CN115158275A - Redundancy control method and redundancy control system for multi-brake system - Google Patents

Redundancy control method and redundancy control system for multi-brake system Download PDF

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Publication number
CN115158275A
CN115158275A CN202211086475.8A CN202211086475A CN115158275A CN 115158275 A CN115158275 A CN 115158275A CN 202211086475 A CN202211086475 A CN 202211086475A CN 115158275 A CN115158275 A CN 115158275A
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CN
China
Prior art keywords
electronic
braking
brake
assisted
stability control
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CN202211086475.8A
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Chinese (zh)
Inventor
刘长运
邱宝象
张霞
李坚利
林国贤
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Wanxiang Qianchao Co Ltd
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Wanxiang Qianchao Co Ltd
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Priority to CN202211086475.8A priority Critical patent/CN115158275A/en
Publication of CN115158275A publication Critical patent/CN115158275A/en
Pending legal-status Critical Current

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
    • 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
    • B60T2270/413—Plausibility monitoring, cross check, redundancy

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)

Abstract

The disclosure relates to the field of vehicle braking, and relates to a multi-braking-system redundancy control method and a redundancy control system. The multi-brake system redundancy control method comprises the following steps: determining that the electronic stability control system and the electronic power-assisted brake system are invalid through at least one of the electronic stability control system, the electronic parking assist system and the electronic power-assisted brake system; determining a braking demand; in response to a braking demand, continuous or intermittent braking is performed by the electronic parking assist system. After the failure of the electronic power-assisted braking system and the electronic stability control system is detected rapidly, the existing braking system is reasonably utilized, continuous or intermittent braking can be carried out through the electronic parking auxiliary system, required braking force is applied to rear wheels, the functions of the electronic power-assisted braking system and the electronic stability control system are simulated, a vehicle body is stabilized, the vehicle speed is controlled, and the vehicle is prevented from being out of control. The safety of the vehicle can be effectively improved.

Description

Redundancy control method and redundancy control system for multi-brake system
Technical Field
The disclosure relates to the field of vehicle braking, and in particular relates to a multi-brake system redundancy control method and a redundancy control system.
Background
The automobile decelerates and stops the vehicle through a braking system. The braking system is a series of special devices which can forcibly reduce the running speed of the automobile, and the main functions of the braking system are to decelerate or even stop the running automobile, keep the speed of the automobile running on a downhill stable and keep the stopped automobile still. The braking system may include an electronic stability control system, an electronic parking assist system, and an electronic power-assisted braking system. The electronic stability control system can give an instruction to the master cylinder, brake oil in the master cylinder applies pressure, liquid transmits the pressure to pistons of brake calipers of a front wheel and a rear wheel through pipelines, the pistons drive the brake calipers to clamp a brake disc so as to apply braking force to the front wheel and the rear wheel, instability of a vehicle body is automatically corrected, and accidents are prevented. Electronic parking auxiliary system, motor unit are integrated to left and right back brake caliper on, and electronic control unit will control the motor action of integrating in left and right brake caliper to drive the brake caliper piston and remove and produce mechanical clamping force, accomplish the rear wheel braking, realize the parking braking, can avoid the vehicle unnecessary to slide, the simple one says that the vehicle can not swift current the back. The electronic power-assisted brake uses the motor to generate power-assisted force to push a brake master cylinder to work, when the brake is stepped on, the power-assisted motor operates to push the brake pump to apply pressure to brake oil, the liquid transmits the pressure to pistons of brake calipers of a front wheel and a rear wheel through pipelines, and the pistons drive the brake calipers to clamp a brake disc so as to apply braking force to the front wheel and the rear wheel, so that a running automobile is decelerated and even stopped.
When the electronic stability control system of the vehicle fails, the vehicle cannot stabilize the vehicle body under severe driving conditions, the self-correction function of the vehicle is lost, the vehicle is out of control, serious traffic accidents are caused, and life and property are lost. When the electronic power-assisted brake system of the vehicle fails, the vehicle cannot rapidly control the speed, and the vehicle is out of control of the speed, so that serious traffic accidents are caused, and life and property are lost.
In the prior art, the electronic stability control system and the electronic power-assisted brake system break down, thereby causing uncontrollable influence on vehicle running, causing accidents and threatening the lives of drivers and passengers. In some related technologies, some systems are provided with redundancy, for example, some technologies are provided with two sets of electronic power-assisted brake systems or two sets of electronic stability control systems, and when one set of system fails, the same function can be realized through the same backup system. However, the backup redundancy system can cause huge cost increase, the vehicle space occupies a large amount, and the vehicle body weight is correspondingly increased. On the other hand, the failure of the electronic stability control system and the electronic power-assisted braking system of the vehicle is detected to have time delay, so that the failure of the electronic stability control system and the electronic power-assisted braking system cannot be found in time.
Disclosure of Invention
In order to solve the technical problem, the present disclosure provides a redundancy control method and a redundancy control system for a multi-brake system.
In a first aspect, the present disclosure provides a redundancy control method for a multi-brake system, applied to a redundancy control system, where the redundancy control system includes: the system comprises an electronic stability control system, an electronic parking auxiliary system and an electronic power-assisted brake system; the multi-brake system redundancy control method comprises the following steps: determining that the electronic stability control system and the electronic power-assisted brake system are invalid through at least one of the electronic stability control system, the electronic parking assist system and the electronic power-assisted brake system; determining a braking demand; in response to the braking demand, performing continuous or intermittent braking by the electronic parking assist system.
In some embodiments, the determining a braking demand comprises: determining a braking demand in response to a brake pedal switch trigger signal; or, in response to a switch trigger signal of the electronic parking assist system, a braking demand is determined.
In some embodiments, said performing continuous or intermittent braking by said electronic parking assist system in response to said braking demand comprises: providing a braking force by the electronic parking assist system; acquiring the acceleration of the vehicle; maintaining or interrupting the electronic parking assist system from providing braking force based on the vehicle acceleration.
In some embodiments, the maintaining or interrupting the braking force by the electronic parking assist system based on the vehicle acceleration includes: if the vehicle acceleration is smaller than or equal to a first threshold value, wherein the first threshold value is smaller than zero, the electronic parking assist system enters a holding state, and the electronic parking assist system keeps providing braking force; and if the vehicle acceleration is larger than or equal to a second threshold value, the electronic parking assisting system enters an interruption state, and the electronic parking assisting system interrupts the supply of the braking force.
