CN111775904A - Brake lamp switch detection control device and driver braking request identification method - Google Patents
Brake lamp switch detection control device and driver braking request identification method Download PDFInfo
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- CN111775904A CN111775904A CN202010765008.2A CN202010765008A CN111775904A CN 111775904 A CN111775904 A CN 111775904A CN 202010765008 A CN202010765008 A CN 202010765008A CN 111775904 A CN111775904 A CN 111775904A
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- brake
- signal
- pedal
- bls
- braking
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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
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/44—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating braking action or preparation for braking, e.g. by detection of the foot approaching the brake pedal
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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
- B60T13/745—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 acting on a hydraulic system, e.g. a master cylinder
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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
- B60T13/746—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 and mechanical transmission of the braking action
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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
- 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
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
Abstract
The invention discloses a brake lamp switch detection control device and a processing method of a pedal travel sensor signal of an electric control brake system, and provides a reliable and stable brake tail lamp lighting control signal for a vehicle body controller according to a judging method for controlling the lighting of a tail lamp during braking derived from the switch detection control device and the signal processing method thereof; in addition, the technical processing method of the pedal travel sensor signal also provides a method for reliably identifying the braking requirement of the automobile driver, and provides a basis for the braking energy recovery control.
Description
Technical Field
The invention relates to the technical field of ADAS, in particular to a brake lamp switch detection control device and a driver braking request identification method.
Background
The brake boosting system and the traditional vacuum brake booster have a certain clearance between the brake pedal input rod and the reaction disc, and the clearance is a free clearance and is generally used for preventing the actual braking action caused by the non-braking intention caused by the jolt vibration of the automobile due to the unevenness of the running road; this free gap is also an error correction adjustment mechanism for the brake application, which is misjudged by the driver, in terms of design intent. When the automobile runs in a bumpy mode and vibrates but the driver does not subjectively brake, the existence of the free gap can not cause the occurrence of the unintended braking action. This free play absorbs vibrational displacement of the pedal input rod.
However, in the case of an electronically controlled brake assist system, because the pedal input lever is closely associated with the pedal travel sensor, a small stroke of the pedal input lever causes the pedal travel sensor to generate a signal due to vibration. Therefore, in order to reliably recognize the braking intention of the driver and the braking demand, the signal of the pedal stroke sensor requires processing by some technical means.
In addition, do not rely on electromechanical liquid intelligence braking booster unit of vacuum source completely to realize higher braking efficiency for new energy automobile, shorten braking distance, improve the control executive device of security, its biggest characteristics have replaced traditional vacuum booster, except realizing traditional vacuum booster's performance, can realize the value-added function: (1) artificially knowing pedal feeling control; (2) the braking execution of the advanced driver-assisted automatic emergency brake AEB and the braking execution of the adaptive cruise control ACC; (3) and (4) braking control of recovering and regenerating braking energy.
Because the mechanism needs to be provided with a sensor for detecting the displacement travel of the input rod of the brake pedal, the function of the sensor can replace the traditional switch analog type brake lamp switch, and a reliable digital signal with high confidence level is provided for a body Control module BCM (body Control module), so that the running safety of the vehicle is improved, the mechanical type brake lamp switch is removed, and the cost is reduced.
The brake tail light signal (BLS: BrakeLightSwitch) is a mandatory automotive regulation item. The function triggering premise of the anti-lock braking ABS of the automobile is that a driver steps on a brake pedal, meanwhile, a brake lamp switch signal is sent to an Electronic Control Unit (ECU) to be used for carrying out plausibility judgment on an ABS control strategy, and safety and stability of vehicle longitudinal braking control execution are ensured.
In the aspect of defining BLS by related items of functional safety definition of a vehicle transverse stability control ESC and a longitudinal stability control ABS, the ESC/ABS system can effectively monitor the signal state of the BLS due to the fact that the related items BLS can be included, and redundancy check can be achieved for signals of the BLS, so that the risk of functional failure is reduced by the functional safety design of the vehicle system.
