CN114312720A - Hardware redundancy integrated electro-hydraulic brake line control system and method - Google Patents
Hardware redundancy integrated electro-hydraulic brake line control system and method Download PDFInfo
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Abstract
The invention discloses a hardware redundancy integrated electro-hydraulic brake line control system and a hardware redundancy integrated electro-hydraulic brake line control method. The auxiliary chip is connected to the main chip, the service brake driving chip is connected to the main chip, the main parking driving chip is respectively connected to the main chip and the auxiliary chip, and the auxiliary parking driving chip is respectively connected to the main chip and the auxiliary chip; under the service braking state, carrying out redundancy feedback work control according to the result of whether the main chip, the service braking driving chip or the service braking driving bridge circuit fails; and under the parking state, performing redundant feedback work control according to the result of whether the main and auxiliary chips, the main and auxiliary parking driving chips or the left and right parking driving bridge circuits fail or not. On the basis of pure mechanical braking force, the additional parking motor braking force provided by the auxiliary chip is superposed, so that the deceleration of the vehicle can be effectively improved; the problem of in the background art if the gearbox of vehicle does not have mechanical locking device because of the chip inefficacy the parking function that leads to is lost is solved.
Description
Technical Field
The invention relates to a brake hardware redundancy control system and a brake hardware redundancy control method, and relates to a design for hardware redundancy of an integrated electro-hydraulic brake line control system.
Background
According to the technical requirements and the test method of GB 21670-2008 passenger vehicle brake system, the average deceleration fully emitted by emergency braking is not less than 2.44m/s2. If the main chip in the integrated electro-hydraulic brake line control system hardware fails, the brake system only has pure mechanical brake force, and although the brake system can meet the regulation requirements, the vehicle deceleration is lower.
If the gearbox of the vehicle has a mechanical locking device, the vehicle can still be parked by the mechanical locking device when the parking hardware fails. If the gearbox of the vehicle is not provided with a mechanical locking device, especially the existing pure electric vehicle is almost not provided with the mechanical locking device, and only depends on parking hardware, as the parking hardware is an electronic component, when single-point failure, namely failure of a main chip or a main parking driving chip is considered, the parking function is lost.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a hardware redundancy integrated electro-hydraulic brake line control system and a hardware redundancy integrated electro-hydraulic brake line control method.
The technical scheme of the invention is as follows:
the integrated electro-hydraulic brake line control system with redundant hardware comprises:
the system comprises a main chip, a service brake driving chip and a main parking driving chip, wherein the main chip is used for monitoring whether the service brake driving chip and the main parking driving chip fail or not in real time; monitoring communication between the auxiliary chip and the auxiliary chip in real time, further obtaining the result of whether the auxiliary chip fails, receiving a signal of whether an auxiliary parking driving chip from the auxiliary chip fails, and generating a redundant feedback control signal of parking;
the auxiliary chip is connected to the main chip, monitors whether the auxiliary parking driving chip fails in real time, and sends the result to the main chip; monitoring communication between the main chip and the main chip in real time, further obtaining the result of whether the main chip fails, receiving signals of whether a service brake driving chip from the main chip fails and whether a main parking driving chip fails, and generating a redundant feedback control signal for parking;
the system comprises a service brake driving chip, a main chip and a control chip, wherein the service brake driving chip is connected to the main chip and receives a service brake signal from the main chip to perform service brake control;
the parking control system comprises a main parking driving chip, a main chip and an auxiliary chip, wherein the main parking driving chip is respectively connected to the main chip and the auxiliary chip and receives a parking signal from the main chip to perform parking control; receiving a redundant feedback control signal from a main chip to perform service braking/parking control;
the auxiliary parking control system comprises an auxiliary parking driving chip which is respectively connected to a main chip and an auxiliary chip and receives redundant feedback control signals from the auxiliary chip to perform service braking control/parking control.