In some embodiments, the electronic parking assist system maintains or interrupts the braking force based on the vehicle acceleration, further comprising: in response to the vehicle acceleration being greater than or equal to a third threshold value, where the third threshold value is greater than the first threshold value, with the electronic parking assist system in a hold state, the electronic parking assist system enters an interrupt state.
In some embodiments, the electronic parking assist system maintains or interrupts the braking force based on the vehicle acceleration, further comprising: and under the condition that the electronic parking assistance system is in an interruption state, responding to the time that the electronic parking assistance system enters the interruption state being greater than or equal to a first time threshold value, and returning to execute the providing of the braking force through the electronic parking assistance system.
In some embodiments, the determining that the electronic stability control system and the electronic power brake system are disabled by at least one of the electronic stability control system, the electronic parking assist system, and the electronic power brake system includes: and if the electronic parking assisting system cannot receive the data of the electronic stability control system, determining that the electronic stability control system is invalid.
In some embodiments, the determining, by at least one of an electronic stability control system, an electronic parking assist system, and an electronic assisted braking system, that the electronic stability control system and the electronic assisted braking system are disabled further includes: acquiring the acceleration of the vehicle; determining whether an auxiliary function of the electronic stability control system is disabled based on the vehicle acceleration, wherein the auxiliary function includes one or more of: an uphill assist function, a downhill assist function, and a braking assist function.
In some embodiments, the determining that the electronic stability control system and the electronic power brake system are disabled by at least one of the electronic stability control system, the electronic parking assist system, and the electronic power brake system includes: detecting states of a first control driving module and a first circuit sensing module of the electronic stability control system; determining that the electronic stability control system is invalid based on the states of the first control driving module and the first circuit sensing module; wherein the first control driving module includes: the first single chip microcomputer and/or the first motor driving module; the first circuit sensing module comprises one or more of: the device comprises a first power supply, an electromagnetic valve module, a first motor and a first sensor.
In some embodiments, the determining that the electronic stability control system and the electronic power brake system are disabled by at least one of the electronic stability control system, the electronic parking assist system, and the electronic power brake system includes: and if the electronic parking assisting system cannot receive the data of the electronic power-assisted braking system, determining that the electronic power-assisted braking system is invalid.
In some embodiments, the determining, by at least one of an electronic stability control system, an electronic parking assist system, and an electronic assisted braking system, that the electronic stability control system and the electronic assisted braking system are disabled further includes: acquiring vehicle acceleration in response to a brake pedal switch trigger signal; and if the vehicle acceleration is larger than or equal to a detection threshold value, determining that the electronic power-assisted braking system is invalid.
In some embodiments, the determining that the electronic stability control system and the electronic power brake system are disabled by at least one of the electronic stability control system, the electronic parking assist system, and the electronic power brake system includes: detecting whether a second control driving module and a second circuit sensing module of the electronic power-assisted braking system have faults or not; if the second control driving module or the second circuit sensing module breaks down, determining that the electronic power-assisted braking system fails; wherein the second control driving module includes: the second singlechip and/or the second motor driving module; the second circuit sensing module comprises one or more of: the second power supply, the H-bridge circuit module, the second motor and the second sensor.
In a second aspect, the present disclosure also provides a redundant control system comprising: the system comprises an electronic stability control system, an electronic parking assisting system, an electronic power-assisted braking system and a plurality of vehicle brakes corresponding to each wheel of the vehicle; the braking redundancy control is performed by the multi-brake system redundancy control method according to the first aspect.
In some embodiments, the electronic parking assist system includes: and the acceleration sensor is used for acquiring the acceleration of the vehicle.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: when the electronic stability control system, the electronic parking auxiliary system and the electronic power-assisted brake system all work normally, the systems can be mutually independent and do not influence the functions of the systems.
After the failure of the electronic power-assisted braking system and the electronic stability control system is detected quickly, redundancy can be provided for the electronic power-assisted braking system and the electronic stability control system through the electronic parking auxiliary system, the existing braking system is reasonably utilized, and continuous or intermittent braking can be carried out through the electronic parking auxiliary system. The vehicle can be braked continuously or intermittently, required braking force is applied to the rear wheels, the functions of an electric electronic power-assisted brake system and an electronic stability control system are simulated, the vehicle body is stabilized, the vehicle speed is controlled, and the vehicle is prevented from being out of control. The safety of the vehicle can be effectively improved, and safety accidents are not caused by failure of the electronic power-assisted brake system and the electronic stability control system.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.
FIG. 1 illustrates a flow diagram of a multi-brake system redundancy control method according to some embodiments of the present disclosure;
FIG. 2 is a flow chart illustrating a multi-brake system redundancy control method according to further embodiments of the present disclosure;
FIG. 3 illustrates an architectural schematic of a redundant control system of some embodiments of the present disclosure;
FIG. 4 illustrates an architectural schematic of a redundant control system of some embodiments of the present disclosure;
FIG. 5 is an architectural diagram illustrating a redundant control system according to further embodiments of the present disclosure.
100. Redundant control system
101. External input
102. Vehicle Control Unit (Electronic Control Unit, ECU)
201. Storage battery
301. Automobile Electronic Stability control system (ESC)
401. Electronic BOOSTER brake system (BOOSTER)
501. Electronic parking auxiliary system (electric Park Brake, EPB)
601. Left front brake of left front wheel
602. Right front brake of right front wheel
603. Left rear brake of left rear wheel
604. A right rear brake of the right rear wheel.
Detailed Description
The disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable one of ordinary skill in the art to better understand and thus implement the present disclosure, and do not imply any limitation on the scope of the present disclosure.
As used herein, the term "include" and its variants are to be read as open-ended terms meaning "including, but not limited to. The term "based on" is to be read as "based, at least in part, on". The terms "one embodiment" and "an embodiment" are to be read as "at least one embodiment". The term "another embodiment" is to be read as "at least one other embodiment".
In order to solve the above technical problem, in some embodiments, the present disclosure provides a redundancy system, as shown in fig. 4, which may include: an Electronic Stability Control (ESC) system, an Electronic Park Brake (EPB) system, and an Electronic power-assisted Brake system (boost) system.
