CN114715102B - Vehicle redundant braking method and vehicle - Google Patents
Vehicle redundant braking method and vehicle Download PDFInfo
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- CN114715102B CN114715102B CN202110011924.1A CN202110011924A CN114715102B CN 114715102 B CN114715102 B CN 114715102B CN 202110011924 A CN202110011924 A CN 202110011924A CN 114715102 B CN114715102 B CN 114715102B
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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
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
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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
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- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The invention discloses a vehicle redundant braking method and a vehicle. The method comprises the following steps: when the vehicle triggers an emergency braking request in the process of remote parking or automatic parking, a braking system monitoring module sends a braking control request to a parking redundant braking system; and after receiving the braking control request, the parking redundant braking system controls a redundant hydraulic power source of the parking redundant braking system and a liquid inlet switch valve arranged on a braking wheel cylinder loop of the braking system to be opened so that braking liquid in the redundant hydraulic power source is injected into the braking wheel cylinder, and the vehicle is braked. According to the invention, through optimizing the design of the brake redundancy executing mechanism and taking the brake system monitoring module as a backup executor, the brake redundancy executing mechanism can be applied to redundancy braking after the brake system fails in the scenes of remote control parking, self-learning parking, passenger parking and the like, and the low-speed automatic driving requirement is met.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle redundant braking method and a vehicle.
Background
Currently, for a fully automatic parking system APA (Auto Parking Asist) on a gasoline vehicle, braking during parking is mainly achieved through a brake-by-wire function of an electronic stability control system ESC (Electronic Stability Controller) of the vehicle, once the vehicle is in a safety risk during parking, the ESC can perform braking according to a control command of the APA or state information of an associated controller, and stop the vehicle. The precondition that the ESC can brake the vehicle is that the ESC system works normally, and if the ESC fails, the ESC is equal to the loss of the braking function of the parking auxiliary system, and the parking system loses the capability of braking the vehicle. While the remote control parking assistance system RPA (Remote Parking Asist) was developed based on the APA automatic parking technology, the configuration of the in-vehicle sensor is similar to the first generation. The appearance of the automobile solves the embarrassing scene that the automobile door is difficult to open after parking, such as parking spaces where automobiles are parked on two sides or parking rooms with narrow size.
However, with a full-automatic parking APA system, the driver is always in the vehicle, and even if the ESC fails, the driver can still brake the vehicle by stepping on the pedal by himself. However, for functions such as remote control parking RPA, self-learning parking, and bus-substituting parking, the driver is outside the vehicle during parking, if the service brake system fails, the driver cannot take over the vehicle for the first time and handle the accident, i.e. the driver cannot brake the vehicle in time by pedaling, even if the parking system sends a failure prompt to a user outside the vehicle and requests to take over the vehicle, serious accidents can be caused due to insufficient taking over capability of the user or insufficient taking over time or neglected reminding by the user; similarly, if parking fails, even if the service brake brakes the vehicle, the vehicle cannot be parked normally, and if the vehicle is parked on a slope, a slope sliding risk occurs.
To solve the above problems, there are two typical brake redundancy implementations:
scheme 1: ESP (electronic stability control system) +Ibooster (electromechanical servo assistance mechanism) +P-gear locking mechanism brake redundancy actuator, the architecture of which is shown in FIG. 1.
The specific working flow is as follows: the Park ECU sends the remaining distance and the target vehicle speed to the ESP through the CAN; ESP calculates the volume flow (qTarget) and the target torque (Mprop); iBooster performs the traffic demand sent by ESP; an engine/drive motor (VCU) performs a drive torque; EPBi (Electrical Park Brake, electronic parking brake system) and P-gear locking mechanism execute a parking request; CAN2 is only used for a rationality check between ESP and iB.
The method comprises the steps that the Ibooster is used as a service brake main brake actuator, the ESP is used as a service brake auxiliary actuator, as long as the Ibooster does not generate failure that the active pressure cannot be built, the Ibooster is used for completing service braking, and the ESP is used for completing service braking tasks only after the Ibooster generates failure that the active pressure cannot be built. The EPB and the P gear locking mechanism are parking redundant mechanisms.
