CN113428122B - Electric control braking device and vehicle - Google Patents
Electric control braking device and vehicle Download PDFInfo
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- CN113428122B CN113428122B CN202110845791.8A CN202110845791A CN113428122B CN 113428122 B CN113428122 B CN 113428122B CN 202110845791 A CN202110845791 A CN 202110845791A CN 113428122 B CN113428122 B CN 113428122B
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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
- B60T13/66—Electrical control in fluid-pressure brake systems
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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
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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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/402—Back-up
Abstract
The invention discloses an electric control braking device and a vehicle, wherein the device is used for carrying out braking control on a vehicle braking component and comprises a first electric control unit, a second electric control unit, a signal acquisition driving module, a control state synchronization module and a switching module; the signal acquisition driving module is used for acquiring vehicle signals and is connected with the first electric control unit and the second electric control unit; the first electric control unit is used for carrying out braking control on the vehicle braking component according to the vehicle signal sent by the signal acquisition driving module; the control state synchronization module is used for synchronizing the control state of the first electric control unit to the second electric control unit; the switching module is used for activating the second electronic control unit when the first electronic control unit fails so that the second electronic control unit can perform braking control on the vehicle braking component. The invention adopts the double electric control units which are mutually backed up to realize the control of the vehicle brake, thereby improving the safety performance of the electric control device.
Description
Technical Field
The invention relates to the technical field of automobile electronic control, in particular to an electronic control brake device and a vehicle.
Background
With the progress of the times, automobiles are continuously developed towards electronization and intellectualization, and particularly, due to the rise of new energy automobiles in recent years, the aspects of automobile design, manufacture, control and the like are greatly different from those of traditional automobiles. The intelligent electric chassis is a key part of an automobile and is also a key development direction of the future automobile, and comprises three key independent execution parts, namely braking, steering and suspension. In the braking system, the integrated braking control system and the redundant braking control unit comprise a mechanical hydraulic component, an algorithm control unit and an electronic control unit, functional modules such as motor drive, vehicle stability control, double-control electronic parking braking and the like are integrated, the braking requirement of the whole vehicle above the L3 level can be met, wherein the electronic control unit is a link for establishing the connection between the algorithm control and the mechanical hydraulic component and is provided with key module circuits such as power supply management, motor drive, valve drive, signal processing and the like.
The traditional integrated brake system and the redundant brake control unit are Two independent systems, which are called Two-Box for short. The integrated brake system is a main control system and has the functions of basic power assistance, anti-lock control, vehicle body stability control, parking brake, brake energy recovery and the like, when the integrated brake system fails, the redundant brake control unit starts to work and has the functions of active boosting, anti-lock control, parking brake and the like, so the integrated brake system and the redundant brake control unit are in due charge, but in the prior art, an electric control unit for controlling the brake system independently exists in the integrated brake system and the redundant brake control unit, the mutual backup function of double electric control units is not realized, and if one electric control unit fails, the normal work of the whole brake system is influenced.
Therefore, an electric control braking device is urgently needed to solve the problem that when the electric control units are applied to a braking system to perform braking control, mutual backup of the two electric control units cannot be realized, so that the safety coefficient of the braking system is low.
Disclosure of Invention
In order to solve the problems in the prior art, the embodiment of the invention provides an electronic control brake device and a vehicle. The technical scheme is as follows:
on one hand, the electronic control brake device is used for carrying out brake control on a vehicle brake component and comprises a first electronic control unit, a second electronic control unit, a signal acquisition driving module, a control state synchronization module and a switching module;
the signal acquisition driving module is used for acquiring vehicle signals and is connected with the first electric control unit and the second electric control unit;
the first electric control unit is used for carrying out braking control on the vehicle braking component according to the vehicle signal sent by the signal acquisition driving module;
the control state synchronization module is used for synchronizing the control state of the first electric control unit to the second electric control unit;
the switching module is used for activating the second electronic control unit when the first electronic control unit fails so that the second electronic control unit can perform braking control on the vehicle braking component according to the synchronously obtained control state of the first electronic control unit and the vehicle signal sent by the signal acquisition driving module.
Further, the switching module comprises a valve isolation driving unit and a fault detection unit;
the fault detection unit is used for detecting a fault state signal of the first electronic control unit and is connected with the valve isolation driving unit;
the valve isolation driving unit is used for activating the second electronic control unit according to the fault state signal sent by the fault detection unit.