In other embodiments, as shown in fig. 5, the present disclosure also provides a redundancy system that may include: the vehicle Brake system comprises a storage battery, a vehicle Control Unit (ECU), an automotive Electronic Stability Control system (ESC), an Electronic parking assist system (EPB), an Electronic power-assisted braking system (boost), and a plurality of vehicle brakes corresponding to each wheel of the vehicle, wherein the plurality of vehicle brakes may include a front left Brake of a front left wheel, a front right Brake of a front right wheel, a rear left Brake of a rear left wheel, and a rear right Brake of a rear right wheel on a general four-wheel vehicle.
The storage battery can be respectively connected with the automobile electronic stability control system, the electronic parking auxiliary system and the electronic power-assisted brake system through power supply lines. The storage battery respectively provides energy power supply for the automobile electronic stability control system, the electronic parking auxiliary system and the electronic power-assisted brake system.
The vehicle control unit CAN be respectively connected with an external input, an automobile electronic stability control system, an electronic parking auxiliary system and an electronic power-assisted brake system through a CAN communication line. The vehicle control unit can input command signals to the vehicle electronic stability control system, the electronic parking auxiliary system and the electronic power-assisted braking system, and can also receive signals of the vehicle electronic stability control system, the electronic parking auxiliary system and the electronic power-assisted braking system and external input signals. The vehicle control unit can input command signals to the electronic stability control system, the electronic parking auxiliary system and the electronic power-assisted brake system of the vehicle to adjust the working states of the electronic stability control system, the electronic parking auxiliary system and the electronic power-assisted brake system of the vehicle.
The electronic stability control system, the electronic parking auxiliary system and the electronic power-assisted brake system of the automobile CAN send and receive signals and data through the CAN communication line. In some cases, if a certain system signal or data cannot be received, there may be a possibility that the system fails, and the failure may include a communication failure or a system failure, which may result in failure to implement a corresponding function.
The automobile electronic stability control system can be connected with the storage battery through a power supply line, and the storage battery provides energy supply for the automobile electronic stability control system to enable the automobile electronic stability control system to normally operate. The electronic stability control system of the automobile CAN be connected with the vehicle control unit through a CAN communication line, on one hand, signals acquired by the electronic stability control system of the automobile are input to the vehicle control unit, on the other hand, the electronic stability control system of the automobile CAN also receive the signals of the vehicle control unit and execute pressure adjustment of a vehicle brake corresponding to each wheel. The automobile electronic stability control system can comprise a six-axis acceleration sensor or other sensors, can detect the motion state of an automobile body, can control brakes corresponding to tires through brake pipelines under the conditions of sideslip, tire locking and the like of the automobile body, changes the working state of the corresponding brakes, and avoids uncontrollable danger of the automobile. The automobile electronic stability control system can be communicated with the vehicle brakes of the wheels through the brake pipelines and also can be connected with the electronic power-assisted brake system through the brake pipelines, and the automobile electronic stability control system can adjust the pressure of the vehicle brakes of the wheels through hydraulic pressure adjustment of the brake pipelines, so that the control performance of the vehicle is improved, and the vehicle is effectively prevented from being out of control when reaching the dynamic limit. In some cases, for example: the electronic stability control system of the automobile and the circuit of the storage battery are in failure, and the electric power is lost; the communication between the automobile electronic stability control system and the whole automobile controller is disconnected, and the automobile electronic stability control system cannot receive signals and the like; brake pipe faults may cause the electronic stability control system of the automobile to fail to operate normally.
The electronic power-assisted braking system can be connected with the storage battery through a power supply line, and the storage battery provides energy supply for the electronic power-assisted braking system to enable the electronic power-assisted braking system to normally operate. The electronic power-assisted braking system CAN be connected with the vehicle control unit through the CAN communication line, on one hand, signals of the electronic power-assisted braking system CAN be input to the vehicle control unit, and on the other hand, pressure adjustment of a braking pipeline CAN be executed after the electronic power-assisted braking system receives the signals of the vehicle control unit. The electronic power-assisted brake system can be connected with the automobile electronic stability control system through a brake pipeline, and when the hydraulic pressure in the brake pipeline of the electronic power-assisted brake system is changed through a signal, the automobile electronic stability control system receives the change of the hydraulic pressure in the brake pipeline. The braking instruction of the electronic power-assisted braking system can be completed under the regulation of an automobile electronic stability control system, so that the control performance of the automobile is improved, and the automobile is effectively prevented from being out of control when reaching the dynamic limit. The electronic power-assisted brake system can control hydraulic pressure according to hydraulic signals transmitted by a brake pedal of a vehicle, so that the vehicle brake of each wheel is controlled, and the braking and the speed reduction are realized. In some cases, for example: the electronic power-assisted brake system and the storage battery circuit are in failure and lose power; the electronic power-assisted brake system is disconnected from the vehicle controller in signal, and cannot receive signals and the like; failure of the brake pipe may result in failure of the electric power assisted brake system.
The electronic parking auxiliary system can be connected with the storage battery through a power supply line, and the storage battery supplies energy for the electronic parking auxiliary system to enable the electronic parking auxiliary system to normally operate. The electronic parking auxiliary system CAN be connected with the vehicle control unit through a CAN communication line, on one hand, signals of the electronic parking auxiliary system CAN be input to the vehicle control unit, and on the other hand, after the electronic parking auxiliary system receives the signals of the vehicle control unit, vehicle brakes of wheels or rear wheels are controlled, and parking braking is achieved. In some embodiments, the electronic parking assist system may be electrically connected to the vehicle brakes of the two rear wheels, and the motors of the vehicle brakes of the two rear wheels are respectively electrically connected to the electronic parking assist system, so that the positive and negative currents can control the positive and negative rotations of the motors, thereby controlling the parking brake or releasing the parking brake of the vehicle brakes, and thus achieving long-time parking or parking cancellation. In some cases, for example: the electronic parking auxiliary system and the storage battery circuit are in failure and lose power; the electronic parking assist system may not operate normally due to the fact that the electronic parking assist system is disconnected from the vehicle controller and the vehicle brakes of the wheels and cannot receive signals.
The present disclosure provides a multi-brake system redundancy control method and a redundancy control system, wherein the multi-brake system redundancy control method, as shown in fig. 1, may include steps S11-S13, which are described in detail below.