Scheme 2: ESP+P gear lock as brake redundancy scheme
The ESP is used as a main service brake actuator, the P-gear locking mechanism is used as an auxiliary service brake actuator, and the service brake task can be completed by the P-gear locking mechanism after the ESP fails completely and cannot be actively built. The EPBi and the P gear locking mechanism are parking redundant mechanisms.
However, the 2 schemes described above have the following drawbacks:
for scheme 1: the P-gear lock increases the difficulty and cost of whole vehicle arrangement, has huge mechanism redundancy and higher cost, and influences the competitiveness of products; furthermore, the supplier technology is bound, the parking products are selected, and the braking redundancy scheme is forcedly adapted;
for scheme 2: the P-gear locking mechanism is used as a driving backup brake, and the requirement on the vehicle speed range of the P-gear locking mechanism is smaller (generally v is less than 3kph, the requirement on the vehicle speed range of RPA is generally less than 10kph, and the requirement on the vehicle speed of self-learning parking/bus-substituting parking work is higher), so that the function expansion is not facilitated; the ability of the P-gear locking mechanism as a driving backup braking mechanism is weaker, and the risk that the P-gear locking mechanism cannot be hung in or damaged due to speed overshoot and the like exists.
Therefore, there is a need to design a new parking brake strategy to solve the above-mentioned problems of the redundant brake implementation scheme in remote parking.
Disclosure of Invention
The invention aims to solve the problems of the redundant execution scheme of the braking in the remote control parking, and the service braking and the parking braking of a braking system are required to be considered as redundant design in terms of a system design, so that the redundant braking method of the vehicle and the vehicle are provided, the vehicle can still brake the vehicle when the braking system fails in a single point, and the vehicle can be parked.
The embodiment of the invention provides a vehicle redundant braking method, which comprises the following steps:
when the vehicle triggers an emergency braking request in the process of remote parking or automatic parking, a braking system monitoring module sends a braking control request to a parking redundant braking system;
and after receiving the braking control request, the parking redundant braking system controls a redundant hydraulic power source of the parking redundant braking system and a liquid inlet switch valve arranged on a braking wheel cylinder loop of the braking system to be opened so that braking liquid in the redundant hydraulic power source is injected into the braking wheel cylinder, and the vehicle is braked.
The vehicle provided by the embodiment of the invention is applied to the vehicle redundant braking method in the embodiment, and comprises a braking system and a parking redundant braking system; the brake system comprises a brake system monitoring module and a brake assembly module, wherein the brake assembly module comprises a brake wheel cylinder; the parking redundant braking system comprises a redundant hydraulic power source;
the braking system monitoring module is used for sending a braking control request to the parking redundant braking system when the vehicle triggers an emergency braking request in the process of remote parking or automatic parking;
and the parking redundant braking system is used for controlling the opening of a liquid inlet switch valve arranged on the redundant hydraulic power source and the braking wheel cylinder loop after receiving the braking control request so as to enable the braking liquid in the redundant hydraulic power source to be injected into the braking wheel cylinder, and further enable the vehicle to be braked.
According to the vehicle redundant braking method and the vehicle, through optimizing the design of the brake redundant executing mechanism, the brake system monitoring module is used as the backup executor, if the vehicle triggers an emergency braking request in the remote control parking or automatic parking process, the system monitoring module sends the braking control request to the parking redundant braking system, and the parking redundant braking system carries out redundant braking, so that the number of the brake executors and the number of ECU controllers can be greatly reduced, a large amount of cost is saved for the whole vehicle, the complexity of the system is simplified, and the error probability of the system is reduced. Therefore, the vehicle redundant braking method and the vehicle can be applied to redundant braking after the braking system fails in the scenes of remote parking, self-learning parking, passenger parking and the like, and the low-speed automatic driving requirement is met.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a conventional ESP (electronic stability control system) +Ibooster (electromechanical servo assistance mechanism) +P-stage locking mechanism brake redundancy actuator;
FIG. 2 is a schematic diagram of a redundant brake of a vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a redundant brake of a vehicle according to another embodiment of the present invention;
FIG. 4 is a flow chart of a redundant braking method for a vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart of a method for redundant braking of a vehicle in a remote parking scenario according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a redundant hydraulic power source architecture in a vehicle according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be understood that the step numbers used herein are for convenience of description only and are not limiting as to the order in which the steps are performed.