Further, the valve isolation driving unit includes a valve coil driving unit, a valve coil, and a solenoid valve;
the input end of the valve coil driving unit is connected with the fault detection unit, the valve coil is respectively connected with the output end of the valve coil driving unit and the second electric control unit, the electromagnetic valve is arranged on a connecting line of the valve coil and the second electric control unit, and the valve coil driving unit is used for driving the valve coil to control the on-off of the electromagnetic valve.
Further, the first electric control unit and the second electric control unit respectively comprise a power supply module, a control module and a driving module;
the power supply module is used for supplying power to the control module and the driving module;
the control module is respectively connected with the driving module, the signal acquisition driving module and the control state synchronization module, and the driving module is used for carrying out braking control on the vehicle braking component according to a control instruction of the control module.
Furthermore, the electric control brake device also comprises a first permanent magnet synchronous motor and a second permanent magnet synchronous motor;
a driving module in the first electric control unit is connected with an input end of the first permanent magnet synchronous motor, and an output end of the first permanent magnet synchronous motor is connected with the vehicle braking component;
and a driving module in the second electric control unit is connected with the input end of the second permanent magnet synchronous motor, and the output end of the second permanent magnet synchronous motor is connected with the vehicle braking component.
Furthermore, the driving module comprises a motor driving unit, an open-phase switch driving unit, an open-phase protection switch and a motor three-phase bridge;
the input end of the motor driving unit is connected with the control module, the output end of the motor driving unit is connected with the corresponding permanent magnet synchronous motor through the motor three-phase bridge, and the open-phase protection switch is arranged on the motor three-phase bridge;
the input end of the open-phase switch driving unit is connected with the control module, the output end of the open-phase switch driving unit is connected with the open-phase protection switch, and the open-phase switch driving unit is used for controlling the on-off of the open-phase protection switch.
Furthermore, the first electric control unit is arranged on a first PCB, the second electric control unit is arranged on a second PCB, the first PCB is connected with the second PCB through a connector, and the first PCB is stacked with the second PCB.
Furthermore, a first connector is arranged on the first PCB and used for connecting the signal acquisition driving module with the first PCB;
and a second connector is arranged on the second PCB and used for connecting the signal acquisition driving module with the second PCB.
Further, the control state synchronization module comprises a serial peripheral interface or a CAN interface;
the serial peripheral interface or the CAN interface is used for connecting the first electric control unit and the second electric control unit.
In another aspect, a vehicle for implementing the above-described electronically controlled brake device is provided.
The invention provides an electric control brake device and a vehicle, which have the following technical effects:
the first electric control unit and the second electric control unit which have the same structure are arranged, the first electric control unit and the second electric control unit are electric control units which are mutually backed up, when the first electric control unit fails, the second electric control unit is activated through the switching module, so that the second electric control unit carries out brake control on the vehicle brake component according to the control state of the first electric control unit obtained synchronously and the vehicle signal sent by the signal acquisition driving module, the second electric control unit can output all functions of the first electric control unit when the first electric control unit fails, namely, when the first electric control unit fails, the first electric control unit stops driving the vehicle brake component, and meanwhile, the second electric control unit can still carry out brake control on the vehicle brake component under the condition that the first electric control unit fails, the redundant backup degree of the electric control units is improved, and the reliability and the stability of the electric control brake device are ensured, and the electric control braking device of the double electric control units in the embodiment of the invention can meet the safety requirements of double backup, full redundancy and the like in automatic driving above the L4 level.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a block diagram of an electrically controlled braking device according to an embodiment of the present invention;
FIG. 2 is a block diagram of another electrically controlled brake device according to an embodiment of the present invention;
fig. 3 is a block diagram of a stacked first PCB and a stacked second PCB according to an embodiment of the invention.
Wherein the reference numerals in the figures correspond to:
10-a first electronic control unit; 20-a second electronic control unit; 30-a signal acquisition driving module; 40-control state synchronization module; 50-a switching module; 101-a first power supply module; 102-a first control module; 103-a first motor drive unit; 104-a first motor three-phase bridge; 105-a first open-phase protection switch; 106-a first open-phase switch driving unit; 107-a first electronic parking unit; 108-a first motor; 109-a first solenoid valve; 201-a second power supply module; 202-a second control module; 203-a second motor drive unit; 204-a second motor three-phase bridge; 205-a second open-phase protection switch; 206-a second open-phase switch drive unit; 207-a second electronic parking unit; 208-a second motor; 209-a second solenoid valve; 301-a first driver module; 302-a second drive module; 50 a-valve isolation drive unit; 50 b-a fault detection unit; 501-a first valve coil drive unit; 502-second valve coil drive unit; 503-valve coil; 601-a first permanent magnet synchronous motor; 602 a second permanent magnet synchronous machine; 111 a-a first PCB board; 111 b-a second PCB board; 112 a-a first connector; 112 b-a second connector; 113-connector.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example (b):
referring to fig. 1 and fig. 2, fig. 1 is a block diagram of an electric control braking device according to an embodiment of the present invention; fig. 2 is a block diagram of another electrically controlled brake device according to an embodiment of the present invention, and the following describes the technical solution of the present invention in detail with reference to fig. 1 and 2.