In addition, the function of the brake tail light is also a factor for evaluating the functional safety of the ADAS functional automatic emergency brake AEB. The two situations that the driver depresses the brake pedal, the brake tail lamp is normally lighted and the function is failed and can not be lighted are one of the design evaluation indexes that the AEB can implement the maximum brake deceleration.
In the prior art, in a chinese invention patent with a patent number CN201710940474.8, the applicant company has disclosed an electronic brake system and a control method thereof. An electronic brake system according to embodiment 1 of the present invention includes a hydraulic control device that generates hydraulic pressure using a piston that is operated by an electric signal output in accordance with displacement of a brake pedal, the electronic brake system including: a pedal stroke sensing unit for measuring a movement distance and a movement distance variation of the brake pedal; and a control unit for determining an initial braking intention of the driver based on the measured distance and amount of change in the distance traveled by the pedal, and executing initial braking control when the initial braking intention is determined.
The idea of the above patent is to determine the braking intention of the driver by setting a plurality of threshold values, that is, to confirm the braking intention of the driver by the depth to which the driver steps on the brake pedal (the pedal stroke movement distance and the amount of change in the pedal stroke movement distance), but the algorithm determination threshold value for the start of initial braking in the above patent is a fixed threshold value a, and cannot be embedded in dynamic compensation required for wear degradation of each related component and pedal vibration signal noise during the service life of the vehicle. In the aspect of considering the functional safety of the electric control brake system, a redundancy scheme of a brake pedal displacement electric signal is not considered, and a safety measure for failure is lacked.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a brake lamp switch detection device of an electric control brake system and a processing method of a pedal travel sensor signal thereof aiming at the technical current situation, thereby providing a distinguishing method for controlling the lighting of a tail lamp during braking and providing a reliable and stable lighting control signal of the brake tail lamp for a vehicle body controller; in addition, the technical processing method of the pedal travel sensor signal provides a method for reliably identifying the braking requirement of the automobile driver, and provides a basis for the braking energy recovery control.
In order to achieve the purpose, the invention provides the following technical scheme:
a brake lamp switch detection and control method comprises the following procedures:
s1, inputting a pedal stroke original signal by a stroke sensor after the pedal is stepped;
s2, carrying out bias difference and other shaping processing on the original signal of the pedal stroke sensor to obtain a calibrated stroke signal value Pt;
s3, executing BLS-ON if Pt is larger than a dynamic threshold Th for judging the lighting of the braking tail lamp BLS, and keeping BLS-Off if Pt is smaller than Th;
s4, when Pt is larger than Th, a BLS-ON state signal is transmitted to a vehicle data bus, and a vehicle body control module triggers a brake tail lamp to light after acquiring the BLS state signal from the data bus;
s5, when the brake pedal is returned, the BLS-ON state is maintained unchanged for a while, when Pt < Th appears, the BLS-ON state is kept for a time t, and then BLS-Off is executed.
In a specific embodiment of the present invention, Th = Pf + Cs, Pt is low-pass filtered to obtain a signal Pf, and Cs is an offset constant and is set in consideration of a pedal stroke sensor signal and a hysteresis in a mechanism operation.
As a further explanation of the invention, under the condition of satisfying BLS-ON, the brake request dynamic condition of the driver identifies the strength of the brake intention according to the size of the grad = m/. DELTA.T, the larger the value of the grad is, the stronger the brake intention is, the information is transmitted to the vehicle data bus, and the vehicle control unit calculates and coordinates the brake torque to implement the control of recovering the brake energy.
As a specific technical scheme of the invention, the time difference between the Pt and the low-frequency signal is reduced when the Δ t is less than the critical state of the Th.