It is to be understood that the terminology used in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The terms "comprises" and "comprising" indicate the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
The term "and/or" refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
Referring to fig. 2 and 3, an embodiment of the present invention provides a vehicle including a brake system and a park redundant brake system. The brake system includes a brake system monitoring module and a brake assembly module including a brake cylinder. The park redundant brake system includes a redundant hydraulic power source.
The brake system monitoring module is used for sending a brake control request to the parking redundant brake system when the vehicle triggers an emergency brake request in the process of remotely parking or automatically parking.
And the parking redundant braking system is used for controlling the opening of a liquid inlet switch valve arranged on the redundant hydraulic power source and the brake wheel cylinder loop after receiving a braking control request so as to enable the brake liquid in the redundant hydraulic power source to be injected into the brake wheel cylinder, and further enable the vehicle to be braked.
Referring to fig. 4, an embodiment of the present invention further provides a vehicle redundant braking method, which can be applied to a vehicle in an embodiment of the present invention, and the method includes the following steps:
and S10, when the vehicle triggers an emergency braking request in the process of remote parking or automatic parking, the braking system monitoring module sends a braking control request to the parking redundant braking system.
And S20, after the parking redundant braking system receives a braking control request, controlling a redundant hydraulic power source of the parking redundant braking system and a liquid inlet switch valve arranged on a braking wheel cylinder loop of the braking system to be opened so as to enable braking liquid in the redundant hydraulic power source to be injected into a braking wheel cylinder, and further enabling the vehicle to be braked.
The vehicle redundant braking method and the vehicle are applied to low-speed scenes, such as remote parking, self-learning parking, and passenger parking. The vehicle speed requirement of remote-controlled parking is v <10kph, and the vehicle speed requirement of self-learning parking and bus-substituting parking work is higher, so that the invention can be applied to a parking braking scene with the vehicle speed requirement lower than 10 kph.
Under normal conditions, if the vehicle triggers an emergency braking request during remote parking or automatic parking, a main braking actuator ECU of the braking system sends a braking control request to a brake assembly module of the braking system to brake the vehicle, and an electronic parking brake system (Electrical Park Brake, EPB) is pulled up to complete parking.
In a specific embodiment, as shown in fig. 2, the brake assembly module further includes a brake disc and a brake caliper disposed on the front left wheel FL, the front right wheel FR, the rear left wheel RL and the rear right wheel RR, respectively, of the vehicle, the brake disc being assembled by a hub bearing unit and coupled to the vehicle with a knuckle, and the brake caliper assembly being coupled to the vehicle with a knuckle. The brake disc and the brake caliper assembly form a pair of friction pairs, each wheel of the vehicle obtains braking force through the work of the friction pairs, and then the vehicle is decelerated or stopped, and the brake wheel cylinder is used for converting hydraulic energy input from the brake master cylinder into mechanical energy, so that the brake disc and the brake caliper are in a working state, and the vehicle is braked and stopped.
And the electronic parking brake system EPB integrates braking function during driving and braking function during parking, and realizes parking braking in an electronic control mode. Specifically, the electronic parking brake system EPB realizes an electronic hand brake function through transmission of an electric signal, and drives a brake disc and a brake caliper of the brake assembly module to perform related actions through sending an instruction from the ECU.
In an abnormal situation, the braking system fails, for example, the main brake actuator ECU of the braking system fails, the braking system cannot brake normally, and serious accidents are easily caused.
In order to solve the problems, the brake system monitoring module is configured as a backup actuator of the vehicle, and is used for controlling redundant braking of the vehicle when the brake system fails, so that the safety performance of the vehicle after the failure of the main brake actuator ECU is ensured.
