CN114312720B - Hardware redundancy integrated electro-hydraulic brake-by-wire system and method - Google Patents
Hardware redundancy integrated electro-hydraulic brake-by-wire system and method Download PDFInfo
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Abstract
The invention discloses an integrated electro-hydraulic brake-by-wire system and method with hardware redundancy. The auxiliary chip is connected to the main chip, the driving braking 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; in a service braking state, redundant feedback working control is carried out according to the result of whether the main chip, the service braking driving chip or the service braking driving bridge circuit is invalid; and in the parking state, redundant feedback working control is performed according to the results of whether the main and auxiliary chips, the main and auxiliary parking driving chips or the left and right parking driving bridge circuits fail. According to the invention, on the basis of pure mechanical braking force, the additional parking motor braking force provided by the auxiliary chip is superposed, so that the vehicle deceleration can be effectively improved; the problem of the parking function loss that the chip failure caused if the gearbox of the vehicle does not have a mechanical locking device in the prior art is solved.
Description
Technical Field
The invention relates to a brake hardware redundancy control system and method, in particular to a design for hardware redundancy of an integrated electro-hydraulic brake-by-wire system.
Background
According to the technical requirements and the test method of GB 21670-2008 passenger car brake system, the average deceleration fully sent by emergency braking is not less than 2.44m/s 2. If the primary chip in the integrated electro-hydraulic brake-by-wire system hardware fails, the brake system has only purely mechanical braking forces, which, while meeting regulatory requirements, would be at a lower vehicle deceleration.
If the transmission of the vehicle has a mechanical locking device, the vehicle can still be parked by the mechanical locking device if the parking hardware fails. If the gearbox of the vehicle has no mechanical locking device, in particular the existing pure electric vehicle has almost no mechanical locking device, the parking hardware is relied on and can only be relied on, and as the parking hardware is an electronic component, the parking function is lost when the single point failure, namely the failure of the main chip or the main parking driving chip, is considered.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides an integrated electro-hydraulic brake-by-wire system and method with hardware redundancy.
The technical scheme of the invention is as follows:
1. An integrated electro-hydraulic brake-by-wire system with hardware redundancy:
The intelligent braking system comprises a main chip, a driving brake driving chip and a main parking driving chip, wherein the main chip monitors whether the driving brake driving chip and the main parking driving chip fail or not in real time; the communication between the auxiliary chip and the auxiliary chip is monitored in real time, so that whether the auxiliary chip fails or not is obtained, and whether a signal from the auxiliary chip for stopping the vehicle to fail or not is received, so that a redundant feedback control signal for stopping the vehicle is generated;
the auxiliary chip is connected to the main chip, monitors whether the auxiliary parking driving chip fails or not in real time, and sends the result to the main chip; the communication between the main chip and the main chip is monitored in real time, so that a result of whether the main chip fails or not is obtained, and signals of whether a service brake driving chip fails or not and whether a main parking driving chip fails or not are received from the main chip, so that a parking redundant feedback control signal is generated;
the system comprises a service brake driving chip, a main chip and a control module, 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 device comprises a main parking driving chip, a parking control module and a control module, 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 carry out parking control; receiving a redundant feedback control signal from a main chip to perform service brake/parking control;
the auxiliary parking driving chip is connected to the main chip and the auxiliary chip respectively, and receives redundant feedback control signals from the auxiliary chip to perform driving brake control/parking control.
