CN111674265B - Braking energy monitoring device and method for electric automatic driving automobile - Google Patents
Braking energy monitoring device and method for electric automatic driving automobile Download PDFInfo
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- CN111674265B CN111674265B CN202010436828.7A CN202010436828A CN111674265B CN 111674265 B CN111674265 B CN 111674265B CN 202010436828 A CN202010436828 A CN 202010436828A CN 111674265 B CN111674265 B CN 111674265B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
Abstract
The invention provides an electric automatic driving automobile braking energy monitoring device which accords with functional safety, comprising a main control module and a monitoring module, wherein the main control module comprises a braking control module, a safety deceleration monitoring module and a battery residual electric quantity SOC monitoring module; the monitoring module comprises a main monitoring module, a current overcurrent monitoring module and a watchdog module. The invention can meet the requirement of functional safety. The reasonable distribution monitoring of mechanical braking and regenerative braking is realized, and unexpected braking force deficiency is prevented; when braking energy feedback occurs to the automobile, the monitoring of the residual electric quantity of the power battery is realized, and the occurrence of battery overcharge and excessive instantaneous current is avoided, so that the automobile is ensured to reach a safe state in the braking process.
Description
Technical Field
The invention belongs to the technical field of safety monitoring, and particularly relates to a braking energy monitoring device and method for an electric automatic driving automobile.
Background
In the field of electric automatic driving automobiles, the energy generated by regenerative braking is an effective means for saving energy and improving driving mileage, and has remarkable economic and social benefits. The energy storage device of the intelligent driving automobile electric driving system is a power battery pack, but most storage batteries have low energy density and small energy storage energy, so that the driving range of the automobile is short. The traditional auxiliary power supply is mainly charged by the main power supply through the DC/DC converter, so that the cost and the complexity of the controller are increased, and the reliability of the system is low. Along with the development of technology, a main/auxiliary power supply energy feedback system is gradually developed, an auxiliary power supply feedback link is added on the basis of original single power supply feedback, energy sources are provided for automobile electronic equipment, the energy of regenerative braking is simultaneously recovered to the main power supply and the auxiliary power supply, and when the electric quantity of the auxiliary power supply is insufficient, the main power supply can also supply power to the auxiliary power supply through a power converter, so that the energy of regenerative braking is utilized to the greatest extent. However, the more energy feedback links, the more complex the electronic device structure, the greater the possibility of failure, and the higher the requirement on functional safety. How to meet the requirement of maximally utilizing the regenerated braking energy and simultaneously ensuring that the main power supply and the auxiliary power supply cannot be overcharged is an important problem. Meanwhile, under different working conditions, the degree of participation in the regenerative braking is different, and how to ensure the correct distribution of the mechanical braking and the regenerative braking is important to consider to prevent unexpected braking force shortage.
Disclosure of Invention
Therefore, the invention aims to provide the braking energy monitoring device and the method for the electric automatic driving automobile, which are in accordance with the functional safety, improve the safety of regenerative braking of the electric automatic driving automobile and meet the functional safety requirement.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
an electric automatic driving automobile braking energy monitoring device which accords with functional safety comprises a main control module and a monitoring module,
the main control module comprises a braking control module, a safety deceleration monitoring module and a battery residual electric quantity SOC monitoring module;
the braking control module is used for transmitting the braking requirement of the whole vehicle to the braking control system, analyzing, calculating and distributing the braking torque required by the whole vehicle, and controlling the turn-off of any torque;
the safety deceleration monitoring module is internally provided with an acceleration comparison module and is used for comparing braking deceleration values in real time;
the battery residual electric quantity SOC monitoring module is internally provided with an SOC comparison module for comparing the SOC values in real time;
the monitoring module comprises a main monitoring module, a current overcurrent monitoring module and a watchdog module;
the main monitoring module is used for monitoring the working state and the communication condition of the main control module in real time;
the current overcurrent monitoring module is used for monitoring the current value of the real-time regenerative braking loop;
the watchdog module is used for monitoring and resetting the main control module.
Further, the braking torque has two modes of mechanical braking torque T1 and regenerative braking torque T2, wherein T2 is provided by the motor, and the regenerative energy of the motor can be recycled to the main power storage battery and the auxiliary power storage battery.
The invention also provides a method for monitoring the braking energy of the electric automatic driving automobile, which accords with the function safety, and comprises the following steps:
(1) The monitoring module verifies the working state of the main control module in real time;
(2) The monitoring module monitors whether the CAN communication module is normal in real time;
(3) The safety deceleration monitoring module compares and diagnoses the braking deceleration of the whole vehicle transmitted by a deceleration signal source and the instantaneous deceleration calculated by a vehicle speed signal in real time, and judges whether the deceleration detection information is effective or not;
(4) Determining a deceleration a of a vehicle under current conditions 0 The range is within;
(5) Determining an actual SOC value of the vehicle under the current working condition;
(6) During normal braking, if regenerative braking occurs, monitoring a regenerative braking current value;
(7) The final state is determined.