Specifically, in the remote control parking or automatic parking process, if the vehicle triggers an emergency braking request, the braking system monitoring module sends a braking control request to a parking redundant braking system, and after the parking redundant braking system receives the braking control request, the parking redundant braking system controls a liquid inlet switch valve arranged on a redundant hydraulic power source and a brake wheel cylinder loop to be opened. After the liquid inlet switch valve is opened, brake liquid in the redundant hydraulic power source is injected into the brake wheel cylinder, so that the vehicle is braked.
According to the vehicle redundant braking method and the vehicle, through optimizing the design of the brake redundant executing mechanism, the brake system monitoring module is used as the backup executor, if the vehicle triggers an emergency braking request in the remote control parking or automatic parking process, the system monitoring module sends the braking control request to the parking redundant braking system, and the parking redundant braking system carries out redundant braking, so that the number of the brake executors and the number of ECU controllers can be greatly reduced, a large amount of cost is saved for the whole vehicle, the complexity of the system is simplified, and the error probability of the system is reduced. Therefore, the vehicle redundant braking method and the vehicle can be applied to redundant braking after the braking system fails in the scenes of remote parking, self-learning parking, passenger parking and the like, and the low-speed automatic driving requirement is met.
In a specific embodiment, referring to fig. 2, the brake system further includes a main brake actuator ECU, and the vehicle further includes a remote parking system (Remote Parking Asist, RPA) or an automatic parking system, the main brake actuator ECU being communicatively coupled to the remote parking system RPA or the automatic parking system.
The brake system monitoring module is used for acquiring monitoring information of the brake system monitoring module on the main brake actuator when the connection interruption time between the main brake actuator ECU and the remote control parking system RPA or the automatic parking system exceeds an interruption time threshold; and triggering an emergency braking request when judging that the main brake actuator ECU fails according to the monitoring information.
Correspondingly, the vehicle triggers an emergency braking request in the process of remote parking or automatic parking, and specifically comprises the following steps:
when the brake system monitoring module monitors that the connection interruption time between the main brake actuator ECU and the remote control parking system RPA or the automatic parking system exceeds an interruption time threshold value, acquiring monitoring information of the brake system monitoring module to the main brake actuator;
and triggering an emergency braking request when judging that the ECU of the main brake actuator fails according to the monitoring information.
In an embodiment of the invention, the automated parking system includes a self-learning parking system (Home-zone Parking Asist, HPA) and an automated valet parking system (Automated Valet Parking, AVP). The remote control parking system or the automatic parking system comprises a parking controller Park ECU (shown in fig. 3), wherein the main brake actuator ECU is in communication connection with the parking controller Park ECU, and the parking controller Park ECU is used for receiving a parking request sent by the main brake actuator ECU.
Before remote control parking or automatic parking is started, connection between a main brake actuator ECU of a vehicle and a remote control parking system RPA or an automatic parking system is firstly established, and a parking request of the vehicle is sent to the remote control parking system RPA or the automatic parking system, so that the remote control parking system RPA or the automatic parking system parks according to the parking request.
Referring to fig. 5, taking a remote control parking scenario as an example, when a parking space is found, a driver stops a vehicle, a parking space is selected, a parking key P is pressed, and a Park ECU of the remote control parking system RPA establishes handshake with a main brake actuator ECU of the vehicle. After the handshake is successful, the RPA starts to work, and enters a guide link, and the main brake actuator ECU performs longitudinal control of the whole vehicle according to the distance, the vehicle speed and other information sent by the RPA.
Similarly, in the self-learning parking scenario and the valet parking scenario, the Park ECU of the automatic parking system establishes a handshake with the main brake actuator ECU of the vehicle. After the handshake is successful, the automatic parking system starts to work, a guide link is entered, and the main brake actuator ECU performs longitudinal control on the whole vehicle according to the distance, the vehicle speed and other information sent by the automatic parking system, so that manual monitoring is not needed in the process.
Further, referring to fig. 3, the remote control parking system RPA or the automatic parking system further includes an electric power steering system (Electric Power Steering, EPS), an electric vehicle controller (Vehicle Control Unit, VCU), a power control system (Power Control Unit, PCU), and an electronic parking brake system (Electrical Park Brake, EPB), and the parking controller Park ECU is respectively in communication connection with the electric power steering system EPS, the electric vehicle controller VCU, and the power control system PCU. In a parking link, a Park ECU sends the remaining distance and the target vehicle speed to an electric power steering system EPS through a CAN; EPS calculates a volume flow (qTarget) and a target torque (Mprop); the Park ECU executes the flow demand sent by the EPS; the VCU of the electric automobile drives the engine/driving motor to execute driving torque; and the electronic parking brake system EPBi and the P-gear locking mechanism execute a parking request.