S11, determining that the electronic stability control system and the electronic power-assisted brake system are invalid through at least one of the electronic stability control system, the electronic parking assisting system and the electronic power-assisted brake system;
in the embodiment of the disclosure, the electronic stability control system, the electronic parking assist system and the electronic power-assisted brake system can perform signal communication between the systems and between the systems, and each system can have an active failure detection function and can detect whether each system has a fault and cannot operate. In some embodiments, the electronic stability control system or the electronic power-assisted brake system can judge whether the system has a fault or not by self detection; in other embodiments, the electronic stability control system or the electronic power-assisted braking system can determine whether the system has a fault by detecting itself in sequence. In some embodiments, the electronic stability control system may determine whether the electronic stability control system has a fault through detection of at least one of the electronic power brake system and the electronic parking assist system. In some embodiments, the electronic power braking system may determine whether the electronic power braking system has a fault through detection of at least one of the electronic stability control system and the electronic parking assist system. Through detection, failure of the electronic stability control system and the electronic power-assisted brake system can be known in advance or in time, so that timeliness of the redundant auxiliary function can be guaranteed, and accidents are avoided. In some embodiments, each system may detect whether each system is operating normally by operating briefly. The electronic stability control system and the electronic power-assisted brake system cannot operate when active failure detection is carried out, namely, the electronic stability control system and the electronic power-assisted brake system fail. Whether the electronic stability control system and the electronic power-assisted brake system operate normally or not is rapidly detected in real time through the autonomous failure detection function of the electronic stability control system, the electronic parking assisting system and the electronic power-assisted brake system.
In some embodiments, determining that the electronic stability control system and the electronic power brake system are disabled by at least one of the electronic stability control system, the electronic parking assist system, and the electronic power brake system comprises: and if the electronic parking assisting system cannot receive the data of the electronic stability control system, determining that the electronic stability control system fails.
In the embodiment of the present disclosure, the electronic parking assist system sends a signal to the electronic stability control system, and the electronic stability control system does not respond to the signal, or the electronic stability control system should output a signal, but the electronic parking assist system cannot receive the signal of the electronic stability control system, which indicates that the electronic stability control system fails. The electronic parking assisting system can quickly judge the failure of the electronic stability control system, and can make timely response to the failure of the electronic stability control system, so that redundant assistance can be performed in advance, the electronic parking assisting system can be used for assisting when braking is needed, or the vehicle can be stopped timely. In some embodiments, the electronic parking assist system cannot receive the data of the electronic stability control system, and determines that the electronic stability control system is invalid, and after a period of time, the electronic parking assist system receives the data of the electronic stability control system again, and may determine that the electronic stability control system is recovered to be normal.
In some embodiments, determining that the electronic stability control system and the electronic power-assisted braking system are disabled by at least one of the electronic stability control system, the electronic parking assist system, and the electronic power-assisted braking system further includes: acquiring the acceleration of the vehicle; determining whether an auxiliary function of the electronic stability control system is disabled based on the vehicle acceleration, wherein the auxiliary function comprises one or more of: an uphill assist function, a downhill assist function, and a brake assist function.
In the embodiment of the disclosure, a sensor of the electronic parking assist system detects the acceleration of the vehicle, determines that an assist function of the electronic stability control system of the vehicle should be in a working state according to the acceleration of the vehicle, and determines whether the assist function of the electronic stability control system is disabled according to a change of the acceleration. In some embodiments, the electronic parking assist system sensor detects that the vehicle is on an uphill slope, the uphill assist function of the electronic stability control system should work, and the vehicle generates a backward direction acceleration, which indicates that the uphill assist function of the electronic stability control system is invalid; otherwise, the uphill auxiliary function of the electronic stability control system is normal. In some embodiments, the electronic parking assist system sensor detects that the vehicle is on a downhill, a downhill assist function of an assist function of the electronic stability control system should operate, and the vehicle generates a forward direction acceleration, which indicates that the downhill assist function of the electronic stability control system is disabled; otherwise, the downhill auxiliary function of the electronic stability control system is normal. In some embodiments, the electronic parking assist system sensor detects that the vehicle is braked emergently, the brake assist function of the electronic stability control system should work, and the acceleration of the vehicle in the braking direction is smaller, which indicates that the brake assist function of the electronic stability control system fails; and otherwise, the brake auxiliary function of the electronic stability control system is normal. The state of the electronic stability control system is accurately judged by detecting the specific functions of the auxiliary functions of the electronic stability control system, so that the electronic parking auxiliary system can timely respond, and the occurrence of danger is reduced.
In some embodiments, determining that the electronic stability control system and the electronic power brake system are disabled by at least one of the electronic stability control system, the electronic parking assist system, and the electronic power brake system comprises: detecting states of a first control driving module and a first circuit sensing module of the electronic stability control system; determining that the electronic stability control system is invalid based on the states of the first control driving module and the first circuit sensing module; wherein, first control drive module includes: the first single chip microcomputer and/or the first motor driving module; the first circuit sensing module comprises one or more of: the device comprises a first power supply, an electromagnetic valve module, a first motor and a first sensor.