The system further comprises:
the system comprises a service brake driving bridge circuit, a brake driving bridge circuit and a brake driving bridge circuit, wherein the service brake driving bridge circuit is connected between a service brake driving chip and a service brake motor;
the parking device comprises a left parking driving bridge circuit, an input end of the left parking driving bridge circuit is connected with a main parking driving chip/an auxiliary parking driving chip, an output end of the left parking driving bridge circuit is connected with a left rear wheel, and the left rear wheel is controlled to park by receiving a parking signal from the main parking driving chip; meanwhile, redundant feedback control signals from the main parking driving chip/the auxiliary parking driving chip are received so as to control the left rear wheel to implement service braking/parking;
the parking device comprises a right parking driving bridge circuit, an input end of the right parking driving bridge circuit is connected with a main parking driving chip/an auxiliary parking driving chip, an output end of the right parking driving bridge circuit is connected with a right rear wheel, and the right parking driving bridge circuit receives a parking signal from the main parking driving chip and further controls the right rear wheel to park; meanwhile, redundant feedback control signals from the main parking driving chip/the auxiliary parking driving chip are received so as to control the right rear wheel to implement service braking/parking;
comprising service brake motors respectively connected to four wheels of the vehicle.
The main chip also monitors whether the service brake driving bridge circuit fails in real time through the service brake driving chip and generates a redundant feedback control signal for service brake, and monitors whether the left parking driving bridge circuit and the right parking driving bridge circuit fail in real time through the main parking driving chip and generates a redundant feedback control signal for parking.
The communication between the main chip and the auxiliary chip is a serial peripheral interface SPI, a Universal Asynchronous Receiver Transmitter (UART), a synchronous serial bus I2C, a CAN/LIN/FlexRay/EtherNet, and one of the above is selected optionally, or two of the above are selected optionally to be combined, or a plurality of the above are selected optionally to be combined.
Secondly, a hardware redundancy control method for the integrated electro-hydraulic brake line control system is as follows:
and (3) service braking state:
performing redundant feedback work control on the auxiliary chip, the main chip and the main parking drive chip according to the result of whether the main chip, the service brake drive chip or the service brake drive bridge circuit fails or not;
under the service braking state, the method specifically comprises the following steps:
as shown in fig. 2, under normal conditions, the main chip generates a service braking signal and transmits the service braking signal to the service braking driving chip, and then the service braking signal is transmitted to the service braking driving bridge circuit through the service braking driving chip so as to control the four wheels to perform braking control.
(1) As shown in fig. 4, if the auxiliary chip effectively recognizes that the main chip is failed through the monitoring of the communication between the main chip and the auxiliary chip, the auxiliary chip is activated, the main parking driver chip is disabled first, then the auxiliary parking driver chip is activated, a redundant feedback control signal is generated and sent to the auxiliary parking driver chip, and then the auxiliary parking driver chip controls two rear wheels to implement driving braking through the left and right parking driver bridges;
(2) as shown in fig. 5, if the master chip detects that the service brake driver chip or the service brake driver bridge circuit fails, the master chip and the master parking driver chip are activated, and the auxiliary chip is not activated; the main chip generates a redundant feedback control signal and sends the redundant feedback control signal to the main parking driving chip, and the main parking driving chip controls the two rear wheels to implement service braking through the left and right parking driving bridge circuits; the left parking drive bridge circuit and the right parking drive bridge circuit control the left rear wheel parking motor and the right rear wheel parking motor, provide the driving braking force of an additional parking motor and assist the dynamic driving braking of the vehicle.
A parking state: and performing redundant feedback work control on the auxiliary chip, the main parking driving chip and the auxiliary parking driving chip according to the result of whether the main auxiliary chip, the main auxiliary parking driving chip or the left and right parking driving bridge circuits fail.