The embodiment of the invention can realize the braking backup function by simply adding hardware design (without separately adding an ECU and a brake actuator) and related monitoring logic, and the backup braking performance is superior to the existing design scheme.
Specifically, the brake system monitoring module is configured to monitor whether the main brake actuator ECU fails in real time, and meanwhile, the brake system monitoring module is also used as a backup actuator of the vehicle and is used for controlling redundant braking of the vehicle when the main brake actuator ECU fails, so that the safety performance of the vehicle after the main brake actuator ECU fails is ensured.
If the brake system monitoring module monitors that the main brake actuator ECU fails due to self reasons (for example, the main brake actuator ECU is judged to be invalid through monitoring information) in the remote control parking or automatic parking process, and when the connection interruption time exceeds the interruption time threshold value, the brake system monitoring module requests emergency braking, so that an emergency braking request is sent out through a whole vehicle communication network (including but not limited to a controller area network (Controller Area Network, CAN) bus). Meanwhile, the brake system monitoring module sends a brake control request to the parking redundant brake system so as to realize braking of the vehicle.
Further, in a remote control parking or automatic parking scene, judging that the main brake actuator ECU fails according to the monitoring information, specifically:
and when the brake system monitoring module judges that the main brake actuator ECU has active boosting faults according to the monitoring information, judging that the main brake actuator ECU fails.
It will be appreciated that under normal conditions, the main brake actuator ECU does not experience an active boost fault, the vehicle is braked by the main brake actuator ECU and the electronic parking brake system (Electrical Park Brake, EPB) is pulled up to complete parking.
And when the main brake actuator ECU has active pressurization faults, the main brake actuator ECU cannot continuously brake the vehicle. At this time, the brake system monitoring module monitors failure of the main brake actuator ECU and directly transmits a brake control request to the parking redundant brake system to realize braking of the vehicle.
With continued reference to FIG. 3, in one particular embodiment, the brake system monitoring module includes a watchdog (watch dog) circuit disposed on the main brake actuator ECU.
According to the invention, a 'watch dog' circuit is added in a circuit of a main brake actuator ECU (electronic control Unit) in the aspect of hardware circuit design, so as to monitor whether a mu C main chip of the main brake actuator ECU fails; in the system and software level, a special safety logic is implanted in the 'watch dog', and once the failure of the muC is monitored, the 'safe stop' logic is triggered, so that the safety parking is realized.
Specifically, the watchdog circuit is a timer circuit (WDT) and includes an input terminal, called a dog feeding terminal (kcking dog/service dog), an RST terminal that outputs a signal to the dog feeding terminal at intervals when the main brake actuator ECU is operating normally, clears the WDT, and if the time exceeds a predetermined time and the dog is not fed (generally when the program runs off), the WDT timing exceeds, gives a reset signal to the main brake actuator ECU, so that the main brake actuator ECU is reset. In this way, the watchdog circuit periodically transmits a signal to the main brake actuator ECU and can monitor in real time whether the main brake actuator ECU fails by receiving a feedback signal.
In other embodiments, the brake system monitoring module may be any other device or circuit capable of monitoring whether the main brake actuator ECU is disabled, and is not specifically limited herein.
Referring to fig. 2, in a specific embodiment, the parking redundant brake system further includes a redundant hydraulic control unit, where the redundant hydraulic control unit is communicatively connected to the brake system monitoring module, and the redundant hydraulic control unit is configured to control the opening of the liquid inlet switch valve after receiving the brake control request.
According to the embodiment of the invention, the redundant hydraulic control unit is arranged, so that automatic redundant control is realized.