The system further comprises:
the driving bridge circuit is connected between the driving chip and the driving motor;
The parking control device comprises a left parking driving bridge circuit, wherein the input end of the left parking driving bridge circuit is connected with a main parking driving chip/auxiliary parking driving chip, the output end of the left parking driving bridge circuit is connected with a left rear wheel, and parking signals from the main parking driving chip are received so as to control the left rear wheel to park; simultaneously receiving redundant feedback control signals from the main parking driving chip/the auxiliary parking driving chip so as to control the left rear wheel to implement service braking/parking;
The parking control device comprises a right parking driving bridge circuit, wherein the input end of the right parking driving bridge circuit is connected with a main parking driving chip/auxiliary parking driving chip, the output end of the right parking driving bridge circuit is connected with a right rear wheel, and parking signals from the main parking driving chip are received so as to control the right rear wheel to park; simultaneously receiving redundant feedback control signals from the main parking driving chip/the auxiliary parking driving chip so as to control the right rear wheel to implement service braking/parking;
Comprising a service brake motor respectively connected to four wheels of the vehicle.
The main chip also monitors the failure result of the driving brake driving bridge circuit through the driving brake driving chip in real time and generates a redundant feedback control signal for driving braking, and monitors the failure result of the left parking driving bridge circuit and the right parking driving bridge circuit through the main parking driving chip in real time and generates a redundant feedback control signal for parking.
The communication between the main chip and the auxiliary chip is serial peripheral interface SPI, universal asynchronous receiver transmitter UART, synchronous serial bus I2C, CAN/LIN/FlexRay/EtherNet, optionally one of them, or optionally two of them are combined, or optionally several of them are combined.
2. The hardware redundancy control method for the integrated electro-hydraulic brake-by-wire system comprises the following steps:
Service braking state:
Redundant feedback work control of the auxiliary chip, the main chip and the main parking driving chip is carried out according to the failure result of the main chip, the driving braking driving chip or the driving braking driving bridge circuit;
Under the service braking state, the method comprises the following steps:
As shown in fig. 2, under normal conditions, the main chip generates a service brake signal and sends the service brake signal to the service brake driving chip, and then the service brake signal is sent to the service brake driving bridge circuit through the service brake driving chip to control all four wheels to perform brake control.
(1) As shown in fig. 4, if the auxiliary chip effectively recognizes 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 deactivated, 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 service braking through a left parking driving bridge and a right parking driving bridge;
(2) As shown in fig. 5, if the main chip monitors that the service brake driving chip or the service brake driving bridge is failed, the main chip and the main parking driving 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 parking driving bridge and the right parking driving bridge; the left side parking driving bridge circuit and the right side parking driving bridge circuit control the left rear wheel parking motor and the right rear wheel parking motor, provide the driving braking force of the additional parking motor and assist the dynamic driving braking of the vehicle.
Parking state: and performing redundant feedback work control of the auxiliary chip, the main parking driving chip and the auxiliary parking driving chip according to the failure results of the main auxiliary chip, the main auxiliary parking driving chip or the left and right parking driving bridge circuits.
Under the parking state, the method is divided into:
(1) As shown in fig. 6, if the auxiliary chip effectively recognizes 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 deactivated, 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 and a right parking driving bridge;
(2) As shown in fig. 7, if the master chip effectively recognizes that the slave chip fails through monitoring of communication between the master chip and the slave chip, the master chip first performs the slave parking driving chip to be disabled, keeps generating a parking signal and transmits the parking signal to the master parking driving chip, and then the master parking driving chip controls two rear wheels to perform parking through the left and right parking driving bridges;
(3) As shown in fig. 8, if the main chip monitors that the main parking driving chip fails, the main chip notifies the auxiliary chip in a communication manner, the main chip firstly performs the disabling of the main parking driving chip, then performs the activating of the auxiliary chip and the auxiliary driving chip, the auxiliary chip generates a redundant feedback control signal to be sent to the auxiliary parking driving chip, and then the auxiliary parking driving chip controls the two rear wheels to implement parking through the left parking driving bridge and the right parking driving bridge;
(4) As shown in fig. 9, if the auxiliary chip monitors that the auxiliary parking driving chip fails, the auxiliary chip notifies the main chip in a communication manner, presets the auxiliary chip to configure the auxiliary parking driving chip as a silent state by default, does not need the auxiliary chip or the main chip to disable the auxiliary parking driving chip again, 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 implement parking through a left parking driving bridge and a right parking driving bridge; the parking can thereby also be effected by the main chip and the main parking drive chip.