In the parking state, the method comprises the following steps:
(1) as shown in fig. 6, if the auxiliary chip effectively recognizes that the main chip is failed through the monitoring of the communication between the main chip and the auxiliary chip, the auxiliary chip is activated, the main parking driver chip is deactivated first, then the auxiliary parking driver chip is activated, a redundant feedback control signal is generated and sent to the auxiliary parking driver chip, and then the auxiliary parking driver chip controls two rear wheels to park through the left and right parking driver bridges;
(2) as shown in fig. 7, if the main chip effectively recognizes that the auxiliary chip is failed through the monitoring of the communication between the main chip and the auxiliary chip, the main chip disables the auxiliary parking driver chip, keeps generating a parking signal and sends the parking signal to the main parking driver chip, and then controls two rear wheels to park through the left and right parking driver bridges by the main parking driver chip;
(3) as shown in fig. 8, if the master chip monitors that the master parking driver chip fails, the master chip notifies the auxiliary chip in a communication manner, the master chip disables the master parking driver chip first, then activates the auxiliary chip and the auxiliary driver chip, the auxiliary chip generates a redundant feedback control signal and sends the redundant feedback control signal to the auxiliary parking driver chip, and then the auxiliary parking driver chip controls two rear wheels to park via the left and right parking driver bridges;
(4) as shown in fig. 9, if the auxiliary chip monitors that the auxiliary parking driver chip is out of service, the auxiliary chip notifies the main chip through a communication mode, the auxiliary chip is preset to default the auxiliary parking driver chip to a silent state, the auxiliary chip or the main chip is not required to disable the auxiliary parking driver chip again, a parking signal is kept generated and sent to the main parking driver chip, and then the main parking driver chip controls two rear wheels to park through the left and right parking driver bridges; parking can thereby also be achieved by means of the master chip and the master parking drive chip.
(5) As shown in fig. 10, if the master chip monitors that the left parking drive bridge circuit fails through the master parking drive chip, a parking signal is kept generated and sent to the master parking drive chip, and then the master parking drive chip controls the right rear wheel through the right parking drive bridge circuit to park; whereby the main chip and the main parking driver chip achieve parking by controlling the right parking driver bridge.
(6) As shown in fig. 11, if the master chip monitors that the right parking drive bridge circuit fails through the master parking drive chip, the master parking drive chip keeps generating and sending a parking signal to the master parking drive chip, and then the master parking drive chip controls the left rear wheel to park through the left parking drive bridge circuit; whereby the main chip and the main parking driver chip achieve parking by controlling the left parking driver bridge.
In the invention:
(1) if the failure of the main chip, the service brake driving chip or the service brake driving bridge circuit is identified, the dynamic and static service brake of the vehicle is carried out through the pure mechanical braking force;
(2) if the main chip fails, controlling a left rear wheel parking motor and a right rear wheel parking motor through the auxiliary chip and the auxiliary parking driving chip, providing driving braking force of an additional parking motor, and assisting dynamic driving braking of a vehicle; if the service brake driving chip or the service brake driving bridge circuit fails, the left rear wheel parking motor and the right rear wheel parking motor are controlled through the main chip and the main parking driving chip, the service braking force of the additional parking motor is provided, and the dynamic service brake of the vehicle is assisted;
(3) if the main chip or the main parking driving chip is identified to be invalid, parking is achieved through the auxiliary chip and the auxiliary parking driving chip; if the auxiliary chip or the auxiliary parking driving chip is identified to be invalid, parking is still realized through the main chip and the main parking driving chip; if one side parking drive bridge circuit fails, the other side parking drive bridge circuit can be used to realize parking.
The invention has the beneficial effects that:
by adopting the invention, the additional braking force of the parking motor provided by the main/auxiliary chip can be superposed on the basis of pure mechanical braking force, the vehicle deceleration can be effectively improved, and if the parking motor is arranged on the front wheel, the vehicle deceleration can be further improved.
By adopting the invention, the problem of parking function loss caused by chip failure if the gearbox of the vehicle is not provided with a mechanical locking device in the background art can be effectively solved.