The device for detecting and controlling the brake lamp switch by adopting the control method is arranged in the brake, and is characterized in that: the electric control brake system comprises a power assisting motor, wherein a motor shaft of the power assisting motor is connected with a ball screw through a gear transmission pair, a channel is formed in the hollow part of the ball screw, a pedal input rod is inserted in the channel, a magnet is sleeved on the pedal input rod, a sensor chip is fixed on the inner wall of a brake and faces the magnet, when the pedal input rod feeds back and forth, the magnet can be driven to move, so that the magnetic flux of the sensor chip is changed, the sensor chip is connected with an ECU (electronic control unit), the sensor chip can output the magnetic flux change data to the ECU in an electric signal mode to implement redundancy simulation check, the ECU is connected with the power assisting motor, and if a magnetic circuit and a chip circuit related to a sensor device are in fault, a fault diagnosis mechanism of the ECU can interrupt the execution of the electric control brake and trigger alarm;
the pedal input rod is arranged in the brake master cylinder, a reaction disc is sleeved at the rear end of the piston ejector rod and located in the stroke range of the pedal input rod, and the front end of the pedal input rod can be in contact with the reaction disc.
As an improvement of the invention, the sensor device comprises a magnetic circuit in the pedal input rod and a sensor chip, and the generated displacement stroke signal is a linear signal, so that the brake boosting force can be accurately controlled.
Compared with the prior art, the invention has the advantages that: a brake switch detection device of an electric control brake system and a processing method of a pedal travel sensor signal thereof are established, so that a method for judging the lighting of a tail lamp during braking control is provided, and a reliable and stable braking tail lamp lighting control signal is provided for a vehicle body controller; the magnet of the pedal stroke sensor is fixedly connected to the input rod, the magnet is selected to be a plurality of sections of S-N poles, and the sensor chip is arranged at the fixing part of the shell of the braking system (figure 1). When the brake pedal input rod moves, the magnetic flux of the chip changes, and the generated 2-path signals of the sensor chip are output to the ECU to implement redundancy simulation verification. If the magnetic circuit and the chip circuit which are associated with the sensor device have faults, the fault diagnosis mechanism of the ECU interrupts the execution of the electric control brake and triggers the alarm display to ensure the safety of the vehicle. Since the stroke range of the brake pedal input lever is typically below 50mm, the sensor is required to have a high (0.01 mm) resolution to correspond to pressure control of the brake system up to 100 Bar. The scheme adopts low-pass filtering to set a dynamic threshold value to judge the authenticity of the brake implementation intention, can eliminate pedal stroke signal noise caused by loosening impact generated by abrasion of a brake pedal hinge and other connecting components, and provides a stable input signal for the control of a brake tail lamp. In addition, the triggering condition of the ABS for controlling the wheel anti-lock brake through longitudinal stability is that a driver steps on a pedal to brake, and the stable and reliable brake real intention judging signal BLS is a necessary condition for ensuring that the ABS can safely and reliably play a function in time. In addition, the technical processing method of the pedal travel sensor signal provides a method for reliably identifying the braking requirement of the automobile driver, and provides a basis for the braking energy recovery control.
Drawings
FIG. 1 is a schematic structural diagram of an electrically controlled brake boosting system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a pedal travel sensor signal in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart of the BLSOn-Off decision and the gradient of the braking request.
Detailed Description
The invention is described in further detail below with reference to the accompanying examples.