(5) As shown in fig. 10, if the main chip monitors that the left parking driving axle is failed through the main parking driving chip, the parking signal is kept generated and sent to the main parking driving chip, and then the main parking driving chip controls the right rear wheel to park through the right parking driving axle; the main chip and the main parking driving chip realize parking by controlling the right parking driving bridge circuit.
(6) As shown in fig. 11, if the main chip monitors that the right parking driving axle is failed through the main parking driving chip, the parking signal is kept generated and sent to the main parking driving chip, and then the main parking driving chip controls the left rear wheel to park through the left parking driving axle; the main chip and the main parking driving chip realize parking by controlling the left parking driving bridge circuit.
In the invention, the following components are added:
(1) If the main chip, the service brake driving chip or the service brake driving bridge circuit is identified to be invalid, the dynamic and static service brake of the vehicle is carried out through pure mechanical braking force;
(2) If the main chip fails, the left rear wheel parking motor and the right rear wheel parking motor are controlled through the auxiliary chip and the auxiliary parking driving chip to provide driving braking force of the additional parking motor so as to assist dynamic driving braking of the vehicle; if the driving brake driving chip or the driving 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 to provide driving braking force of the additional parking motor so as to assist dynamic driving brake of the vehicle;
(3) If the main chip or the main parking driving chip is identified to be invalid, parking is realized 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 realized through the main chip and the main parking driving chip; if one side parking driving bridge circuit fails, the other side parking driving bridge circuit can be used for realizing parking.
The beneficial effects of the invention are as follows:
By adopting the invention, the additional braking force of the parking motor provided by the main/auxiliary chip can be superimposed on the pure mechanical braking force, the vehicle deceleration can be effectively improved, and the vehicle deceleration can be further improved if the parking motor is arranged on the front wheels.
By adopting the invention, the problem of parking function loss caused by chip failure if the gearbox of the vehicle does not have a mechanical locking device in the background technology can be effectively solved.
Drawings
FIG. 1 is a system architecture topology diagram of an embodiment of the present invention;
FIG. 2 is a state diagram of operation of dynamic and static service brakes of a vehicle without failure of an embodiment;
FIG. 3 is a diagram of an operating state for parking without failure of the embodiment;
FIG. 4 is a state diagram illustrating the operation of service brakes in response to a primary chip failure, in response to a secondary vehicle dynamics;
FIG. 5 is a state diagram of service braking operation for assisting vehicle dynamics, for example, if the service brake driver chip or the service brake driver bridge fails;
FIG. 6 is a diagram of an operating state for implementing parking if a main chip fails;
FIG. 7 is a diagram of an operational state for implementing parking if the secondary chip fails;
FIG. 8 is a state diagram of an embodiment for implementing parking if the primary park drive chip fails;
FIG. 9 is a state diagram of an embodiment for implementing parking if the secondary park drive chip fails;
FIG. 10 is a state diagram illustrating the operation of the parking brake in the event of failure of the left parking drive axle in an embodiment;
FIG. 11 is a state diagram illustrating the operation of parking if the right parking drive axle fails;
Fig. 12 is a diagram of communication connection between a primary chip and a secondary chip according to an embodiment.
Detailed Description
The invention is further described below with reference to the drawings and the detailed description.