Drawings
FIG. 1 is a system architecture topology framework diagram of an embodiment of the present invention;
FIG. 2 is an operational state diagram for dynamic and static service braking of the vehicle without failure of the embodiment;
FIG. 3 is a diagram showing an operating state for parking when the embodiment is not deactivated;
FIG. 4 is a state diagram illustrating operation of the vehicle to assist dynamic service braking of the vehicle in the event of a failure of the primary chip, for example;
FIG. 5 is a state diagram illustrating operation of the vehicle to assist dynamic service braking of the vehicle in the event of a failure of the service drive chip or the service drive bridge, for example;
FIG. 6 is a diagram of the operation state of the parking device in case of failure of the master chip;
FIG. 7 is a diagram illustrating an operation state of parking if the auxiliary chip fails according to the embodiment;
FIG. 8 is a diagram illustrating an operation state of parking if the main parking driving chip fails according to the embodiment;
FIG. 9 is a working state diagram for parking if the auxiliary parking driving chip fails according to the embodiment;
FIG. 10 is a diagram illustrating an operation state in which parking is achieved if the left parking drive bridge fails according to the embodiment;
FIG. 11 is a diagram illustrating an operation state in which parking is achieved if the right parking drive bridge is disabled according to the embodiment;
FIG. 12 is a diagram of communication connections between a primary chip and a secondary chip according to an embodiment.
Detailed Description
The invention is further described with reference to the accompanying drawings and the detailed description.
As shown in fig. 1, the implementation includes a main chip, which monitors the result of whether a service brake driving chip and a main parking driving chip fail in real time; generating a normal service braking signal and sending the normal service braking signal to a service braking driving chip, and generating a normal parking signal and sending the normal parking signal to a main parking driving chip; monitoring communication between the auxiliary chip and the auxiliary chip in real time, further obtaining the result of whether the auxiliary chip fails, receiving the signal of whether the auxiliary parking driving chip from the auxiliary chip fails, and selectively generating a redundant feedback control signal for braking a running vehicle, assisting the dynamic running brake and parking of the vehicle; generating a silent control signal for the auxiliary parking driving chip;
the auxiliary chip is connected to the main chip, monitors whether the auxiliary parking driving chip fails in real time, and sends the result to the main chip; monitoring communication between the main chip and the main chip in real time to obtain the result of whether the main chip fails or not, receiving signals of whether a service brake driving chip from the main chip fails or not and whether a main parking driving chip fails or not, and selectively generating a redundant feedback control signal for assisting dynamic service brake and parking of the vehicle; generating a silent control signal for the main parking driving chip;
the system comprises a service brake driving chip, a service brake driving chip and a service brake control chip, wherein the service brake driving chip is only connected to a main chip and receives a service brake signal from the main chip to perform service brake control;
the parking control system comprises a main parking driving chip, a main chip and an auxiliary chip, wherein the main parking driving chip is respectively connected to the main chip and the auxiliary chip and receives a parking signal from the main chip to perform parking control; receiving a redundant feedback control signal from a main chip to perform service braking/parking control; receiving an auxiliary vehicle dynamic braking signal from a main chip to carry out redundant driving control; receiving whether a silent control signal from the auxiliary chip is received to disable/activate the function of the main driving chip;
the parking control system comprises an auxiliary parking driving chip, a main chip and an auxiliary chip, wherein the auxiliary parking driving chip is respectively connected to the main chip and the auxiliary chip and receives a parking signal from the auxiliary chip to perform parking control; receiving an auxiliary vehicle dynamic braking signal from an auxiliary chip to perform redundant driving control; receiving whether a silent control signal from the main chip is received to disable/activate the function of the auxiliary driving chip;
the specific implementation further comprises:
the system comprises a service brake driving bridge circuit which is only connected between a service brake driving chip and a service brake motor;
the parking system comprises a left parking driving bridge circuit, an input end of the left parking driving bridge circuit is connected with a main parking driving chip/an auxiliary parking driving chip, an output end of the left parking driving bridge circuit is only connected with a left rear wheel, and the left rear wheel is controlled to implement redundant driving control/parking by receiving an auxiliary vehicle dynamic braking/parking signal from the main parking driving chip; redundant auxiliary vehicle dynamic braking/parking signals from the main parking driving chip/the auxiliary parking driving chip can be received so as to control the left rear wheel to implement redundant service braking control/parking;
the parking system comprises a right parking driving bridge circuit, an input end of the parking driving bridge circuit is connected with a main parking driving chip/an auxiliary parking driving chip, an output end of the parking driving bridge circuit is only connected with a right rear wheel, and the parking driving bridge circuit receives an auxiliary vehicle dynamic braking/parking signal from the main parking driving chip so as to control the right rear wheel to implement redundant driving control/parking; the redundant auxiliary vehicle dynamic braking/parking signal from the main parking driving chip/the auxiliary parking driving chip can be received so as to control the right rear wheel to implement redundant service control/parking of service braking;
the implementation includes service brake motors, each connected to four wheels of the vehicle.