As shown in the attached drawings, the brake lamp switch detection control device and the driver braking request identification method are carried on an electric control braking boosting system, the electric control boosting system is structurally shown in figure 1 and comprises a boosting motor M, a motor shaft of the boosting motor is connected with a ball screw 2 through a gear transmission pair 1, a channel is formed in the ball screw in a hollow mode, a pedal input rod 3 is inserted in the channel, a magnet 4 is sleeved on the pedal input rod, a sensor chip 5 is fixed on the inner wall of a brake, a stroke sensor is formed by the sensor chip and the magnet, the sensor chip faces the magnet, when the pedal input rod is fed back and forth, the magnet can be driven to move, the magnetic flux of the sensor chip is changed, the sensor chip is connected with an ECU, the sensor chip can output magnetic flux change data to the ECU in a 2-path electric signal mode to implement redundancy simulation check, the ECU is connected with the power-assisted motor, if a magnetic circuit and a chip circuit which are associated with the sensor device have faults, a fault diagnosis mechanism of the ECU can interrupt the execution of the electric control brake and trigger the alarm display;
the pedal input device is characterized by further comprising a brake main cylinder 6, a piston ejector rod 7 is arranged in the brake main cylinder, a reaction disc 8 is sleeved at the rear end of the piston ejector rod and located in the stroke range of the pedal input rod, and the front end of the pedal input rod can be in contact with the reaction disc.
The brake pedal pushes the piston mandril of the brake main cylinder to move through the pedal push rod and pushes the piston mandril of the brake main cylinder to move through the assistance of the electric brake power assisting device. The electric braking power assisting device adopts a structure that a ball screw pair is combined with a reaction disc, and can convert torque output by the rotation of a motor into linear motion of an output rod. And further realizes the movement of the piston mandril of the brake main cylinder by controlling the rotation of the motor in the braking process.
The working principle of the embodiment is that a driver steps on a brake pedal, because of the movement of a pedal input rod, a stroke sensor generates a signal, according to the signal, a control strategy calculates the response requirement of the required brake assistance, determines the driving execution instruction of an assistance motor, the motor drives a gear reduction mechanism to drive a ball screw nut to rotate, the ball screw realizes reciprocating propulsion motion, and the assistance pushes a reaction disc to establish the pressure of a brake master cylinder, so that the electric control brake assistance function is realized. Then, the original signal of the pedal stroke sensor is shaped by offset difference and the like to obtain a calibrated stroke signal value Pt (as shown in a BLSOn-Off discrimination and braking request gradient flow chart of FIG. 3).
The Pt is low-pass filtered to obtain a signal Pf. The low-pass filtering is adopted to set the dynamic threshold value to judge the authenticity of the brake implementation intention, so that the pedal stroke signal noise caused by the loosening impact generated by the abrasion of a brake pedal hinge and other connecting components can be eliminated, and a stable input signal is provided for the control of the brake tail lamp.
Dynamic threshold for judging the lighting of the brake tail lamp BLS: th = Pf + Cs.
Cs is a hysteresis in consideration of the pedal stroke sensor signal and the mechanism operation, and is set to a constant to be handled as an offset.
Depressing the brake pedal, when Pt > Th, executing BLS-ON, (otherwise, keeping BLS-Off); the BLS-ON state signal is transmitted to a vehicle data bus, and the vehicle body control module triggers the brake tail lamp to be turned ON and off after acquiring the BLS state signal from the data bus.
And under the condition of meeting BLS-ON, calculating the dynamic condition of the braking request of the driver according to the gradient:
the size of the grd =Δm 1/. DELTA.tau.1 identifies the strength of the braking intention, this information is transmitted to the vehicle data bus, and the vehicle control unit calculates and coordinates the braking torque and implements the control of the braking energy according to the recovery.
When the brake pedal is returned, the BLS-ON state is kept unchanged for a while, and when Pt < Th occurs, the BLS-ON state is kept for a time t, and then BLS-Off is implemented. The significance of keeping the BLS-ON Δ t time continuously is the hysteresis effect of the oil pressure return of the vehicle brake system, the BLS-ON is still in the brake execution stage, and the BLS-ON is necessary to be kept ON continuously.
