraulic brake controller whether failure,
If the electro-hydraulic brake controller breaks down, first electric brake controller and the second electric brake controller start electric braking
Mechanism, the electric brake mechanism brake wheel group, conversely, entering if the electro-hydraulic brake controller does not break down
Next step；
Step 302, first electric brake controller and the second electric brake controller judge on brake piping whether is brake pressure
It is abnormal, if pressure anomaly on the brake piping, first electric brake controller and the second electric brake controller starting electricity system
Motivation structure, the electric brake mechanism brake wheel group, conversely, entrance is next if pressure is normal on the brake piping
Step；
Step 303, first electric brake controller and the second electric brake controller judge braking instruction and actual speed of a wheel signal
Whether deceleration deviates from, if the braking instruction and actual speed of a wheel signal deceleration mismatch, first electric brake controller
Start electric brake mechanism with the second electric brake controller, the electric brake mechanism brakes wheel group, conversely, if the system
Dynamic instruction is matched with actual speed of a wheel signal deceleration, gos to step 301.
2. a kind of dual redundant brake-by-wire method according to claim 1, which is characterized in that electro-hydraulic brake mechanism packet
The first hydraulic pump and the second hydraulic pump are included, the electric brake mechanism includes the first braking motor, the second braking motor, third braking
Motor and the 4th braking motor, the wheel group include off-front wheel, the near front wheel, off hind wheel and left rear wheel.
3. the dual redundant line control brake system that a kind of master control as described in claim 1-2 is any is braked, which is characterized in that including
Entire car controller, electro-hydraulic brake controller, the first electric brake controller and the second electric brake controller, the entire car controller are defeated
Outlet is electrically connected with electro-hydraulic brake controller, the first electric brake controller and the second electric brake controller input terminal respectively；
Including the first hydraulic pump and the second hydraulic pump, the electro-hydraulic brake controller output end respectively with the first hydraulic pump and second
Hydraulic pump input terminal is electrically connected, and first electric brake controller and the second electric brake controller acquire electro-hydraulic brake control in real time
The fault message of device processed；
Including the first braking motor, the second braking motor, third braking motor and the 4th braking motor, the first electric braking control
Device output end processed is electrically connected with the first braking motor and the second braking motor input terminal respectively, second electric brake controller
Output end is electrically connected with third braking motor and the 4th braking motor input terminal respectively；
Including 12V lithium battery, measuring wheel speed mechanism and pressure acquisition mechanism, the measuring wheel speed mechanism and pressure acquisition mechanism are defeated
Outlet is electrically connected with the first electric brake controller and the second electric brake controller respectively, the 12V lithium battery output end difference
It is electrically connected with electro-hydraulic brake controller, the first electric brake controller and the second electric brake controller.
4. a kind of dual redundant line control brake system of master control braking according to claim 3, which is characterized in that described first
For the Braking of hydraulic pump in off-front wheel and the near front wheel, the power of second hydraulic pump acts on off hind wheel and left back
Wheel, the Braking of first braking motor in off-front wheel, the Braking of second braking motor in the near front wheel,
The Braking of the third braking motor is in off hind wheel, and the Braking of the 4th braking motor is in left rear wheel.
5. a kind of dual redundant line control brake system of master control braking according to claim 3, which is characterized in that the wheel speed
Collecting mechanism includes the first wheel speed sensors, the second wheel speed sensors, third wheel speed sensors and fourth round speed sensor, described
First wheel speed sensors acquire off-front wheel rotary speed information in real time, and second wheel speed sensors acquire left front wheel speed letter in real time
Breath, the third wheel speed sensors acquire off hind wheel rotary speed information in real time, and the fourth round speed sensor acquires left rear wheel in real time
Rotary speed information, first wheel speed sensors and the second wheel speed sensors output end and the first electric brake controller input terminal are electrical
Connection, the third wheel speed sensors electrically connect with fourth round speed sensor output and the second electric brake controller input terminal
It connects.
6. a kind of dual redundant line control brake system of master control braking according to claim 3, which is characterized in that the pressure
Collecting mechanism includes first pressure sensor and second pressure sensor, and it is hydraulic that the first pressure sensor acquires first in real time
The pressure information of pump, the second pressure sensor acquire the pressure information of the second hydraulic pump, the first pressure sensing in real time
Device output end and the first electric brake controller input terminal are electrically connected, the second pressure sensor output and the second electric braking
Controller input terminal is electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910743595.2A CN110395236A (en) | 2019-08-13 | 2019-08-13 | A kind of dual redundant brake-by-wire method |
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| CN201910743595.2A CN110395236A (en) | 2019-08-13 | 2019-08-13 | A kind of dual redundant brake-by-wire method |
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| CN110395236A true CN110395236A (en) | 2019-11-01 |
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| CN201910743595.2A Pending CN110395236A (en) | 2019-08-13 | 2019-08-13 | A kind of dual redundant brake-by-wire method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113110238A (en) * | 2021-05-12 | 2021-07-13 | 中国第一汽车股份有限公司 | EMB redundancy control system and method |
| WO2021248824A1 (en) * | 2020-06-12 | 2021-12-16 | 浙江力邦合信智能制动系统股份有限公司 | Braking system applied to autonomous vehicle |
| CN114212065A (en) * | 2021-12-30 | 2022-03-22 | 舜泰汽车有限公司 | Brake redundancy control system |
| CN115303358A (en) * | 2022-08-30 | 2022-11-08 | 中兴智能汽车有限公司 | Distributed drive line control chassis, control method and new energy electric vehicle |
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Application publication date: 20191101 |