The main chip also monitors whether the service brake driving bridge circuit fails in real time through the service brake driving chip and generates a redundant feedback control signal for service brake, and monitors whether the left parking driving bridge circuit and the right parking driving bridge circuit fail in real time through the main parking driving chip and generates a redundant feedback control signal for parking.
The invention realizes the design of the hardware redundancy of the integrated electro-hydraulic brake line control system.
If the chip, the service brake driving chip or the service brake driving bridge circuit fails and the service brake motor cannot be driven to provide service brake force, the vehicle can be dynamically and statically subjected to service brake by using pure mechanical brake force.
The communication between the main chip and the auxiliary chip is one of a Serial Peripheral Interface (SPI), a Universal Asynchronous Receiver Transmitter (UART), a synchronous serial bus I2C and a Controller Area Network (CAN)/LIN/FlexRay/EtherNet, or the combination of two of the optional components or the combination of a plurality of optional components.
When the integrated electro-hydraulic brake line control system hardware is normal, a main chip, a service brake driving chip and a service brake driving bridge circuit control a service brake motor so as to control four wheels to carry out dynamic and static service brake of a vehicle, as shown by thick solid arrows in a hardware frame of an attached figure 1; the left parking drive bridge and the right parking drive bridge are controlled by the main chip and the main parking drive chip, so that two rear wheels are controlled (if two parking motors are installed at the front wheels, the front wheels and the rear wheels are exchanged), and parking is realized, as shown by thin solid arrows in a hardware frame of the attached drawing 1.
In the integrated electro-hydraulic brake linear control system hardware, if a main chip or a main drive vehicle driving chip fails, the parking cannot be realized if the main chip or the main drive vehicle driving chip belongs to single-point failure of an electronic component, so that a redundant design is needed, namely, the chip and the driving chip are redundant; moreover, according to the system calculation and the real vehicle test result, if one side of the vehicle can be parked to work normally, the parking requirement can be met. Therefore, the design redundancy of the integrated electro-hydraulic brake line control system hardware needs the design redundancy of the auxiliary chip and the auxiliary parking drive chip as the main chip or the main drive chip, needs the redundancy of the auxiliary chip and the auxiliary parking drive chip, does not need the design redundancy of the left wheel drive bridge circuit and the right wheel drive bridge circuit, and the auxiliary chip is configured with the auxiliary parking drive chip in a silent state by default, as shown in fig. 1.
When integrated form electric liquid brake line accuse system hardware is unusual, it is through the control to communication between main chip and the supplementary chip:
(1) if the failure of the main chip, the service brake driving chip or the service brake driving bridge circuit is identified, the dynamic and static service brake of the vehicle is carried out through the pure mechanical braking force and the service braking force of the additional parking motor;
(2) if the main chip or the main parking driving chip is identified to be invalid, parking is achieved through the auxiliary chip and the auxiliary parking driving chip, as shown by a dotted arrow in a hardware frame of the attached drawing;
(3) if the auxiliary chip or the auxiliary parking driving chip is identified to be invalid, parking is still realized through the main chip and the main parking driving chip;
(4) if one side parking drive bridge circuit fails, the other side parking drive bridge circuit can be used to realize parking.
The specific implementation conditions of the invention are as follows:
in the integrated electro-hydraulic brake line control system hardware, if the system is not failed, the main chip controls the service brake driving chip so as to control the service brake driving bridge circuit and the service brake motor so as to control the four wheels to perform dynamic and static service braking of the vehicle, as shown in fig. 2.