Further, in the step (1), the verification includes ROM verification, standard RAM verification, program flow verification, and clock verification; when the error of the main control module does not exist, the next step is entered; otherwise, an Error signal Error 0 is output.
Further, in the step (2), the steps of CRC check, frame format detection, response error detection, bit detection and bit filling in the CAN line are monitored, and when no CAN communication module error exists, the next step is entered; otherwise, an Error signal Error 1 is output.
Further, in the step (3), if the braking deceleration a of the whole vehicle is 0 With instantaneous deceleration a 1 The deviation of (a) is within a set range, satisfying |a 0 -a 1 |＜0.3m/s 2 The deceleration detection information is determined to be initially valid, and if not, a deceleration comparison Error response signal Error 2 is output to the brake control module.
Further, in the step (4), the safe deceleration monitoring module real-time monitors the vehicle deceleration a under the current working condition 0 And a comparison value a 00 、a 01 Comparison is made, wherein a 00 ＝1、a 01 ＝3；
(1) At a deceleration a 0 ＞a 01 If the braking Torque is provided by the mechanical brake T1, the braking is normal, otherwise, a Torque Error execution signal Error 1 is output to the braking module 111;
(2) when a is 00 ＜a 0 ＜a 01 If the braking torque is simultaneously provided by the mechanical brake T1 and the regenerative brake T2, the step (5) is carried out; otherwise, the following judgment is carried out: if the braking Torque is only T1 at the moment, the braking is normal, otherwise, a Torque Error execution signal Error Torque1 is output to a braking module;
(3) at a deceleration a 0 ＜a 00 For light braking or long downhill conditions, step 5) is entered if the braking Torque is provided entirely by the regenerative braking T2, otherwise a Torque Error execution signal Error 2 is output to the brake control module.
Further, in the step (5), the battery remaining power SOC monitoring module compares the SOC value of the main/auxiliary power supply storage battery with the upper and lower limits of the SOC of the main/auxiliary power supply storage battery in real time, if the SOC lower limit is smaller than the SOC upper limit, the braking is normal, otherwise, an SOC value comparison Error response signal Error SOC is output to the braking control module.
Further, in the step (6), the monitoring module is responsible for monitoring the regenerative braking Current value A1, preventing the battery from being damaged or causing a safety problem due to excessive instantaneous feedback Current, and outputting a signal Error Current with excessive instantaneous Current to the main control module when the excessive instantaneous Current A1 > A0 is monitored, wherein A0 is an instantaneous critical Current.
Further, in the step (7), when any error response signal is output, the corresponding safety state is entered respectively.
Compared with the prior art, the device and the method for monitoring the braking energy of the electric automatic driving automobile, which are in accordance with functional safety, have the following advantages:
the invention provides a dual-monitoring type main/auxiliary power supply energy feedback braking monitoring method based on safe deceleration and residual electric quantity, which can meet the requirement of functional safety. The reasonable distribution monitoring of mechanical braking and regenerative braking is realized, and unexpected braking force deficiency is prevented; when braking energy feedback occurs to the automobile, the monitoring of the residual electric quantity of the power battery is realized, and the occurrence of battery overcharge and excessive instantaneous current is avoided, so that the automobile is ensured to reach a safe state in the braking process.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute an undue limitation on the invention. In the drawings:
FIG. 1 is a schematic diagram of an electric automatic driving vehicle brake energy monitoring device according to the inventive embodiment of the present invention;
fig. 2-3 are schematic diagrams of a method for monitoring braking energy of an electric automatic driving automobile according to a functional safety in accordance with an embodiment of the invention.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
In the description of the invention, it should be understood that the terms "center," "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships that are based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the invention and simplify the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operate in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the creation of the present invention can be understood by those of ordinary skill in the art in a specific case.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1-3, the present invention provides a method for monitoring braking energy of an electric automatic driving automobile, which accords with functional safety, wherein a braking deceleration signal source outputs a braking signal of the whole automobile to a main control module 11, and the main control module 11 comprises a braking control module 111, a safe deceleration monitoring module 112 and a battery residual electric quantity SOC monitoring module 113; the 111 module is used for transmitting the braking requirement of the whole vehicle to a braking control system, analyzing, calculating and distributing the braking torque required by the whole vehicle, and controlling the turn-off of any torque; the 112 module is internally provided with an acceleration comparison module for comparing braking deceleration values in real time; and the 113 module is internally provided with an SOC comparison module and is used for comparing the SOC values in real time.