Referring to fig. 6, in a specific embodiment, the redundant hydraulic power source includes a high pressure accumulator including a liquid storage tank, a pressure reducing valve, an accumulator, a check valve, and an air pump; the high-pressure brake fluid is stored in the fluid storage tank, the input end of the fluid storage tank is connected with the output end of the pressure accumulator through the pressure reducing valve, the output end of the fluid storage tank is connected with the brake wheel cylinder, and the input end of the pressure accumulator is connected with the air pump through the one-way valve.
The embodiment of the invention adopts a high-pressure energy accumulator as a power source. Wherein, a certain volume of high-pressure brake fluid (160-200 bar) is reserved in the liquid storage tank, and the brake liquid requirement amount of about 5 times can be met under normal conditions.
In combination with a remote parking scenario or an automatic parking scenario, when the main brake actuator ECU is not disabled under normal conditions, the main brake actuator ECU brakes the vehicle and pulls up the electronic parking brake system EPB to complete parking.
And when the ECU of the main brake actuator fails, a brake system monitoring module sends a brake control request to the redundant hydraulic control unit according to the emergency brake request. As shown in fig. 6, the brake system monitoring module continuously acts on the air pump of the high-pressure accumulator through the motor relay to enable the air pump to generate high pressure and to be injected into the accumulator through the check valve, and the accumulator acts on the piston to enable a loop between the accumulator and the input end of the liquid storage tank to be pressurized, so that brake liquid in the liquid storage tank generates pressure and is discharged through the output end of the liquid storage tank. At the moment, after receiving a braking control request, the redundant hydraulic control unit controls a liquid inlet switch valve arranged on a redundant hydraulic power source and a brake wheel cylinder loop to be opened, and a pressure reducing valve is switched from a closed state to an open state, so that high-pressure brake liquid in a liquid storage tank is injected into a brake wheel cylinder through a hydraulic transmission pipeline, and vehicle braking is realized.
Because the solenoid valve of the motor relay is opened and responds in millisecond, the high-pressure brake fluid of the fluid reservoir can be quickly driven into the brake cylinder (in a specific embodiment, the driving time is less than 100 ms), the response is quick, the braking distance is short, and in addition, because the high-pressure energy accumulator is connected with the brake cylinder of the vehicle, the pressure maintaining and parking functions are realized.
Further, in order to improve feasibility and reliability of the embodiment, referring to fig. 2, the vehicle further includes a main power supply module and a redundant power supply module, the main power supply module is connected with the main brake actuator ECU and the redundant hydraulic power source, and the redundant power supply module is connected with the brake system monitoring module.
The main Power supply module provides Power for the main brake actuator ECU through a Power supply 1 line, and the redundant Power supply module provides Power for the brake system monitoring module and the redundant hydraulic Power source through a Power supply 2 line, so that when the Power supply of the main Power supply module fails, the brake system monitoring module can be ensured to normally monitor whether the main brake actuator ECU fails or not, and redundant braking is realized.
Therefore, the purpose of stopping the vehicle can be achieved whether the main brake actuator ECU fails or the power supply fails or the high-pressure accumulator motor fails.
In a specific embodiment, the vehicle redundant braking method further comprises the steps of:
and S30, when the brake system monitoring module monitors that connection between the main brake actuator and the remote control parking system RPA or the automatic parking system is restored within the interruption time threshold, the main brake actuator continuously sends a parking request to the remote control parking system RPA or the automatic parking system so as to enable the remote control parking system RPA or the automatic parking system to park according to the parking request.
The connection interruption reasons between the main brake actuator ECU and the remote control parking system RPA or the automatic parking system comprise: the main brake actuator ECU interrupts the handshake for its own reason, and the remote parking system RPA or the automatic parking system actively interrupts the handshake for its own or external reasons.
With reference to fig. 5, taking a remote control parking scenario as an example, if an interruption between the main brake actuator ECU and the remote control parking system RPA or the automatic parking system belongs to an unrecoverable interruption, that is, if the connection interruption time between the main brake actuator ECU and the remote control parking system RPA or the automatic parking system exceeds the interruption time threshold, the connection interruption time between the main brake actuator ECU and the remote control parking system RPA or the automatic parking system cannot resume handshake, the interruption reason is further determined according to the monitoring information of the brake system monitoring module on the main brake actuator ECU, so as to determine whether the main brake actuator ECU fails, for example, whether an active supercharging failure cannot occur in the main brake actuator ECU. If the fault fails, the brake system monitoring module sends an emergency brake request to the whole vehicle communication network, and step S10 is executed.