In the embodiment of the invention, the electronic control brake device is used for performing brake control on a vehicle brake component, and comprises a first electronic control unit 10, a second electronic control unit 20, a signal acquisition driving module 30, a control state synchronization module 40 and a switching module 50.
The signal acquisition driving module 30 is configured to acquire a vehicle signal and is connected to the first electronic control unit 10 and the second electronic control unit 20, respectively, and the signal acquisition driving module 30 may send acquired vehicle information to the first electronic control unit 10 and the second electronic control unit 20, so that the first electronic control unit 10 and the second electronic control unit can both receive the vehicle signal and perform braking control on a vehicle braking component.
The first electronic control unit 10 may receive a vehicle signal sent by the signal acquisition driving module 30, and perform braking control on a vehicle braking component according to the vehicle signal, where the vehicle braking component may include a hydraulic control component, a wheel cylinder, an oil can, an oil passage, and other components used for vehicle braking, and the vehicle braking component may implement basic boosting, active boosting, anti-lock control, vehicle body stability control, parking braking, braking energy recovery, and other functions according to a control instruction output by the first electronic control unit.
The second electronic control unit 20 may receive the vehicle signal sent by the signal acquisition driving module 30, and perform braking control on the vehicle braking component according to the vehicle signal.
It should be noted that the first ecu 10 and the second ecu 20 are electronic control units that are backed up with each other, that is, when the first ecu 10 is in the operating state, the second ecu 20 is in the backup state, and can enter the operating state when the first ecu 10 fails.
For clarity of describing the technical solution of the present invention, the embodiment of the present invention will be described in detail by taking the first ecu 10 in the normal operating state and the second ecu 20 in the backup state as an example.
The control state synchronization module 40 is respectively connected to the first electronic control unit 10 and the second electronic control unit 20, and is configured to synchronize the connection control states of the first electronic control unit 10 and the second electronic control unit 20, specifically, synchronize the control state of the first electronic control unit 10 in the normal operating state to the second electronic control unit 20,
when the first electronic control unit 10 fails, the second electronic control unit 20 can continuously perform braking control on the vehicle braking component according to the control state of the first electronic control unit 10 obtained by synchronization.
In a specific embodiment, the control state synchronization module 40 may include a serial peripheral interface or a CAN interface, where the serial peripheral interface or the CAN interface is used to connect the first electronic control unit 10 and the second electronic control unit 20, so as to implement synchronization of connection control states of the first electronic control unit 10 and the second electronic control unit 20, where the CAN interface is used to connect a CAN bus, where the control state synchronization module in the embodiment of the present invention includes, but is not limited to, a serial peripheral interface or a CAN interface, and may also be other interfaces capable of high-speed communication, and may be determined according to actual situations.
The switching module 50 is connected to the first electronic control unit 10 and the second electronic control unit 20, respectively, and is configured to activate the second electronic control unit 20 when all or part of the first electronic control unit 10 fails, at this time, the second electronic control unit 20 performs braking control on a vehicle braking component according to the synchronized control state of the first electronic control unit 10 and the vehicle signal sent by the signal acquisition driving module 30, specifically, when the first electronic control unit 10 fails, the switching module 50 blocks the first electronic control unit 10 from performing braking control on the vehicle braking component, and at the same time, the switching module 50 activates the second electronic control unit 20, and the second electronic control unit 20 performs braking control on the vehicle braking component according to the synchronized control state of the first electronic control unit 10 and the vehicle signal sent by the signal acquisition driving module 30.