As shown in fig. 1, the implementation includes a main chip, and real-time monitoring results of whether the service brake driving chip and the main parking driving chip fail; generating a normal service brake signal and sending the signal to a service brake driving chip, generating a normal parking signal and sending the signal to a main parking driving chip; the communication between the auxiliary chip and the auxiliary chip is monitored in real time, so that a result of whether the auxiliary chip fails or not is obtained, a signal of whether an auxiliary parking driving chip from the auxiliary chip fails or not is received, and redundant feedback control signals for service braking, auxiliary vehicle dynamic service braking and parking are selected to be generated; generating a mute 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 or not in real time, and sends the result to the main chip; the communication between the main chip and the main chip is monitored in real time, so that a result of whether the main chip fails or not is obtained, signals of whether a service brake driving chip fails or not and whether a main parking driving chip fails or not are received from the main chip, and redundant feedback control signals for assisting dynamic service brake and parking of the vehicle are selected and generated; generating a mute control signal to the main park drive chip;
the driving system comprises a driving braking driving chip which is only connected to a main chip and receives driving braking signals from the main chip to perform driving braking control;
the parking control device comprises a main parking driving chip, a parking control module and a control module, 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 carry out parking control; receiving a redundant feedback control signal from a main chip to perform service brake/parking control; receiving an auxiliary vehicle dynamic braking signal from a main chip to perform redundant driving control; receiving a silence control signal from the auxiliary chip to disable/activate the function of the main driving chip;
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 carry out parking control; receiving an auxiliary vehicle dynamic braking signal from an auxiliary chip to perform redundant driving control; receiving a silence control signal from the main chip to disable/activate the function of the auxiliary driving chip;
The specific implementation also comprises the following steps:
The driving bridge circuit is only connected between the driving chip and the driving motor;
The intelligent parking control system comprises a left parking driving bridge circuit, wherein the input end of the left parking driving bridge circuit is connected with a main parking driving chip/an auxiliary parking driving chip, the output end of the left parking driving bridge circuit is only connected with a left rear wheel, and an auxiliary vehicle dynamic braking/parking signal from the main parking driving chip is received so as to control the left rear wheel to implement redundant driving control/parking; the 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 the service braking redundant service control/parking;
The intelligent parking control system comprises a right parking driving bridge circuit, wherein the input end of the right parking driving bridge circuit is connected with a main parking driving chip/an auxiliary parking driving chip, the output end of the right parking driving bridge circuit is only connected with a right rear wheel, and an auxiliary vehicle dynamic braking/parking signal from the main parking driving chip is received so as to control the right rear wheel to implement redundant driving control/parking; the 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 right rear wheel to implement the service braking redundant service control/parking;
implementations include service brake motors that are each coupled to four wheels of the vehicle.
The main chip also monitors the failure result of the driving brake driving bridge circuit through the driving brake driving chip in real time and generates a redundant feedback control signal for driving braking, and monitors the failure result of the left parking driving bridge circuit and the right parking driving bridge circuit through the main parking driving chip in real time and generates a redundant feedback control signal for parking.
The invention realizes the design of hardware redundancy of the integrated electro-hydraulic brake-by-wire system.
If the chip, the service brake driving chip or the service brake driving bridge circuit fails, the pure mechanical braking force can be used for dynamic and static service brake of the vehicle when the service brake motor cannot be driven to provide the service braking force.
The communication between the main chip and the auxiliary chip is serial peripheral interface SPI, universal asynchronous receiver transmitter UART, synchronous serial bus I2C, CAN/LIN/FlexRay/EtherNet, optionally one of them, or optionally two of them are combined, or optionally several of them are combined.
When the hardware of the integrated electrohydraulic brake-by-wire system is normal, the main chip, the service brake driving chip and the service brake driving bridge circuit control the service brake motor so as to control four wheels to perform dynamic and static service brake of the vehicle, as shown by the thick solid arrows in the hardware frame of the figure 1; the main chip and the main parking driving chip control the left parking driving bridge and the right parking driving bridge, so that two rear wheels (if two parking motors are arranged on the front wheels, the front wheels and the rear wheels are replaced), and parking is realized, as shown by thin solid arrows in a hardware frame of fig. 1.