If the interruption between the main brake actuator ECU and the remote control parking system RPA belongs to a recoverable interruption, that is, if the main brake actuator ECU and the remote control parking system RPA or the automatic parking system are in an interruption time threshold, the main brake actuator ECU and the remote control parking system RPA or the automatic parking system can resume handshake, step S30 is executed, that is, the main brake actuator ECU continues to send a parking request to the remote control parking system or the automatic parking system, so that the remote control parking system RPA or the automatic parking system parks according to the parking request, and the vehicle enters the RPA or the automatic parking guide link again, thereby realizing safe parking.
Further, in order to improve feasibility and reliability of the embodiment, the vehicle redundancy braking method in the embodiment of the invention further includes the following steps:
and the brake system monitoring module judges whether the failure time of the main brake actuator ECU exceeds a failure time threshold value according to the monitoring information.
The vehicle triggers an emergency braking request during remote parking or automatic parking, and further specifically:
and triggering an emergency braking request when the braking system monitoring module judges that the failure time of the main braking actuator exceeds the failure time threshold according to the monitoring information.
If the failure time of the main brake actuator ECU does not exceed the failure time threshold, the main brake actuator ECU continuously sends a parking request to the remote control parking system RPA or the automatic parking system so that the remote control parking system RPA or the automatic parking system parks according to the parking request.
Referring to fig. 5, in a specific embodiment, the triggering of the emergency braking request by the vehicle during remote parking or automatic parking is also specifically:
when the brake system monitoring module judges that the main brake actuator is not invalid according to the monitoring information, acquiring monitoring information used for representing whether the remote control parking system or the automatic parking system is invalid;
triggering an emergency braking request when judging that the remote control parking system or the automatic parking system is invalid according to the monitoring information;
the redundant braking method for the vehicle in the embodiment of the invention further comprises the following steps:
and S40, the main brake actuator sends a brake control request to a brake assembly module of the brake system according to the emergency brake request so as to brake the vehicle, and sends a parking request to an electronic parking brake system of the vehicle so as to enable the electronic parking brake system to complete parking after receiving the parking request.
With reference to fig. 5, taking a remote control parking scenario as an example, if an interruption between the main brake actuator ECU and the remote control parking system RPA or the automatic parking system belongs to an unrecoverable interruption, that is, if the connection interruption time between the main brake actuator ECU and the remote control parking system RPA or the automatic parking system exceeds the interruption time threshold, the two cannot resume handshake, the brake system monitoring module further determines whether the remote control parking system RPA or the automatic parking system actively interrupts handshake due to self reasons or external reasons, where the external reasons include an abnormal communication network of the remote control parking system RPA or the automatic parking system.
If the remote control parking system RPA or the automatic parking system fails, the brake system monitoring module sends an emergency brake request to the whole vehicle communication network and executes step S40, so that the safety of the vehicle is ensured.
In summary, according to the vehicle redundant braking method and the vehicle provided by the embodiment of the invention, through optimizing the design of the brake redundant actuating mechanism and taking the brake system monitoring module as the backup actuator, the number of the brake actuators and the number of the ECU controllers can be greatly reduced, a large amount of cost is saved for the whole vehicle, the complexity of the system is simplified, and the error probability of the system is reduced. Meanwhile, through improving the design of the boosting principle, the dual rapid pressure establishment of the main brake actuator ECU and the backup actuator (brake system monitoring module) is realized, the pressure establishment capability is improved, the response rate and the braking performance are improved, and the braking distance is shortened, so that the safety performance of the vehicle after the failure of the main brake actuator ECU is ensured. Therefore, the vehicle redundant braking method and the vehicle can be applied to braking and maintaining the pressure for a period of time after the ECU of the main braking actuator fails in the scenes of remote control parking, self-learning parking, passenger parking and the like, and the low-speed automatic driving requirement is met.