In the embodiment of the present invention, by providing the first electronic control unit 10 and the second electronic control unit 20 with the same structure, and the first electronic control unit 10 and the second electronic control unit 20 are electronic control units that are backed up with each other, when the first electronic control unit 10 fails, the second electronic control unit 20 is activated by the switching module 50, so that the second electronic control unit 20 performs braking control on the vehicle braking component according to the control state of the first electronic control unit 10 obtained synchronously and the vehicle signal sent by the signal acquisition driving module 30, it is ensured that the second electronic control unit 20 can output all control functions of the first electronic control unit 10 when the first electronic control unit 10 fails, that is, when the first electronic control unit 10 fails, the first electronic control unit 10 stops driving the vehicle braking component, and at the same time, the second electronic control unit 20 can still perform braking control on the vehicle braking component without being affected by the failure of the first electronic control unit 10, the electric control unit redundancy backup degree is improved, the reliability and the stability of the electric control brake device are ensured, and the electric control brake device of the double electric control units in the embodiment of the invention can meet the safety requirements of double backup, full redundancy and the like in automatic driving above the L4 level.
In an alternative embodiment, with continued reference to fig. 1, the switching module 50 includes a valve isolation drive unit 50a and a fault detection unit 50 b.
The fault detection unit 50b is connected to the first electronic control unit 10 and the valve isolation driving unit 50a, and is configured to detect a fault state signal of all modules or a part of modules in the first electronic control unit 10, specifically, when the fault detection unit 50b detects a fault state signal of all modules or a part of modules in the first electronic control unit 10, the fault detection unit 50b transmits the detected fault state signal to the valve isolation driving unit 50a connected to the fault detection unit 50 b.
The valve isolation driving unit 50a is further connected to the second electronic control unit 20, and when the valve isolation driving unit 50a receives the fault state signal sent by the fault detection unit 50b, the valve isolation driving unit 50a activates the second electronic control unit 20 according to the fault state signal sent by the fault detection unit 50b, and at this time, the second electronic control unit 20 performs braking control on the vehicle braking component according to the synchronously obtained control state of the first electronic control unit 10 and the vehicle signal sent by the signal acquisition driving module 30.
The valve isolation driving unit 50a is configured to, when receiving a fault state signal of all modules or a part of modules in the first electronic control unit 10 sent by the fault detection unit 50b to activate the second electronic control unit 20, isolate an influence of the faulty first electronic control unit 10 on the second electronic control unit 20, so that the influence of the first electronic control unit 10 is not received when the second electronic control unit 20 performs braking control on the vehicle braking component, and stability of a braking control process performed on the vehicle braking component by the second electronic control unit 20 is ensured.
In the embodiment of the present invention, the valve isolation driving unit 50a and the failure detecting unit 50b are arranged, so that when the first electronic control unit fails, the second electronic control unit 20 can output all control functions of the first electronic control unit 10 in time to perform braking control on the vehicle braking component, thereby improving the degree of redundancy backup of the electronic control units and ensuring the reliability and stability of the electronic control braking device.
In an alternative embodiment, valve isolation drive unit 50a includes a first valve coil drive unit 501, a valve coil 503, and a first solenoid valve 109. In an alternative embodiment, valve isolation drive unit 50a further includes a second valve coil drive unit 502, a valve coil 503, and a second solenoid valve 209.
The input end of the first valve coil driving unit 501 is connected to the failure detection unit 50b, the valve coil 503 is connected to the output end of the first valve coil driving unit 501 and the second electronic control unit 20, and the first electromagnetic valve 109 is disposed on the connection line between the valve coil 503 and the second electronic control unit 20. Specifically, when the failure detection unit 50b detects a failure state signal of the first electronic control unit 10, the failure detection unit 50b transmits the detected failure state signal to the first valve coil driving unit 501, and the first valve coil driving unit 501 drives the valve coil 503 to control the state of the first electromagnetic valve 109 in the open state according to the failure state signal transmitted by the failure detection unit 50 b.
That is, when the first valve coil driving unit 501 receives the fault state signal sent by the fault detection unit 50b, the first valve coil driving unit 501 drives the valve coil 503 to control the first electromagnetic valve 109 to be in the off state, and at this time, the first electronic control unit 10 and the vehicle brake component are also in the off state, so that the second electronic control unit 20 is not affected by the first electronic control unit 10 when the second electronic control unit 20 performs brake control on the vehicle brake component, and further, the second electronic control unit 20 is activated.
When the second electronic control unit 20 is activated, the second valve coil driving unit 502 receives the fault state signal sent by the fault detection unit 50b, and the second valve coil driving unit 502 drives the valve coil 503 to control the second electromagnetic valve 209 to be in the closed state, so that the second electronic control unit 20 can perform braking control on the vehicle braking component according to the synchronously obtained control state of the first electronic control unit 10 and the vehicle signal sent by the signal acquisition driving module 30, which ensures the stability and reliability of the braking control process performed on the vehicle braking component by the electronic control unit to a certain extent.