In integrated electrohydraulic brake-by-wire system hardware, if a main chip or a main drive chip fails, the main chip or the main drive chip belongs to a single point failure of an electronic component, parking cannot be realized, so that redundancy design is needed, namely, redundancy is carried out on the chip and the drive chip; and according to the system calculation and the real vehicle test result, if the vehicle has one side parking, the vehicle can work normally, and the parking requirement can be met. Therefore, the design redundancy of the hardware of the integrated electro-hydraulic brake drive-by-wire system requires the auxiliary chip and the auxiliary parking driving chip as the redundancy of the design of the main chip or the main driving chip, the auxiliary chip and the auxiliary parking driving chip are required to be redundant, the redundancy of the design of the left wheel driving bridge and the right wheel driving bridge is not required, and the auxiliary chip is configured to be in a silent state by default, as shown in the attached figure 1.
When hardware of the integrated electro-hydraulic brake-by-wire system is abnormal, the hardware is monitored by communication between the main chip and the auxiliary chip:
(1) If the main chip, the service brake driving chip or the service brake driving bridge circuit is identified to be invalid, 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 realized through the auxiliary chip and the auxiliary parking driving chip, as shown by a dotted arrow in a hardware frame of the drawing;
(3) If the auxiliary chip or the auxiliary parking driving chip is identified to be invalid, parking is realized through the main chip and the main parking driving chip;
(4) If one side parking driving bridge circuit fails, the other side parking driving bridge circuit can be used for realizing parking.
The specific implementation conditions of the invention are as follows:
In integrated electro-hydraulic brake-by-wire system hardware, if no failure occurs, the master chip controls the service brake drive chip, thereby controlling the service brake drive bridge, thereby controlling the service brake motor, thereby controlling the four wheels, and performing dynamic and static service braking of the vehicle, as shown in fig. 2.
In the integrated electro-hydraulic brake-by-wire system hardware, if no failure occurs, the main chip and the main parking driving chip control the left parking driving bridge and the right parking driving bridge, thereby controlling the two rear wheels (if the two parking motors are mounted on the front wheels, the front wheels and the rear wheels are swapped), and realizing parking, as shown in fig. 3.
In integrated electro-hydraulic brake-by-wire system hardware, if the main chip, service brake drive chip, or service brake drive bridge fails, the service brake motor cannot be driven to provide service braking force. Therefore, it can use pure mechanical braking force to perform dynamic and static service braking of the vehicle.
In the integrated electro-hydraulic brake-by-wire system hardware, if the main chip fails, the communication between the main chip and the auxiliary chip is monitored, so that the auxiliary chip is activated, the main parking driving chip is disabled, and then the auxiliary parking driving chip is activated, so that the left parking driving bridge and the right parking driving bridge are controlled, the left rear wheel parking motor and the right rear wheel parking motor are controlled, the driving braking force of the additional parking motor is provided, and the dynamic driving braking of the vehicle is assisted, as shown in fig. 4.
In the integrated electro-hydraulic brake-by-wire system hardware, if the service brake driving chip or the service brake driving bridge is disabled, the main chip and the main parking driving chip are activated, so that the left parking driving bridge and the right parking driving bridge are controlled, the left rear wheel parking motor and the right rear wheel parking motor are controlled, the service braking force of the additional parking motor is provided, and the dynamic service brake of the vehicle is assisted, as shown in fig. 5 (same as fig. 3). The illustration, fig. 5 being identical to fig. 3, shows that: when the vehicle is dynamic, the parking system can provide auxiliary driving braking force to carry out driving braking; the parking system can directly achieve parking when the vehicle is stationary.
In the integrated electro-hydraulic brake-by-wire system hardware, if the main chip fails, the auxiliary chip can be monitored in a communication mode, so that the auxiliary chip is activated, the main parking driving chip is deactivated, and then the auxiliary parking driving chip is activated, so that the left parking driving bridge circuit and the right parking driving bridge circuit are controlled, the left rear wheel parking motor and the right rear wheel parking motor are controlled, parking is realized, as shown in fig. 6 (same as fig. 4), and fig. 6 is the same as fig. 4. Fig. 6 is identical to fig. 4, and shows that: when the main chip fails, only the auxiliary chip can be used for providing auxiliary driving braking force to carry out driving braking when the vehicle is dynamic; when the vehicle is stationary, parking is directly achieved.