In the integrated electro-hydraulic brake linear control system hardware, if the system is not failed, the main chip and the main parking driver chip control the left parking driver bridge circuit and the right parking driver bridge circuit so as to control two rear wheels (if two parking motors are installed on the front wheels, the front wheels and the rear wheels are exchanged) to realize parking, as shown in fig. 3.
In the integrated electro-hydraulic brake line control system hardware, if a main chip, a service brake driving chip or a service brake driving bridge circuit fails, a service brake motor cannot be driven to provide service braking force. Therefore, the brake can be used for braking the vehicle dynamically and statically by using a pure mechanical braking force.
In the integrated electro-hydraulic brake line control system hardware, if the main chip fails, effective identification can be performed through monitoring of communication between the main chip and the auxiliary chip, so that the auxiliary chip is activated, the main parking drive chip is deactivated first, and then the auxiliary parking drive chip is activated, so that the left parking drive bridge circuit and the right parking drive bridge circuit are controlled, the left rear wheel parking motor and the right rear wheel parking motor are controlled, the driving braking force of an additional parking motor is provided, and dynamic driving braking of a vehicle is assisted, as shown in fig. 4.
In the integrated electro-hydraulic brake linear control system hardware, if the service brake driver chip or the service brake driver bridge circuit fails, the main chip and the main parking driver chip are activated, so as to control the left parking driver bridge circuit and the right parking driver bridge circuit, so as to control the left rear wheel parking motor and the right rear wheel parking motor, provide the service brake force of the additional parking motor, and assist the dynamic service brake of the vehicle, as shown in fig. 5 (same as fig. 3). Illustratively, fig. 5 is the same as fig. 3, showing: when the vehicle is dynamic, the parking system can provide auxiliary service braking force for service braking; when the vehicle is static, the parking system can directly realize parking.
In the integrated electro-hydraulic brake line control system hardware, if the main chip fails, the auxiliary chip can be monitored in a communication mode, and therefore the auxiliary chip is activated, the main parking driver chip is disabled firstly, and then the auxiliary parking driver chip is activated, so that the left parking driver bridge circuit and the right parking driver bridge circuit are controlled, the left rear wheel parking motor and the right rear wheel parking motor are controlled, and parking is achieved, as shown in fig. 6 (same as fig. 4), and fig. 6 is the same as fig. 4. Fig. 6 is the same as fig. 4, showing: when the main chip fails, the auxiliary chip can only be used, and when the vehicle is dynamic, auxiliary driving braking force is provided for driving braking; when the vehicle is stationary, parking is directly achieved.
In the integrated electro-hydraulic brake line control system hardware, if the auxiliary chip fails, the main chip can monitor the failure in a communication mode, the main chip disables the auxiliary parking drive chip, and then the main chip and the main parking drive chip control the left parking drive bridge circuit and the right parking drive bridge circuit so as to control the left rear wheel parking motor and the right rear wheel parking motor to park as shown in fig. 7.
In the integrated electro-hydraulic brake line control system hardware, if the main parking driver chip fails, the main chip informs the auxiliary chip in a communication mode, the main chip disables the main parking driver chip, and then the auxiliary chip and the auxiliary driver chip are activated, so that the left parking driver bridge circuit and the right parking driver bridge circuit are controlled, the left rear wheel parking motor and the right rear wheel parking motor are controlled, and parking is realized, as shown in fig. 8.
In the integrated electro-hydraulic brake line control system hardware, if the auxiliary parking driver chip fails, the auxiliary chip informs the main chip in a communication mode, and because the auxiliary chip is configured in a silent state by default, the auxiliary chip is not needed to disable the auxiliary parking driver chip again, and then the main chip and the main parking driver chip are used for controlling the left parking driver bridge circuit and the right parking driver bridge circuit, so that the left rear wheel parking motor and the right rear wheel parking motor are controlled to realize parking, as shown in fig. 9.
In the integrated electro-hydraulic brake line control system hardware, if the left parking drive bridge circuit fails, the auxiliary chip is configured with the auxiliary parking drive chip in a silent state by default, and the main chip and the main parking drive chip can control the right parking drive bridge circuit so as to control the parking motor of the right rear wheel, thereby realizing parking, as shown in fig. 10.