In an alternative embodiment, the first electronic control unit 10 and the second electronic control unit 20 each comprise a power supply module, a control module and a drive module.
The power supply module is used for supplying power to the control module and the driving module, the control module is respectively connected with the driving module, the signal acquisition driving module 30 and the control state synchronization module 40, the control module generates corresponding control instructions according to signals sent by the signal acquisition driving module 30 and the control state synchronization module 40, and the driving module performs braking control on a vehicle braking component according to the control instructions of the control module.
For clarity, the power supply module, the control module and the driving module included in the first electronic control unit 10 may be referred to as a first power supply module 101, a first control module 102 and a first driving module 301 in this embodiment, and the power supply module, the control module and the driving module included in the second electronic control unit 20 may be referred to as a second power supply module 201, a second control module 202 and a second driving module 302 in this embodiment.
Specifically, the electronic control unit is provided with two completely independent sets of power supply modules, control modules and driving modules at the same time, so that when any one of the first power supply module 101, the first control module 102 and the first driving module 301 in the first electronic control unit 10 fails, the second power supply module 201, the second control module 202 and the second driving module 302 in the second electronic control unit 20 can replace the first electronic control unit 10 to perform braking control on the vehicle braking component, so that the first electronic control unit 10 and the second electronic control unit 20 can relatively independently control the vehicle braking component, thereby ensuring the stability of the operation of the electronic control braking device, that is, when the first electronic control unit 10 is determined as a failure state, the first electronic control unit 10 cannot control the vehicle braking component to normally work, and at this time, the second electronic control unit 20 replaces the first electronic control unit 10 to perform braking control on the vehicle braking component, the situations that the first electronic control unit 10 fails and the second electronic control unit 20 cannot work normally are avoided, so that the reliability and the stability of the electronic control brake device are improved to a certain extent.
In an alternative embodiment, as shown in fig. 2, the first electronic control unit 10 may further include a first electronic parking unit 107, the first electronic parking unit 107 is connected to the first control module 102 and the first motor 108, respectively, the first motor 108 is connected to the parking brake component, specifically, when the first control module 102 receives the vehicle signal that the signal acquisition driving module 30 detects that the vehicle is in a stop state, the first control module 102 sends a corresponding control command to the first electronic parking unit 107 according to a vehicle signal that the vehicle is in a stop state, the first electronic parking unit 107 drives the first motor 108 to work according to the control command sent by the first control module 102, and then the parking brake component is controlled to perform parking brake, so that when the vehicle is in a stop state, the vehicle is ensured not to slide backwards or forwards, and the friction force between the vehicle and the ground is increased.
Similarly, the second electronic control unit 20 may further include a second electronic parking unit 207, the second electronic parking unit 207 is connected to the second control module 202 and the second motor 208, and the second motor 208 is connected to the parking brake component, when the first electronic control unit 10 fails, the second electronic parking unit 207 drives the second motor 208 to operate according to a control command sent by the second control module 202, and then controls the parking brake component to perform parking braking, which ensures the stability and reliability of the operation of the electronic control brake device to a certain extent.
In an alternative embodiment, the electronically controlled braking device further comprises a first permanent magnet synchronous motor 601 and a second permanent magnet synchronous motor 602.
The first driving module 301 is connected to an input end of the first permanent magnet synchronous motor 601, an output end of the first permanent magnet synchronous motor 601 is connected to a vehicle braking component, and specifically, the first permanent magnet synchronous motor 601 is configured to perform service braking control on the vehicle braking component according to an instruction of the first driving module 301.
The second driving module 302 is connected to an input end of the second permanent magnet synchronous motor 602, an output end of the second permanent magnet synchronous motor 602 is connected to a vehicle braking component, and specifically, the second permanent magnet synchronous motor 602 is configured to perform service braking control on the vehicle braking component according to an instruction of the second driving module 302.
In an alternative embodiment, the first driving module 301 includes a first motor driving unit 103, a first open-phase switch driving unit 106, a first open-phase protection switch 105, and a first motor three-phase bridge 104.