In the embodiment of the disclosure, the electronic stability control system can timely find whether the system of the electronic stability control system fails through self detection. The first control driving module can convert signals transmitted from the inside and the outside of the electronic stability control system into signals for controlling the opening or closing of the target according to the target requirements controlled by the first control driving module, so that the controlled target is opened or closed, and the control of the controlled target is realized. The first circuit sensing module of the electronic stability control system is a functional module for executing signals in the electronic stability control system, and is a specific operation unit. The signal output of the first control driving module can be detected through detecting the first control driving module and the first circuit sensing module of the electronic stability control system and inputting signals, and if no signal is output or the signal output is not a signal of a control target, the first control driving module is indicated to be in a fault state; the functional module for detecting specific execution signals by inputting signals to the first circuit sensing module indicates that the first circuit sensing module is normal if the functional module can work normally, and otherwise indicates that the first circuit sensing module has a fault. Through inputting external signal or internal signal, realize that the function of the first control drive module of electron stable control system and first circuit sensing module detects, judge whether electron stable control system is inefficacy, through detecting specific functional module, the electron stable control system trouble that will be difficult for detecting turns into specific function detection, can be fast, the quantization detection electron stable control system. The first control driving module may include: the first singlechip and/or the first motor drive module. The first single chip is also called as a single chip microcontroller and belongs to an integrated circuit chip. The first single chip microcomputer is used for carrying out data calculation and processing on electronic signals in the electronic stability control system and sending instruction signals to a control target. And the first motor driving module is used for controlling a first motor in the electronic stability control system and controlling the operation of the first motor and the adjustment of the parameters of the first motor according to the transmitted electronic signals. The first motor driving module is integrally modularized, compact and small in structure, safe and stable. A first circuit sensing module comprising: the sensor comprises a first power supply, an electromagnetic valve module, a first motor and a first sensor. The first power supply provides power support for the electronic stability control system, is supplied by an independent power supply and is not interfered by other systems, and the first electronic stability control system is more stable. The electromagnetic valve module is an execution unit of the electronic stability control system, and realizes quick valve core movement by receiving a driving signal, so that pressure or flow can be changed quickly and accurately. The first motor is an execution unit for carrying out the electronic stability control system, and corresponding actions are completed through the first motor, so that rapid and accurate control is realized. The first sensor receives parameters in various electronic stability control systems and converts the parameters into electronic signals. The first single chip microcomputer and/or the first motor driving module can enable the electronic stability control system to calculate shorter reaction time, enable the electromagnetic valve module and the first motor to drive more timely, and reduce braking reaction time. The first power supply enables the electronic stability control system to continue to work when the electronic stability control system lacks an external power supply, and stability of the electronic stability control system is guaranteed. The first sensor detects parameters of various electronic stability control systems and provides basic data signals for subsequent instructions.
In some embodiments, determining that the electronic stability control system and the electronic power brake system are disabled by at least one of the electronic stability control system, the electronic parking assist system, and the electronic power brake system comprises: and if the electronic parking assisting system cannot receive the data of the electronic power-assisted braking system, determining that the electronic power-assisted braking system fails.
In the embodiment of the disclosure, the electronic parking assist system sends a signal to the electronic power-assisted braking system, and the electronic power-assisted braking system does not respond to the signal, or the electronic power-assisted braking system should output a signal, but the electronic parking assist system cannot receive the signal of the electronic power-assisted braking system, which indicates that the electronic power-assisted braking system fails. The electronic power-assisted brake system failure can be judged quickly, and the electronic parking auxiliary system can make timely response to the electronic power-assisted brake system failure, so that redundant assistance can be performed in advance, the electronic parking auxiliary system can be used for assisting when braking is needed, or the vehicle can be stopped timely. In some embodiments, the electronic parking assist system cannot receive data of the electronic power-assisted braking system to determine that the electronic power-assisted braking system is failed, and after a period of time, the electronic parking assist system receives the data of the electronic power-assisted braking system again to determine that the electronic power-assisted braking system is recovered to be normal.
In some embodiments, determining that the electronic stability control system and the electronic power-assisted braking system are disabled by at least one of the electronic stability control system, the electronic parking assist system, and the electronic power-assisted braking system further includes: acquiring vehicle acceleration in response to a brake pedal switch trigger signal; and if the acceleration of the vehicle is greater than or equal to the detection threshold value, determining that the electronic power-assisted braking system is invalid.
In the embodiment of the disclosure, a driver steps on a brake pedal, an electronic parking auxiliary system collects a trigger signal of the stepping on of the brake pedal, a vehicle brake system starts to work, brake oil in a brake master pump applies pressure, liquid transmits the pressure to a piston of each wheel brake caliper through a pipeline, and the piston drives the brake calipers to clamp a brake disc so as to generate huge friction force to decelerate the vehicle, and the vehicle generates acceleration at the moment. The electronic parking assisting system sensor acquires acceleration, and whether the braking effect of the vehicle is good or not is judged according to whether the acceleration value is larger than a detection threshold value or not. By detecting the states before and after the brake pedal is stepped on and the acceleration change, and calculating and comparing numerical values, the numerical values which can be specifically compared are formed, and whether the electronic power-assisted brake system fails or not can be judged quickly and accurately.
In some embodiments, determining that the electronic stability control system and the electronic power brake system are disabled by at least one of the electronic stability control system, the electronic parking assist system, and the electronic power brake system comprises: detecting whether a second control driving module and a second circuit sensing module of the electronic power-assisted braking system have faults or not; if the second control driving module or the second circuit sensing module has faults, determining that the electronic power-assisted braking system fails; wherein, the second control drive module includes: the second singlechip and/or the second motor driving module; the second circuit sensing module includes one or more of: the second power supply, the H-bridge circuit module, the second motor and the second sensor.
In the embodiment of the disclosure, the electronic power-assisted braking system can timely find whether a fault or partial fault exists in the system through self detection. The second control driving module can convert signals transmitted from the inside and the outside of the electronic power-assisted brake system into signals for controlling the opening or closing of the target according to the target requirements controlled by the second control driving module, so that the controlled target is opened or closed, and the control of the controlled target is realized. The second circuit sensing module of the electronic power-assisted brake system is a functional module for executing signals in the electronic power-assisted brake system, and is a specific operation unit. The signal output of the second control driving module can be detected through detecting the second control driving module and the second circuit sensing module of the electronic power-assisted braking system and inputting signals, and if no signal is output or the signal output is not a signal of a control target, the second control driving module is indicated to be in a fault state; and detecting the functional module of the specific execution signal by inputting a signal to the second circuit sensing module, wherein if the functional module can work normally, the second circuit sensing module is normal, otherwise, the second circuit sensing module is in failure. Through inputting external signal or internal signal, realize that electron power assisted brake system second control drive module and second circuit sensing module's function detects, judge whether electron power assisted brake system is whole to be invalid, through detecting concrete functional module, turn into specific function detection with the electron power assisted brake system trouble that is difficult for detecting, can be fast, the quantization detects electron power assisted brake system. The second control driving module may include: the second singlechip and/or the second motor drive module. The second single chip is also called a single chip microcontroller and belongs to an integrated circuit chip. The second single chip microcomputer is used for carrying out data calculation and processing on electronic signals in the electronic power-assisted braking system and sending command signals to a control target. And the second motor driving module is used for controlling a second motor in the electronic power-assisted braking system and controlling the operation of the second motor and the adjustment of parameters of the second motor according to the transmitted electronic signals. A second circuit sensing module comprising: the second power supply, the H-bridge circuit module, the second motor and the second sensor. And the second power supply is used for providing electric support for the electronic power-assisted brake system. And the H-bridge circuit module is a module for controlling the second motor. The second motor is a power assisting source for the electronic power-assisted brake system, and the second motor is used for completing the brake action and improving the brake performance. And the second sensor receives various parameters in the electronic power-assisted brake system and converts the parameters into electronic signals. The second single chip microcomputer and/or the second motor driving module can enable the electronic power-assisted braking system to calculate shorter reaction time, enable the second motor to drive more timely and reduce braking reaction time. The second power supply enables the electronic power-assisted braking system to continue to work when the electronic power-assisted braking system is short of an external power supply, and the stability of the electronic power-assisted braking system is ensured. H bridge circuit module, the work of control second motor that can be stable, quick. The second motor and the power source of the electronic power-assisted brake system can quickly complete brake. And the second sensor is used for detecting parameters of various electronic power-assisted brake systems and providing basic data signals for subsequent instructions.