In the integrated electro-hydraulic brake linear control system hardware, if the right parking drive bridge circuit fails, the auxiliary chip is configured with the auxiliary parking drive chip in a silent state by default, and the main chip and the main parking drive chip can control the left parking drive bridge circuit and the left parking drive bridge circuit so as to control the left and rear wheel parking motors to park, as shown in fig. 11.
In the integrated electro-hydraulic brake line control system hardware, the communication mode between the main chip and the auxiliary chip may be one of or a combination of two of or a combination of multiple of serial peripheral interfaces SPI, universal asynchronous receiver transmitter UART, synchronous serial bus I2C, CAN/LIN/FlexRay/EtherNet … …, as shown in fig. 12.
Claims (6)
1. The integrated electro-hydraulic brake line control system with redundant hardware is characterized in that:
the system comprises a main chip, a service brake driving chip and a main parking driving chip, wherein the main chip is used for monitoring whether the service brake driving chip and the main parking driving chip fail or not in real time; monitoring communication between the auxiliary chip and the auxiliary chip in real time, further obtaining the result of whether the auxiliary chip fails, receiving a signal of whether an auxiliary parking driving chip from the auxiliary chip fails, and generating a redundant feedback control signal of parking;
the auxiliary chip is connected to the main chip, monitors whether the auxiliary parking driving chip fails in real time, and sends the result to the main chip; monitoring communication between the main chip and the main chip in real time, further obtaining the result of whether the main chip fails, receiving signals of whether a service brake driving chip from the main chip fails and whether a main parking driving chip fails, and generating a redundant feedback control signal for parking;
the system comprises a service brake driving chip, a main chip and a control chip, wherein the service brake driving chip is connected to the main chip and receives a service brake signal from the main chip to perform service brake control;
the parking control system comprises a main parking driving chip, a main chip and an auxiliary chip, wherein the main parking driving chip is respectively connected to the main chip and the auxiliary chip and receives a parking signal from the main chip to perform parking control; receiving a redundant feedback control signal from a main chip to perform service braking/parking control;
the auxiliary parking control system comprises an auxiliary parking driving chip which is respectively connected to a main chip and an auxiliary chip and receives redundant feedback control signals from the auxiliary chip to perform service braking control/parking control.
2. The integrated electro-hydraulic brake line control system with hardware redundancy according to claim 1, wherein: the system further comprises:
the system comprises a service brake driving bridge circuit, a brake driving bridge circuit and a brake driving bridge circuit, wherein the service brake driving bridge circuit is connected between a service brake driving chip and a service brake motor;
the parking device comprises a left parking driving bridge circuit, an input end of the left parking driving bridge circuit is connected with a main parking driving chip/an auxiliary parking driving chip, an output end of the left parking driving bridge circuit is connected with a left rear wheel, and the left rear wheel is controlled to park by receiving a parking signal from the main parking driving chip; meanwhile, redundant feedback control signals from the main parking driving chip/the auxiliary parking driving chip are received so as to control the left rear wheel to implement service braking/parking;
the parking device comprises a right parking driving bridge circuit, an input end of the right parking driving bridge circuit is connected with a main parking driving chip/an auxiliary parking driving chip, an output end of the right parking driving bridge circuit is connected with a right rear wheel, and the right parking driving bridge circuit receives a parking signal from the main parking driving chip and further controls the right rear wheel to park; meanwhile, redundant feedback control signals from the main parking driving chip/the auxiliary parking driving chip are received so as to control the right rear wheel to implement service braking/parking;
comprising service brake motors respectively connected to four wheels of the vehicle.
The main chip also monitors whether the service brake driving bridge circuit fails in real time through the service brake driving chip and generates a redundant feedback control signal for service brake, and monitors whether the left parking driving bridge circuit and the right parking driving bridge circuit fail in real time through the main parking driving chip and generates a redundant feedback control signal for parking.