The input end of the first motor driving unit 103 is connected to the first control module 102, and the output end of the first motor driving unit 103 is connected to the first permanent magnet synchronous motor 601 through the first motor three-phase bridge 104. The first open-phase protection switch 105 is arranged on the first motor three-phase bridge 104, an input end of a first open-phase switch driving unit 106 is connected with the first control module 102, an output end of the first open-phase switch driving unit 106 is connected with the first open-phase protection switch 105, and the first open-phase switch driving unit 106 is used for controlling the on-off of the first open-phase protection switch 105.
Specifically, under the condition that the first electronic control unit 10 is in normal operation, the first driving module 301 receives a control instruction sent by the first control module 102 to drive the first permanent magnet synchronous motor 601 to operate, and then pushes the vehicle braking component to perform braking control, wherein the detailed driving process is as follows: the first electronic control unit 10 receives the vehicle signal sent by the signal acquisition driving module 30, the first control module 102 in the first electronic control unit 10 sends a control signal to the first motor driving unit 103, and the first motor driving unit 103 sends the control signal to the first permanent magnet synchronous motor 601 through the first motor three-phase bridge 104, so that the first permanent magnet synchronous motor 601 works.
In an alternative embodiment, the second driving module 302 includes a second motor driving unit 203, a second open-phase switch driving unit 206, a second open-phase protection switch 205, and a second motor three-phase bridge 204.
Specifically, when the first control module 102 in the first electronic control unit 10 receives the fault state signal sent by the fault detection unit 50b, the first control module 102 sends the fault state signal to the first open-phase switch driving unit 106, the first open-phase switch driving unit 106 further controls the first open-phase protection switch 105 to be in the open state, so that the first permanent magnet synchronous motor 601 stops working, at this time, the second permanent magnet synchronous motor 602 receives the vehicle signal sent by the signal acquisition driving module 30 according to the second electronic control unit 20, the second control module 202 in the second electronic control unit 20 sends a corresponding control instruction to the second motor driving unit 203, the second motor driving unit 203 sends the control instruction to the second permanent magnet synchronous motor 602 through the second motor three-phase bridge 204, and the second open-phase protection switch 205 arranged on the second motor three-phase bridge 104 is driven by the second open-phase switch driving unit 206 to be in the closed state, the second permanent magnet synchronous motor 602 is promoted to work, which improves the reliability and stability of the electrically controlled brake device to some extent.
The models of the first motor driving unit 103 and the second motor driving unit 203 include, but are not limited to TLE9180, a4911, L9908, etc., and meanwhile, the first motor three-phase bridge 104 and the second motor three-phase bridge 204 are applied to the electrically controlled brake device, so that the driving force of the electrically controlled brake device is enhanced.
In an alternative embodiment, the first electronic control unit 10 is disposed on the first PCB 111a, the second electronic control unit 20 is disposed on the second PCB 111b, and the first PCB 111a and the second PCB 111b are connected by the connector 113.
Specifically, as shown in fig. 3, which is a structural block diagram of a stacked first PCB and a stacked second PCB provided in the embodiment of the present invention, a first PCB 111a is connected to a first permanent magnet synchronous motor 601, a second PCB 111b is connected to a second permanent magnet synchronous motor 602, the first PCB 111a is used for driving the first permanent magnet synchronous motor 601 to perform service braking control on a vehicle braking component, and the second PCB 111b is used for driving the second permanent magnet synchronous motor 602 to perform service braking control on the vehicle braking component when the first electronic control unit 10 fails. The first PCB 111a and the second PCB 111b are connected by the high-reliability high-frequency connector 113, so that the first PCB 111a and the second PCB 111b can perform signal interaction with extremely high safety, which improves the reliability and stability of the electrically controlled brake device to a certain extent.
Specifically, the first PCB 111a and the second PCB 111b are stacked, and the first PCB 111a and the second PCB 111b are stacked, so that the electronic control brake device has the characteristics of compact structure and low cost, the internal space occupied by the electronic control brake device is saved, and the requirement of portability in the field of automatic driving is met.
In the embodiment of the present invention, the number and the positions of the connectors 113 do not only include the number and the positions shown in fig. 3, and may be adjusted accordingly according to specific practical requirements, and the connection manner between the connectors 113 and the first PCB 111a and the second PCB 111b includes, but is not limited to, PIN crimping, PIN soldering, and wire connection.
In an optional embodiment, a first connector 112a is disposed on the first PCB 111a, the first connector 112a is configured to connect the signal acquisition driving module 30 and the first PCB 111a, and specifically, the first connector 112a is connected to the signal acquisition driving module 30 and the first PCB 111a, and is configured to transmit the vehicle signal acquired by the signal acquisition driving module 30 to the first PCB 111a, and the first electronic control unit 10 receives the vehicle signal through the first PCB 111a, so as to perform corresponding control operation, which improves reliability and stability of the electronic control braking device to a certain extent.