Step S12, determining a braking demand;
in the disclosed embodiment, since the rear braking force provided by the electronic parking assist system is limited and uncontrollable in magnitude, only the braking demand can be determined. According to different braking requirements, the electronic parking auxiliary system performs different braking modes, different conditions are met, better braking is achieved, and safety of a vehicle is guaranteed.
In some embodiments, determining a braking demand comprises: determining a braking demand in response to a brake pedal switch trigger signal; or, in response to a switch trigger signal of the electronic parking assist system, a braking demand is determined.
In the embodiment of the disclosure, an electronic parking assisting system collects a trigger signal of treading down a brake pedal and determines that a vehicle needs to be braked; or, the electronic parking assist system itself sends a braking signal to determine that the vehicle needs to be braked. According to different conditions, the electronic parking auxiliary system performs different braking modes, so that various braking requirements are met, better braking is realized, and the safety of the vehicle is guaranteed.
And S13, responding to the braking demand, and performing continuous or intermittent braking through the electronic parking assisting system.
In the embodiment of the disclosure, the vehicle needs to be braked, and because the rear braking force provided by the electronic parking auxiliary system is limited and the magnitude of the rear braking force cannot be controlled, the electronic parking auxiliary system can only be used for continuously or intermittently braking, so that the vehicle can meet the requirements of different braking forces, better braking is realized, and the safety of the vehicle is guaranteed.
In some embodiments, in response to a braking demand, continuous or intermittent braking is performed by an electronic parking assist system, comprising: providing a braking force by an electronic parking assist system; acquiring the acceleration of the vehicle; the electronic parking assist system is maintained or interrupted to provide braking force based on vehicle acceleration.
In the disclosed embodiment, the motor unit of the electronic parking assist system is integrated on the rear brake caliper, and the electronic control unit controls the action of the motor integrated in the brake caliper and drives the piston of the brake caliper to move to generate mechanical clamping force to complete rear wheel braking; a sensor of the electronic parking assist system collects acceleration data of the vehicle. And judging whether the vehicle needs to be braked or not according to the acquired vehicle acceleration data, and keeping the working state or interrupting the working state by the electronic parking auxiliary system according to whether the vehicle needs to be braked or not. The electronic parking assist system provides a braking force in an operating state and does not provide a braking force in an interrupting state.
In some embodiments, the electronic parking assist system maintaining or interrupting braking force based on vehicle acceleration may include: if the acceleration of the vehicle is smaller than or equal to a first threshold value, wherein the first threshold value is smaller than zero, the electronic parking assistance system enters a holding state, and the electronic parking assistance system keeps providing braking force; if the vehicle acceleration is greater than or equal to the second threshold value, the electronic parking assist system enters an interruption state, and the electronic parking assist system interrupts the supply of the braking force.
In the disclosed embodiment, when the vehicle brakes, the acceleration is a negative value, and the smaller the value of the acceleration is, namely the larger the deceleration of the vehicle is; conversely, the larger the acceleration, the closer the negative value is to 0, i.e., the smaller the deceleration of the vehicle. When the vehicle is normally braked, the larger the braking force, the smaller the value of the acceleration, that is, the higher the absolute value of the negative value, the larger the deceleration. However, when the wheels are locked and the vehicle slips, the acceleration value of the vehicle increases, that is, the negative absolute value decreases, and the deceleration of the vehicle decreases. The method comprises the steps of acquiring acceleration data of a vehicle according to a sensor of the electronic parking auxiliary system, judging whether the acceleration of the vehicle is smaller than or equal to a first threshold value, if the acceleration is smaller than or equal to the first threshold value, wherein the first threshold value is a negative number, the acceleration value of the vehicle is smaller, namely the deceleration is higher, the deceleration effect is good, wheels do not skid in a locking mode, the electronic parking auxiliary system enters a holding state, the electronic parking auxiliary system holds the currently provided braking force, and the vehicle continues to decelerate. In some embodiments, the first threshold may be-0.2G, G being the acceleration of gravity. The acceleration data of the vehicle is collected according to a sensor of the electronic parking assistance system, and the acceleration of the vehicle is judged to be greater than or equal to a second threshold value, wherein the second threshold value can be a value close to 0G, 0G or a value in the range of-0.05G-0.05G. Under the condition that the acceleration of the vehicle is greater than or equal to the second threshold value, the deceleration effect of the vehicle is poor, the vehicle possibly has locking and slipping phenomena, the electronic parking auxiliary system enters an interruption state, the electronic parking auxiliary system interrupts to provide braking force, and continuous locking of wheels is avoided. In some embodiments, the second threshold may be 0G. The electronic parking assisting system is kept or interrupted by detecting the acceleration of the vehicle, the continuous locking and slipping phenomenon of the vehicle is prevented while the braking force is provided, the speed of the vehicle is controlled, and the safety of the vehicle is guaranteed.
In some embodiments, the electronic parking assist system maintains or interrupts the braking force based on the vehicle acceleration, and may further include: in response to the vehicle acceleration being greater than or equal to a third threshold value, where the third threshold value is greater than the first threshold value, with the electronic parking assist system in the hold state, the electronic parking assist system enters the interrupt state.