The monitoring module 12 includes a main monitoring module 121, a current over-current monitoring module 122, and a watchdog module 123. The 121 module is used for monitoring the working state and the communication condition of the main control module 11 in real time; the 122 module is used for monitoring the current value of the real-time regenerative braking loop; the 123 module is used for monitoring and resetting the main control module 11 when necessary.
The braking torque has two modes of mechanical braking torque T1 and regenerative braking torque T2, wherein T2 is provided by the motor, and the regenerative energy of the motor can be recovered to the main power storage battery and the auxiliary power storage battery.
The braking energy feedback monitoring method comprises the following steps:
step 1) the monitoring module 12 verifies the working state of the main control module 11 in real time. The verification comprises ROM verification, standard RAM verification, program flow verification, clock verification and the like; when the error of the main control module does not exist, the next step is entered; otherwise, an Error signal Error 0 is output.
Step 2) the monitoring module 12 monitors whether the CAN communication module is normal in real time. Monitoring CRC check, frame format detection, response error detection, bit detection and bit filling in a CAN line, and entering the next step when no CAN communication module error exists; otherwise, an Error signal Error 1 is output.
Step 3) Module 112 compares and diagnoses in real time the vehicle braking deceleration a from the deceleration Signal Source 0 Instantaneous deceleration a calculated from vehicle speed signal 1 . If a is 0 And a 1 The deviation of (2) is atWithin a fixed range, satisfy |a 0 -a 1 |＜0.3m/s 2 Determining that the deceleration detection information is initially valid, and if not, outputting a deceleration comparison Error response signal Error 2 to the brake control module 111;
step 4) determining the deceleration a of the vehicle under the current working condition 0 In the range of. The safe deceleration monitoring module 112 real-time monitors the deceleration a of the vehicle under the current working condition 0 And a comparison value a 00 、a 01 Comparing (a) 00 ＝1、a 01 =3), for the comparison value: (1) at a deceleration a 0 ＞a 01 If the braking Torque is provided by the mechanical brake T1, the braking is normal, otherwise, a Torque Error execution signal Error 1 is output to the braking module 111; (2) when a is 00 ＜a 0 ＜a 01 If the braking torque is simultaneously provided by the mechanical brake T1 and the regenerative brake T2, the step 5 is entered; otherwise, the following judgment is carried out: if the braking Torque is only T1 at this time, the braking is normal, otherwise, a Torque Error execution signal Error Torque1 is output to the braking module 111; (3) when the deceleration a is less than a 00 For mild braking or long downhill conditions, if the braking Torque is provided by the regenerative braking T2, step 5) is entered, otherwise, a Torque Error execution signal Error 2 is output to the brake control module 111;
and 5) determining the actual SOC value of the vehicle under the current working condition. The battery remaining power SOC monitoring module 113 compares the SOC value of the main/auxiliary power supply battery with the upper and lower limits of the SOC of the main/auxiliary power supply battery in real time (SOC lower limit=10% and SOC upper limit=90%), if the SOC lower limit is less than SOC upper limit, the braking is normal, otherwise, an SOC value comparison Error response signal Error SOC is output to the braking control module 111;
step 6) if the regenerative braking occurs during normal braking, monitoring a regenerative braking current value A1. The monitoring module 12 is responsible for monitoring the regenerative braking current value A1 to prevent the instantaneous feedback current from being too large, so that the battery is damaged or safety problems are caused. When the instantaneous Current is monitored to be larger than A1 & gtA 0 (A0 is instantaneous critical Current), a clockwise Current overlarge signal Error Current is output to the main control module 11.
Step 7) determining the final state. When any error response signal is output, the safety states shown in table 1 are entered, respectively.
TABLE 1 safety State
In summary, the main/auxiliary power supply braking energy feedback monitoring system of the present embodiment is a centralized functional safety monitoring method based on deceleration and battery remaining capacity SOC. And a deceleration signal source is introduced to monitor the braking deceleration information of the whole vehicle in real time, and the accuracy of the proportional distribution control of mechanical braking and regenerative braking of the whole vehicle is considered through deceleration comparison monitoring and battery residual electric quantity SOC comparison monitoring. When unexpected regenerative braking occurs, error reporting is performed based on error comparison signals of the two signals to perform safety protection, centralized monitoring of braking energy feedback of a main/auxiliary power supply is achieved, functional safety level requirements on a terminal braking controller (an electronic engine controller and a motor controller) are reduced, functional safety level degradation is achieved, complexity and cost of a monitoring system are reduced, and system application of a higher safety level can be met.