3. The integrated electro-hydraulic brake line control system with hardware redundancy according to claim 1, wherein: the communication between the main chip and the auxiliary chip is a serial peripheral interface SPI, a Universal Asynchronous Receiver Transmitter (UART), a synchronous serial bus I2C, a CAN/LIN/FlexRay/EtherNet, and one of the above is selected optionally, or two of the above are selected optionally to be combined, or a plurality of the above are selected optionally to be combined.
4. A hardware redundancy control method for an integrated electro-hydraulic brake line control system, which is applied to the system of any one of claims 1 to 3, and is characterized in that: the method comprises two states of control:
and (3) service braking state:
performing redundant feedback work control on the auxiliary chip, the main chip and the main parking drive chip according to the result of whether the main chip, the service brake drive chip or the service brake drive bridge circuit fails or not;
a parking state: and performing redundant feedback work control on the auxiliary chip, the main parking driving chip and the auxiliary parking driving chip according to the result of whether the main auxiliary chip, the main auxiliary parking driving chip or the left and right parking driving bridge circuits fail.
5. The hardware redundancy control method for the integrated electro-hydraulic brake line control system according to claim 4, wherein the hardware redundancy control method comprises the following steps:
under the service braking state, the method specifically comprises the following steps:
(1) if the auxiliary chip identifies that the main chip fails through monitoring of communication between the main chip and the auxiliary chip, the auxiliary chip is activated, the main parking driving chip is disabled firstly, then the auxiliary parking driving chip is activated, a redundant feedback control signal is generated and sent to the auxiliary parking driving chip, and then the auxiliary parking driving chip controls two rear wheels to implement driving braking through a left parking driving bridge circuit and a right parking driving bridge circuit;
(2) if the main chip monitors that the service brake driving chip or the service brake driving bridge circuit fails, the main chip and the main parking driving chip are activated; the main chip generates a redundant feedback control signal and sends the redundant feedback control signal to the main parking driving chip, and then the main parking driving chip controls the two rear wheels to implement service braking through the left and right parking driving bridge circuits.
6. The hardware redundancy control method for the integrated electro-hydraulic brake line control system according to claim 4, wherein the hardware redundancy control method comprises the following steps: in the parking state, the method comprises the following steps:
(1) if the auxiliary chip identifies that the main chip fails through monitoring of communication between the main chip and the auxiliary chip, the auxiliary chip is activated, the main parking driving chip is disabled firstly, then the auxiliary parking driving chip is activated, a redundant feedback control signal is generated and sent to the auxiliary parking driving chip, and then the auxiliary parking driving chip controls two rear wheels to park through a left parking driving bridge circuit and a right parking driving bridge circuit;
(2) if the main chip identifies that the auxiliary chip fails through the monitoring of the communication between the main chip and the auxiliary chip, the main chip disables the auxiliary parking driving chip, keeps generating a parking signal and sends the parking signal to the main parking driving chip, and then the main parking driving chip controls two rear wheels to park through a left parking driving bridge circuit and a right parking driving bridge circuit;
(3) if the main chip monitors that the main parking driving chip fails, the main chip informs the auxiliary chip in a communication mode, the main chip disables the main parking driving chip, then activates the auxiliary chip and the auxiliary driving chip, the auxiliary chip generates a redundant feedback control signal and sends the redundant feedback control signal to the auxiliary parking driving chip, and then the auxiliary parking driving chip controls the two rear wheels to park through the left and right parking driving bridge circuits;
(4) if the auxiliary chip monitors that the auxiliary parking driving chip fails, the auxiliary chip informs the main chip in a communication mode, keeps generating a parking signal and sends the parking signal to the main parking driving chip, and then the main parking driving chip controls the two rear wheels to park through the left and right parking driving bridge circuits;
(5) if the master chip monitors that the left parking drive bridge circuit fails, a parking signal is kept generated and sent to the master parking drive chip, and then the master parking drive chip controls the right rear wheel to park through the right parking drive bridge circuit;
(6) and if the master chip monitors that the right parking drive bridge circuit fails, the master chip keeps generating a parking signal and sending the parking signal to the master parking drive chip, and then the master parking drive chip controls the left rear wheel to park through the left parking drive bridge circuit.
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