In the embodiment of the disclosure, when the electronic parking assist system is in the hold state, the sensor of the electronic parking assist system collects acceleration data of the vehicle, and determines that the acceleration of the vehicle is greater than or equal to the third threshold, which shows that the acceleration value increases, that is, the deceleration of the vehicle decreases, the deceleration effect becomes poor, and it indicates that a situation of wheel locking and slipping may occur when the vehicle holds the current braking force in the electronic parking assist system. Under the condition, the electronic parking auxiliary system enters an interruption state, and the braking force is interrupted, so that the wheels are prevented from being locked and slipping continuously, and the safety of the vehicle body is ensured. In some embodiments, the third threshold may be-0.15G, G being the acceleration of gravity. When a vehicle is braked, the acceleration is increased, the braking efficiency is reduced, the phenomenon of locking and slipping of vehicle wheels is indicated, the electronic parking auxiliary system is interrupted to provide braking force, the wheels are enabled to rotate again, the phenomenon of locking and slipping of the vehicle is prevented, the vehicle speed is controlled, and the safety of the vehicle is guaranteed.
In some embodiments, the electronic parking assist system maintains or interrupts the braking force based on the vehicle acceleration, and may further include: in the case where the electronic parking assist system is in the interrupted state, in response to a time at which the electronic parking assist system enters the interrupted state being greater than or equal to a first time threshold, return execution is made to providing braking force by the electronic parking assist system.
In the embodiment of the disclosure, when the electronic parking assist system is in the interrupted state, the time that the electronic parking assist system enters the interrupted state is greater than or equal to the first time threshold, that is, the time that the electronic parking assist system interrupts providing the braking force to prevent the wheels from continuously locking and slipping exceeds a certain time period, the electronic parking assist system is returned to provide the braking force, and the vehicle is continuously decelerated. In some embodiments, the first time threshold may be 0.2s, from the interruption of the electronic parking assist system to the hold duration. The electronic parking auxiliary system is automatically adjusted to be kept or interrupted, so that wheels are prevented from being locked, the wheels are in a state of slipping and rolling at the same time, and a 'inching brake' is formed, so that the optimal braking effect is obtained, and the safety of the vehicle is guaranteed.
In some embodiments, as shown in FIG. 2, the electronic park assist system applies the brakes when the electronic stability control system and the electronic power assisted braking system have failed. When the electronic parking assisting system brakes, the electronic parking assisting system detects the deceleration of the vehicle, the deceleration reaches more than 0.2G, the electronic parking assisting system continues to maintain the braking force, the electronic parking assisting system continues to detect the deceleration of the vehicle, and if the deceleration is lower than 0.15G, the electronic parking assisting system is interrupted. When the electronic parking assist system starts braking, the electronic parking assist system detects the deceleration of the vehicle, and the electronic parking assist system is interrupted without increasing the deceleration. And after the interruption time of the electronic parking auxiliary system is more than 0.2s, the electronic parking auxiliary system brakes to form cycle judgment.
Based on the same inventive concept, the present disclosure also provides a redundancy control system, as shown in fig. 3, the redundancy control system includes: the parking brake system comprises an electronic stability control system, an electronic parking auxiliary system, an electronic power-assisted brake system and a plurality of vehicle brakes corresponding to each wheel of the vehicle; the braking redundancy control is performed by the multi-brake system redundancy control method of the first aspect.
In the embodiment of the disclosure, the electronic stability control system can give an instruction to the master cylinder, brake oil in the master cylinder applies pressure, liquid transmits the pressure to pistons of brake calipers of a front wheel and a rear wheel through pipelines, and the pistons drive the brake calipers to clamp a brake disc so as to apply braking force to the front wheel and the rear wheel. The electronic parking auxiliary system is characterized in that a motor unit is integrated on left and right rear brake calipers, and an electronic control unit controls the action of a motor integrated in the left and right brake calipers and drives a brake caliper piston to move to generate mechanical clamping force so as to complete rear wheel braking. The electronic power-assisted brake uses the power generated by the motor to push the brake master cylinder to work, when the brake is stepped on, the power-assisted motor operates to push the brake pump to apply pressure to brake oil, the liquid transmits the pressure to the pistons of the brake calipers of the front wheel and the rear wheel through pipelines, and the pistons drive the brake calipers to clamp a brake disc so as to apply braking force to the front wheel and the rear wheel. A redundant control system is provided to increase the measure of the vehicle against the failure and to increase the safety of the vehicle. In some embodiments, when a failure of the electronic stability control system is detected, the electronic power brake system and/or the electronic parking assist system may provide redundancy to the electronic stability control system as part of a redundant control system, i.e., the electronic power brake system and/or the electronic parking assist system replace the functionality of the electronic stability control system.
In some embodiments, an electronic parking assist system includes: and the acceleration sensor is used for acquiring the acceleration of the vehicle.
In an embodiment of the present disclosure, an electronic parking assist system may include: the acceleration sensor is convenient for measuring the acceleration of the vehicle and accurately obtains the acceleration state of the vehicle, wherein the acceleration sensor can be a six-axis acceleration sensor and can measure the linear acceleration and the angular acceleration in a plurality of directions.
With regard to the redundant control system in the above embodiment, the effects thereof have been described in detail in the embodiment related to the redundant control method of the multi-brake system, and will not be elaborated herein.
The methods and apparatus related to embodiments of the present disclosure can be accomplished with standard programming techniques with rule-based logic or other logic to accomplish the various method steps. It should also be noted that the words "means" and "module," as used herein and in the claims, is intended to encompass implementations using one or more lines of software code, and/or hardware implementations, and/or equipment for receiving input.
Any of the steps, operations, or procedures described herein may be performed or implemented using one or more hardware or software modules, alone or in combination with other devices. In one embodiment, the software modules are implemented using a computer program product comprising a computer readable medium containing computer program code, which is executable by a computer processor for performing any or all of the described steps, operations, or procedures.
It is understood that "a plurality" in this disclosure means two or more, and other words are analogous. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. The singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It will be further understood that the terms "first," "second," and the like are used to describe various information and that such information should not be limited by these terms. These terms are only used to distinguish one type of information from another, and do not indicate a particular order or degree of importance. Indeed, the terms "first," "second," etc. are used interchangeably throughout. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure.
It will be further understood that the terms "central," "longitudinal," "lateral," "front," "rear," "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the present embodiment and to simplify the description, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation.