It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. Further, for convenience of description, only some, but not all, of the structures related to the present invention are shown in the drawings. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms "first," "second," and the like in this disclosure are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The foregoing description is only of embodiments of the present invention, and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present invention or directly or indirectly applied to other related technical fields are included in the scope of the present invention.
Claims (9)
1. A method of redundant braking of a vehicle, comprising:
when the vehicle triggers an emergency braking request in the process of remote parking or automatic parking, a braking system monitoring module sends a braking control request to a parking redundant braking system;
and after receiving the braking control request, the parking redundant braking system controls a redundant hydraulic power source of the parking redundant braking system and a liquid inlet switch valve arranged on a braking wheel cylinder loop of the braking system to be opened so that braking liquid in the redundant hydraulic power source is injected into the braking wheel cylinder, and the vehicle is braked.
2. The method for redundant braking of a vehicle according to claim 1, wherein the vehicle triggers an emergency braking request during remote parking or automatic parking, in particular:
when the brake system monitoring module monitors that the connection interruption time between the main brake actuator and the remote control parking system or the automatic parking system exceeds an interruption time threshold value, acquiring monitoring information of the brake system monitoring module on the main brake actuator;
and triggering an emergency braking request when judging that the main braking actuator fails according to the monitoring information.
3. The vehicle redundant braking method according to claim 2, wherein the judging that the main brake actuator fails according to the monitoring information is specifically:
and when the brake system monitoring module judges that the main brake actuator has active boosting faults according to the monitoring information, judging that the main brake actuator fails.
4. The vehicle redundant braking method of claim 2, further comprising:
and when the brake system monitoring module monitors that connection between the main brake actuator and the remote control parking system or the automatic parking system is restored within the interruption time threshold, the main brake actuator continuously transmits a parking request to the remote control parking system or the automatic parking system so as to enable the remote control parking system or the automatic parking system to park according to the parking request.
5. A vehicle, characterized in that it is applied to the vehicle redundant braking method according to any one of claims 1 to 4, the vehicle including a braking system and a parking redundant braking system; the brake system comprises a brake system monitoring module and a brake assembly module, wherein the brake assembly module comprises a brake wheel cylinder; the parking redundant braking system comprises a redundant hydraulic power source;
the braking system monitoring module is used for sending a braking control request to the parking redundant braking system when the vehicle triggers an emergency braking request in the process of remote parking or automatic parking;
and the parking redundant braking system is used for controlling the opening of a liquid inlet switch valve arranged on the redundant hydraulic power source and the braking wheel cylinder loop after receiving the braking control request so as to enable the braking liquid in the redundant hydraulic power source to be injected into the braking wheel cylinder, and further enable the vehicle to be braked.
6. The vehicle of claim 5, wherein the brake system further comprises a main brake actuator, the vehicle further comprising a remote parking system or an automated parking system, the main brake actuator being communicatively coupled to the remote parking system or the automated parking system;
the braking system monitoring module is used for acquiring monitoring information of the braking system monitoring module on the main braking actuator when the connection interruption time between the main braking actuator and the remote control parking system or the automatic parking system exceeds an interruption time threshold;
and triggering an emergency braking request when judging that the main braking actuator fails according to the monitoring information.
7. The vehicle of claim 5, wherein the park redundant brake system further comprises a redundant hydraulic control unit communicatively coupled to the brake system monitoring module, the redundant hydraulic control unit configured to control the opening of the fluid intake switch valve upon receipt of the brake control request.
8. The vehicle of claim 5, wherein the redundant hydraulic power source comprises a high pressure accumulator comprising a liquid storage tank, a pressure relief valve, an accumulator, a check valve, and an air pump; the high-pressure brake fluid is stored in the fluid storage tank, the input end of the fluid storage tank is connected with the output end of the pressure accumulator through the pressure reducing valve, the output end of the fluid storage tank is connected with the brake wheel cylinder, and the input end of the pressure accumulator is connected with the air pump through the one-way valve.
9. The vehicle of claim 6, further comprising a primary power module and a redundant power module, the primary power module being respectively coupled to the primary brake actuator, the redundant power module being coupled to the brake system monitoring module and the redundant hydraulic power source.
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