In an optional embodiment, a second connector 112b is disposed on the second PCB 111b, the second connector 112b is configured to connect the signal acquisition driving module 30 and the second PCB 111b, specifically, the second connector 112b is connected to the signal acquisition driving module 30 and the second PCB 111b, and the second connector 112b is configured to transmit the vehicle signal acquired by the signal acquisition driving module 30 to the second PCB 111b when the first electronic control unit 10 on the first PCB fails, and the second electronic control unit 20 receives the vehicle signal through the second PCB 111b, so as to perform corresponding control operation, which improves reliability and stability of the electronic control brake device to a certain extent.
According to the technical scheme of the embodiment of the invention, the method has the following technical effects:
the first electric control unit and the second electric control unit which have the same structure are arranged, the first electric control unit and the second electric control unit are electric control units which are mutually backed up, when the first electric control unit fails, the second electric control unit is activated through the switching module, so that the second electric control unit carries out brake control on the vehicle brake component according to the control state of the first electric control unit obtained synchronously and the vehicle signal sent by the signal acquisition driving module, the second electric control unit can output all functions of the first electric control unit when the first electric control unit fails, namely, when the first electric control unit fails, the first electric control unit stops driving the vehicle brake component, and meanwhile, the second electric control unit can still carry out brake control on the vehicle brake component under the condition that the first electric control unit fails, the redundant backup degree of the electric control units is improved, and the reliability and the stability of the electric control brake device are ensured, and the electric control braking device of the double electric control units in the embodiment of the invention can meet the safety requirements of double backup, full redundancy and the like in automatic driving above the L4 level.
In addition, the first PCB board and the second PCB board of range upon range of formula have guaranteed that automatically controlled arresting gear has compact structure characteristic with low costs, have still saved the shared inner space of automatically controlled arresting gear simultaneously, satisfy the demand of the portability in the autopilot field, have higher spreading value.
The embodiment of the invention also provides a vehicle, and the vehicle is used for bearing and executing the electric control braking device, so the vehicle in the embodiment of the invention has the technical effect of the electric control braking device, and the details are not repeated.
Although the present invention has been described by way of preferred embodiments, the present invention is not limited to the embodiments described herein, and various changes and modifications may be made without departing from the scope of the present invention.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. An electronic control brake device is characterized by being used for carrying out brake control on a vehicle brake component and comprising a first electronic control unit (10), a second electronic control unit (20), a signal acquisition driving module (30), a control state synchronization module (40) and a switching module (50);
the signal acquisition driving module (30) is used for acquiring vehicle signals and is connected with the first electronic control unit (10) and the second electronic control unit (20);
the first electronic control unit (10) is used for carrying out braking control on the vehicle braking component according to the vehicle signal sent by the signal acquisition driving module (30);
the control state synchronization module (40) is used for synchronizing the control state of the first electronic control unit (10) in a normal working state to the second electronic control unit (20);
the switching module (50) is respectively connected with the first electronic control unit (10) and the second electronic control unit (20), and the switching module (50) is used for activating the second electronic control unit (20) when the first electronic control unit (10) fails, so that the second electronic control unit (20) performs braking control on the vehicle braking component according to the synchronously obtained control state of the first electronic control unit (10) and the vehicle signal sent by the signal acquisition driving module (30);
the switching module (50) comprises a valve isolation drive unit (50a) and a fault detection unit (50 b);
the fault detection unit (50b) is used for detecting a fault state signal of the first electronic control unit (10) and is connected with the valve isolation driving unit (50 a);
the valve isolation driving unit (50a) is used for activating the second electronic control unit (20) according to the fault state signal sent by the fault detection unit (50 b).
2. An electrically controlled brake device according to claim 1, characterized in that the valve isolation drive unit (50a) comprises a valve coil drive unit, a valve coil (503) and a solenoid valve;
the input end of the valve coil driving unit is connected with the fault detection unit (50b), the valve coil (503) is respectively connected with the output end of the valve coil driving unit and the second electronic control unit (20), the electromagnetic valve is arranged on a connecting line of the valve coil (503) and the second electronic control unit (20), and the valve coil driving unit is used for driving the valve coil (503) to control the on-off of the electromagnetic valve.