It is further understood that unless otherwise specified, "connected" includes direct connections between the two without other components, indirect connections between the two with other elements, and communication connections that do not have a physical relationship but are capable of information or data transfer.
It is further to be understood that while operations are depicted in the drawings in a particular order, this is not to be understood as requiring that such operations be performed in the particular order shown or in serial order, or that all illustrated operations be performed, to achieve desirable results. In certain environments, multitasking and parallel processing may be advantageous.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice in the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (14)

1. A multi-brake system redundancy control method is applied to a redundancy control system, and the redundancy control system comprises the following steps: the parking brake system comprises an electronic stability control system, an electronic parking auxiliary system and an electronic power-assisted brake system;
the multi-brake system redundancy control method comprises the following steps:
determining that the electronic stability control system and the electronic power-assisted brake system are invalid through at least one of the electronic stability control system, the electronic parking assist system and the electronic power-assisted brake system;
determining a braking demand;
performing continuous or intermittent braking by the electronic parking assist system in response to the braking demand.
2. The multi-brake system redundancy control method of claim 1, wherein the determining a braking demand comprises:
determining a braking demand in response to a brake pedal switch trigger signal; or the like, or, alternatively,
a braking demand is determined in response to a switch trigger signal of the electronic parking assist system.
3. The multi-brake system redundancy control method of claim 1, wherein the performing continuous or intermittent braking by the electronic park assist system in response to the braking demand comprises:
providing a braking force by the electronic parking assist system;
acquiring the acceleration of the vehicle;
maintaining or interrupting the electronic parking assist system from providing braking force based on the vehicle acceleration.
4. The multi-brake system redundancy control method according to claim 3, wherein the electronic parking assist system maintaining or interrupting the braking force based on the vehicle acceleration includes:
if the vehicle acceleration is smaller than or equal to a first threshold value, wherein the first threshold value is smaller than zero, the electronic parking assist system enters a holding state, and the electronic parking assist system keeps providing braking force;
and if the vehicle acceleration is larger than or equal to a second threshold value, the electronic parking assistance system enters an interruption state, and the electronic parking assistance system interrupts the supply of the braking force.
5. The multi-brake system redundancy control method according to claim 4, wherein the electronic parking assist system maintains or interrupts the braking force based on the vehicle acceleration, further comprising:
in response to the vehicle acceleration being greater than or equal to a third threshold value with the electronic parking assist system in a hold state, wherein the third threshold value is greater than the first threshold value, the electronic parking assist system enters an interrupt state.
6. The multi-brake system redundancy control method according to claim 4 or 5, wherein the electronic parking assist system maintains or interrupts the braking force based on the vehicle acceleration, further comprising:
and under the condition that the electronic parking assistance system is in the interruption state, in response to the time for which the electronic parking assistance system enters the interruption state being greater than or equal to a first time threshold value, returning to the execution of the provision of the braking force by the electronic parking assistance system.
7. The multi-brake system redundancy control method according to claim 1, wherein the determining that the electronic stability control system and the electronic power-assisted brake system are failed through at least one of an electronic stability control system, an electronic parking assist system and an electronic power-assisted brake system comprises:
and if the electronic parking assisting system cannot receive the data of the electronic stability control system, determining that the electronic stability control system is invalid.
8. The multi-brake system redundancy control method of claim 7, wherein the determining that the electronic stability control system and the electronic power assisted brake system are disabled by at least one of an electronic stability control system, an electronic parking assist system, and an electronic power assisted brake system further comprises:
acquiring the acceleration of the vehicle;
determining whether an auxiliary function of the electronic stability control system is disabled based on the vehicle acceleration, wherein the auxiliary function includes one or more of: an uphill assist function, a downhill assist function, and a brake assist function.
9. The multi-brake system redundancy control method according to claim 7 or 8, wherein the determining that the electronic stability control system and the electronic power assisted brake system are failed through at least one of an electronic stability control system, an electronic parking assist system and an electronic power assisted brake system comprises:
detecting states of a first control driving module and a first circuit sensing module of the electronic stability control system;
determining that the electronic stability control system is invalid based on the states of the first control driving module and the first circuit sensing module;
wherein the first control driving module includes: the first single chip microcomputer and/or the first motor driving module;
the first circuit sensing module comprises one or more of: the sensor comprises a first power supply, an electromagnetic valve module, a first motor and a first sensor.
10. The multi-brake system redundancy control method according to claim 1, wherein the determining that the electronic stability control system and the electronic power-assisted brake system are failed through at least one of an electronic stability control system, an electronic parking assist system and an electronic power-assisted brake system comprises:
and if the electronic parking assisting system cannot receive the data of the electronic power-assisted braking system, determining that the electronic power-assisted braking system is invalid.
11. The multi-brake system redundancy control method according to claim 10, wherein the determining that the electronic stability control system and the electronic power-assisted brake system are failed by at least one of an electronic stability control system, an electronic parking assist system, and an electronic power-assisted brake system further comprises:
acquiring vehicle acceleration in response to a brake pedal switch trigger signal;
and if the vehicle acceleration is larger than or equal to a detection threshold value, determining that the electronic power-assisted braking system is invalid.
12. The multi-brake system redundancy control method according to claim 10 or 11, wherein the determining that the electronic stability control system and the electronic power-assisted brake system are failed by at least one of an electronic stability control system, an electronic parking assist system and an electronic power-assisted brake system comprises:
detecting whether a second control driving module and a second circuit sensing module of the electronic power-assisted braking system have faults or not;
if the second control driving module or the second circuit sensing module breaks down, determining that the electronic power-assisted braking system is invalid;
wherein the second control driving module includes: the second singlechip and/or the second motor driving module;
the second circuit sensing module comprises one or more of: the second power supply, the H-bridge circuit module, the second motor and the second sensor.
13. A redundant control system, comprising: the parking brake system comprises an electronic stability control system, an electronic parking auxiliary system, an electronic power-assisted brake system and a plurality of vehicle brakes corresponding to each wheel of the vehicle;
brake redundancy control is performed by a multi-brake system redundancy control method according to any of claims 1 to 12.
14. The redundant control system of claim 13, wherein the electronic parking assist system comprises: and the acceleration sensor is used for acquiring the acceleration of the vehicle.
CN202211086475.8A 2022-09-07 2022-09-07 Redundancy control method and redundancy control system for multi-brake system Pending CN115158275A (en)

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