In integrated electrohydraulic brake-by-wire system hardware, if the auxiliary chip fails, the main chip can be monitored in a communication mode, the main chip can firstly disable the auxiliary parking driving chip, and then the left parking driving bridge and the right parking driving bridge are controlled through the main chip and the main parking driving chip, so that the left rear wheel parking motor and the right rear wheel parking motor are controlled, and parking is realized, as shown in fig. 7.
In the integrated electro-hydraulic brake-by-wire system hardware, if the main parking driving chip fails, the main chip notifies the auxiliary chip in a communication manner, the main chip firstly disables the main parking driving chip, and then the auxiliary chip and the auxiliary driving chip are activated, so that the left parking driving bridge circuit and the right parking driving bridge circuit are controlled, and 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-by-wire system hardware, if the auxiliary parking driving chip fails, the auxiliary chip notifies the main chip in a communication manner, and because the auxiliary chip is configured to be in a silent state by default, the auxiliary chip is not required to disable the auxiliary parking driving chip again, and then the left parking driving bridge and the right parking driving bridge are controlled through the main chip and the main parking driving chip, so that the left rear wheel parking motor and the right rear wheel parking motor are controlled, and parking is realized, as shown in fig. 9.
In the integrated electro-hydraulic brake-by-wire system hardware, if the left parking drive axle fails, the auxiliary chip defaults to configure the auxiliary parking drive chip to be in a silent state, and the main chip and the main parking drive chip can control the right parking drive axle so as to control the right rear wheel parking motor to realize parking, as shown in fig. 10.
In the integrated electro-hydraulic brake-by-wire system hardware, if the right parking drive axle fails, the auxiliary chip defaults to configure the auxiliary parking drive chip to be in a silent state, and the main chip and the main parking drive chip can control the left parking drive axle so as to control the left rear wheel parking motor to realize parking, as shown in fig. 11.
In the integrated electro-hydraulic brake-by-wire system hardware, the communication mode between the main chip and the auxiliary chip can be a serial peripheral interface SPI, a universal asynchronous receiver transmitter UART, a synchronous serial bus I2C, CAN/LIN/FlexRay/EtherNet … …, one of which is optional, or two of which are optional, or a plurality of which are optional, and the combination is also optional, as shown in FIG. 12.
Claims (4)
1. A hardware redundancy control method for an integrated electro-hydraulic brake-by-wire system is characterized by comprising the following steps of:
the method adopts a hardware redundant integrated electro-hydraulic brake drive-by-wire system, wherein the hardware redundant integrated electro-hydraulic brake drive-by-wire system comprises a main chip, and the result of whether a service brake driving chip and a main parking driving chip fail is monitored in real time; the communication between the auxiliary chip and the auxiliary chip is monitored in real time, so that whether the auxiliary chip fails or not is obtained, and whether a signal from the auxiliary chip for stopping the vehicle to fail or not is received, so that a redundant feedback control signal for stopping the vehicle is generated;
the auxiliary chip is connected to the main chip, monitors whether the auxiliary parking driving chip fails or not in real time, and sends the result to the main chip; the communication between the main chip and the main chip is monitored in real time, so that a result of whether the main chip fails or not is obtained, and signals of whether a service brake driving chip fails or not and whether a main parking driving chip fails or not are received from the main chip, so that a parking redundant feedback control signal is generated;
the system comprises a service brake driving chip, a main chip and a control module, 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 device comprises a main parking driving chip, a parking control module and a control module, 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 carry out parking control; receiving a redundant feedback control signal from a main chip to perform service brake/parking control;
The auxiliary parking driving chip is connected to the main chip and the auxiliary chip respectively, and receives redundant feedback control signals from the auxiliary chip to perform driving brake control/parking control;
the method comprises the control of two states:
Service braking state:
Redundant feedback work control of the auxiliary chip, the main chip and the main parking driving chip is carried out according to the failure result of the main chip, the driving braking driving chip or the driving braking driving bridge circuit;