The above embodiments are merely preferred embodiments of the present invention and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A method for monitoring braking energy of an electric automatic driving automobile is characterized by comprising the following steps of: comprises a main control module and a monitoring module,
the main control module comprises a braking control module, a safety deceleration monitoring module and a battery residual electric quantity SOC monitoring module;
the braking control module is used for transmitting the braking requirement of the whole vehicle to the braking control system, analyzing, calculating and distributing the braking torque required by the whole vehicle, and controlling the turn-off of any torque;
the braking torque has two modes of mechanical braking torque T1 and regenerative braking torque T2, wherein T2 is provided by the motor, and the regenerative energy of the motor can be recovered to the main power supply storage battery and the auxiliary power supply storage battery;
the safety deceleration monitoring module is internally provided with an acceleration comparison module and is used for comparing braking deceleration values in real time;
the battery residual electric quantity SOC monitoring module is internally provided with an SOC comparison module for comparing the SOC values in real time;
the monitoring module comprises a main monitoring module, a current overcurrent monitoring module and a watchdog module;
the main monitoring module is used for monitoring the working state and the communication condition of the main control module in real time;
the current overcurrent monitoring module is used for monitoring the current value of the real-time regenerative braking loop;
the watchdog module is used for monitoring and resetting the main control module;
(1) The monitoring module verifies the working state of the main control module in real time;
in the step (1), the verification includes ROM verification, standard RAM verification, program flow verification and clock verification; when the error of the main control module does not exist, the next step is entered; otherwise, outputting an Error signal Error 0;
(2) The monitoring module monitors whether the CAN communication module is normal in real time;
in the step (2), monitoring CRC check, frame format detection, response error detection, bit detection and bit filling in a CAN line, and entering the next step when no CAN communication module error exists; otherwise, outputting an Error signal Error 1;
(3) The safety deceleration monitoring module compares and diagnoses the braking deceleration of the whole vehicle transmitted by a deceleration signal source and the instantaneous deceleration calculated by a vehicle speed signal in real time, and judges whether the deceleration detection information is effective or not;
in the step (3), if the whole vehicle brakes the deceleration a 0 With instantaneous deceleration a 1 Within a set rangeSatisfy |a 0 -a 1 |＜0.3m/s 2 Judging that the deceleration detection information is initially valid, otherwise, judging that the deceleration detection information is invalid, and outputting a deceleration comparison Error response signal Error 2 to a brake control module;
(4) Determining a deceleration a of a vehicle under current conditions 0 The range is within;
in the step (4), the safe deceleration monitoring module real-time monitors the vehicle deceleration a under the current working condition 0 And a comparison value a 00 、a 01 Comparison is made, wherein a 00 ＝1、a 01 ＝3；
(1) At a deceleration a 0 ＞a 01 If the braking Torque is provided by the mechanical brake T1, the braking is normal braking, otherwise, a Torque Error execution signal Error 1 is output to the braking control module;
(2) when a is 00 ＜a 0 ＜a 01 If the braking torque is simultaneously provided by the mechanical brake T1 and the regenerative brake T2, the step (5) is carried out; otherwise, the following judgment is carried out: if the braking Torque is only T1 at the moment, the braking is normal, otherwise, a Torque Error execution signal Error Torque1 is output to a braking control module;
(3) at a deceleration a 0 ＜a 00 If the working condition is a mild braking or downhill working condition, if the braking Torque is provided by the regenerative braking T2, the step 5) is entered, otherwise, a Torque Error execution signal Error Torque 2 is output to the braking control module;
(5) Determining an actual SOC value of the vehicle under the current working condition;
(6) During normal braking, if regenerative braking occurs, monitoring a regenerative braking current value;
(7) The final state is determined.
2. The method for monitoring braking energy of an electric autopilot vehicle in accordance with functional safety as set forth in claim 1, wherein: in the step (5), the battery residual capacity SOC monitoring module compares the SOC value of the main/auxiliary power supply storage battery with the upper and lower limit values of the SOC of the main/auxiliary power supply storage battery in real time, if the SOC lower limit is smaller than the SOC upper limit, the braking is normal, otherwise, an SOC value comparison Error response signal Error SOC is output to the braking control module.
3. The method for monitoring braking energy of an electric autopilot vehicle in accordance with functional safety as set forth in claim 1, wherein: in the step (6), the monitoring module is responsible for monitoring the regenerative braking Current value A1, preventing the battery from being damaged or causing a safety problem due to overlarge instantaneous feedback Current, and outputting a signal Error Current with overlarge instantaneous Current to the main control module when the fact that the instantaneous Current is overlarge A1 & gtA 0 is monitored, wherein A0 is instantaneous critical Current.
4. The method for monitoring braking energy of an electric autopilot vehicle in accordance with functional safety as set forth in claim 1, wherein: in the step (7), when any error response signal is output, the corresponding safety state is respectively entered.
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| JP2022125595A (en) * | 2021-02-17 | 2022-08-29 | 株式会社豊田自動織機 | Industrial vehicle braking control device |
| CN114348016B (en) * | 2021-11-23 | 2023-09-19 | 重庆长安汽车股份有限公司 | Automatic driving longitudinal deceleration rationality verification method and system |
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