However, when the BLS-ON of the brake tail lamp is judged to be started to be lightened, the delayed lightening time is not designed, and the aim is to lighten the tail lamp in time to inform a driver of a rear vehicle of adopting control to guarantee a safe distance.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (6)
1. A control method of a stop lamp comprises the following processes:
s1, inputting a pedal stroke original signal by a stroke sensor after the pedal is stepped;
s2, carrying out bias difference and other shaping processing on the original signal of the pedal stroke sensor to obtain a calibrated stroke signal value Pt;
s3, executing BLS-ON if Pt is larger than a dynamic threshold Th for judging the lighting of the braking tail lamp BLS, and keeping BLS-Off if Pt is smaller than Th;
s4, when Pt is larger than Th, a BLS-ON state signal is transmitted to a vehicle data bus, and a vehicle body control module triggers a brake tail lamp to light after acquiring the BLS state signal from the data bus;
s5, when the brake pedal is returned, the BLS-ON state is maintained unchanged for a while, when Pt < Th appears, the BLS-ON state is kept for a time t, and then BLS-Off is executed.
2. The brake lamp control method according to claim 1, wherein: th = Pf + Cs, Pt is low-pass filtered to obtain a signal Pf, Cs is an offset constant and is set in consideration of the pedal stroke sensor signal and the hysteresis of the mechanism operation.
3. The brake lamp control method according to claim 1, wherein: under the condition of meeting BLS-ON, the braking request dynamic condition of the driver is calculated according to the gradient, the size of grd = Δ m/. tau identifies the intensity of the braking intention, the larger the grd value is, the stronger the braking intention is, the information is transmitted to a vehicle data bus, and a vehicle control unit calculates and coordinates braking torque to implement the control of braking energy recovery.
4. The brake lamp control method according to claim 1, wherein: the distance time difference between the Pt and the low-frequency signal when the Δ t is Pt < the Th critical state.
5. A device for detecting and controlling a stop lamp switch by the control method according to claim 1, built in a brake, characterized in that: the servo motor comprises a servo motor, a motor shaft of the servo motor is connected with a ball screw through a gear transmission pair, a channel is formed in the ball screw in a hollow mode, a pedal input rod is inserted in the channel, a magnet is sleeved on the pedal input rod, a sensor chip is fixed on the inner wall of a brake and faces the magnet, when the pedal input rod feeds in a reciprocating mode, the magnet can be driven to move, magnetic flux change of the sensor chip is further caused, the sensor chip is connected with an ECU (electronic control unit), the sensor chip can output magnetic flux change data to the ECU in a 2-path electric signal mode to implement redundancy simulation check, the ECU is connected with the servo motor, and if a magnetic circuit and a chip circuit related to a sensor device are in fault, a fault diagnosis mechanism of the ECU can interrupt execution of electric control brake and trigger alarm display;
the pedal input rod is arranged in the brake master cylinder, a reaction disc is sleeved at the rear end of the piston ejector rod and located in the stroke range of the pedal input rod, and the front end of the pedal input rod can be in contact with the reaction disc.
6. The stop lamp switch detection control device according to claim 5, characterized in that: the displacement travel signal generated by the sensor device consisting of the magnetic circuit in the pedal input rod and the sensor chip is a linear signal, so that the brake boosting can be accurately controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010765008.2A CN111775904A (en) | 2020-08-03 | 2020-08-03 | Brake lamp switch detection control device and driver braking request identification method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010765008.2A CN111775904A (en) | 2020-08-03 | 2020-08-03 | Brake lamp switch detection control device and driver braking request identification method |
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| CN111775904A true CN111775904A (en) | 2020-10-16 |
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| CN202010765008.2A Pending CN111775904A (en) | 2020-08-03 | 2020-08-03 | Brake lamp switch detection control device and driver braking request identification method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113199983A (en) * | 2021-05-24 | 2021-08-03 | 东风柳州汽车有限公司 | Brake lamp control method and brake-by-wire system |
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2020
- 2020-08-03 CN CN202010765008.2A patent/CN111775904A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113199983A (en) * | 2021-05-24 | 2021-08-03 | 东风柳州汽车有限公司 | Brake lamp control method and brake-by-wire system |
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