Parking state: performing redundant feedback work control of the auxiliary chip, the main parking driving chip and the auxiliary parking driving chip according to the failure results of the main auxiliary chip, the main parking driving chip or the left parking driving bridge and the right parking driving bridge;
Under the parking state, the method is divided into:
(1) If the auxiliary chip recognizes 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, 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 the two rear wheels to implement parking through a left parking driving bridge and a right parking driving bridge;
(2) If the main chip recognizes that the auxiliary chip fails through monitoring of communication between the main chip and the auxiliary chip, the main chip firstly performs the auxiliary parking driving chip to be disabled, 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 implement parking through a left parking driving bridge and a right parking driving bridge;
(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 firstly performs the disabling of the main parking driving chip, then performs the activating of the auxiliary chip and the auxiliary parking 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 the auxiliary parking driving chip controls the two rear wheels to implement parking through a left parking driving bridge and a right parking driving bridge;
(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 the main parking driving chip controls the two rear wheels to park through the left parking driving bridge and the right parking driving bridge;
(5) If the main chip monitors that the left parking driving bridge circuit fails, the main 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 the right rear wheel to park through the right parking driving bridge circuit;
(6) If the main chip monitors that the right parking driving bridge circuit fails, the parking signal is kept to be generated and sent to the main parking driving chip, and then the main parking driving chip controls the left rear wheel to park through the left parking driving bridge circuit.
2. The hardware redundancy control method for an integrated electro-hydraulic brake-by-wire system of claim 1, wherein:
Under the service braking state, the method comprises the following steps:
(1) If the auxiliary chip recognizes 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, 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 the two rear wheels to implement service braking through a left parking driving bridge and a right parking driving bridge;
(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 the main parking driving chip controls the two rear wheels to implement service braking through the left and right parking driving bridge circuits.
3. The hardware redundancy control method for an integrated electro-hydraulic brake-by-wire system of claim 1, wherein: the system further comprises:
the driving bridge circuit is connected between the driving chip and the driving motor;
The parking control device comprises a left parking driving bridge circuit, wherein the input end of the left parking driving bridge circuit is respectively connected with a main parking driving chip and an auxiliary parking driving chip, the output end of the left parking driving bridge circuit is connected with a left rear wheel, and parking signals from the main parking driving chip are received so as to control the left rear wheel to park; simultaneously receiving redundant feedback control signals from the main parking driving chip/the auxiliary parking driving chip so as to control the left rear wheel to implement service braking/parking;
The parking control device comprises a right parking driving bridge circuit, wherein the input end of the right parking driving bridge circuit is respectively connected with a main parking driving chip and an auxiliary parking driving chip, the output end of the right parking driving bridge circuit is connected with a right rear wheel, and parking signals from the main parking driving chip are received so as to control the right rear wheel to park; simultaneously receiving redundant feedback control signals from the main parking driving chip/the auxiliary parking driving chip so as to control the right rear wheel to implement service braking/parking;
Comprising a service brake motor respectively connected to four wheels of the vehicle;
The main chip also monitors the failure result of the driving brake driving bridge circuit through the driving brake driving chip in real time and generates a redundant feedback control signal for driving braking, and monitors the failure result of the left parking driving bridge circuit and the right parking driving bridge circuit through the main parking driving chip in real time and generates a redundant feedback control signal for parking.
4. The hardware redundancy control method for an integrated electro-hydraulic brake-by-wire system of claim 1, wherein: the communication between the main chip and the auxiliary chip is serial peripheral interface SPI, universal asynchronous receiver transmitter UART and synchronous serial bus I2C, CAN, LIN, flexRay, etherNet, one of which is selected, two of which are selected to be combined, or a plurality of which are selected to be combined.
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