3. An electrically controlled brake device according to claim 2, characterised in that said first electronic control unit (10) and said second electronic control unit (20) each comprise a power supply module, a control module and a drive module;
the power supply module is used for supplying power to the control module and the driving module;
the control module is respectively connected with the driving module, the signal acquisition driving module (30) and the control state synchronization module (40), and the driving module is used for carrying out braking control on the vehicle braking component according to a control instruction of the control module.
4. An electrically controlled brake device according to claim 3, characterized in that it further comprises a first permanent magnet synchronous motor (601) and a second permanent magnet synchronous motor (602);
a driving module in the first electronic control unit (10) is connected with an input end of the first permanent magnet synchronous motor (601), and an output end of the first permanent magnet synchronous motor (601) is connected with the vehicle braking component;
and a driving module in the second electronic control unit (20) is connected with the input end of the second permanent magnet synchronous motor (602), and the output end of the second permanent magnet synchronous motor (602) is connected with the vehicle braking component.
5. An electrically controlled brake device according to claim 4, wherein the driving module comprises a motor driving unit, an open-phase switch driving unit, an open-phase protection switch and a motor three-phase bridge;
the input end of the motor driving unit is connected with the control module, the output end of the motor driving unit is connected with the corresponding permanent magnet synchronous motor through the motor three-phase bridge, and the open-phase protection switch is arranged on the motor three-phase bridge;
the input end of the open-phase switch driving unit is connected with the control module, the output end of the open-phase switch driving unit is connected with the open-phase protection switch, and the open-phase switch driving unit is used for controlling the on-off of the open-phase protection switch.
6. An electrically controlled brake device according to claim 1, characterized in that said first electronic control unit (10) is arranged on a first PCB (111a), said second electronic control unit (20) is arranged on a second PCB (111b), said first PCB (111a) and said second PCB (111b) are connected by a connector (113), and said first PCB (111a) and said second PCB (111b) are arranged one above the other.
7. An electrically controlled brake device according to claim 6, wherein a first connector (112a) is disposed on the first PCB (111a), and the first connector (112a) is used for connecting the signal acquisition driving module (30) and the first PCB (111 a);
and a second connector (112b) is arranged on the second PCB (111b), and the second connector (112b) is used for connecting the signal acquisition driving module (30) with the second PCB (111 b).
8. An electrically controlled brake device according to claim 1, characterized in that the control state synchronization module (40) comprises a serial peripheral interface or CAN interface;
the serial peripheral interface or the CAN interface is used for connecting the first electronic control unit (10) and the second electronic control unit (20).
9. A vehicle characterized by comprising an electronically controlled brake device according to any one of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110845791.8A CN113428122B (en) | 2021-07-26 | 2021-07-26 | Electric control braking device and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110845791.8A CN113428122B (en) | 2021-07-26 | 2021-07-26 | Electric control braking device and vehicle |
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| CN113428122B true CN113428122B (en) | 2022-09-06 |
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| CN114852033B (en) * | 2022-04-29 | 2023-02-28 | 中汽创智科技有限公司 | Brake control method, device, equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3864874B2 (en) * | 2002-08-26 | 2007-01-10 | トヨタ自動車株式会社 | Solenoid valve control device |
| US20160082937A1 (en) * | 2013-05-13 | 2016-03-24 | Toyota Jidosha Kabushiki Kaisha | Brake apparatus |
| JP6855832B2 (en) * | 2017-02-21 | 2021-04-07 | トヨタ自動車株式会社 | Vehicle drive system |
| DE102017209721B4 (en) * | 2017-04-07 | 2022-02-03 | Volkswagen Aktiengesellschaft | Device for controlling a safety-relevant process, method for testing the functionality of the device, and motor vehicle with the device |
| KR102421521B1 (en) * | 2018-01-31 | 2022-07-15 | 삼성전자주식회사 | Electronic device including connector with stacked structure |
| DE102018003001A1 (en) * | 2018-04-12 | 2019-10-17 | Lucas Automotive Gmbh | Hydraulic vehicle brake system and method for operating the same |
| JP2022527848A (en) * | 2019-03-29 | 2022-06-06 | ライオス インテリジェント マシーンズ インコーポレイテッド | Flex rigid sensor array structure for robot systems |
| CN111717184A (en) * | 2020-06-24 | 2020-09-29 | 中国第一汽车股份有限公司 | Vehicle redundant braking system, method, vehicle and storage medium |
| CN112472010A (en) * | 2020-12-19 | 2021-03-12 | 深圳市精锋医疗科技有限公司 | Endoscope, image processing device, and surgical robot |
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