CN115465117A - Vehicle brake control system, method and storage medium - Google Patents

Abstract

The application provides a vehicle brake control system, a vehicle brake control method and a storage medium, which relate to the technical field of electric automobiles, and the system comprises: the system comprises a whole vehicle control module, a redundant controller and a brake motor module; the whole vehicle control module comprises a main power supply and a standby power supply; the redundancy controller comprises a power supply management module and a motor driving module; the motor driving module is electrically connected with the brake motor module, and the power management module is in switchable connection with the main power supply and the standby power supply; the redundant controller is used for carrying out discharging and charging management on the standby power supply according to the power supply voltage state of the whole vehicle control module, and switching a proper power supply to drive the brake motor module to brake the vehicle. The redundant controller integrates the functions of standby power management and EPB (emergency power supply), controls the power supply mode of the main/standby power supply for automatic switching, effectively ensures the integral healthy operation of a power supply system, further ensures the stable operation of vehicle braking, and improves the driving safety.

Description

Vehicle brake control system, method and storage medium

technical field

The present application relates to the technical field of electric vehicles, in particular, to a vehicle braking control system, method and storage medium.

Background technique

The transformation of traditional vehicles to new energy vehicles is the main trend of current vehicle development, and the application of motor systems has also been popularized. In new energy vehicles, the motor system can not only provide driving force so that the vehicle can run normally, but also provide braking force so that the vehicle can brake in an emergency. The car braking system generally has two main functions of "stepping on the brake" and "pulling the handbrake": one is the service brake that makes the car decelerate from dynamic to static function, which is realized by the driver operating the brake pedal; the other is to make the vehicle The parking brake to maintain the stationary state is automatically completed by the driver's operation of the parking switch (EPB) or the vehicle's parking brake logic.

At present, with the breakthrough of vehicle-by-wire technology and the rise of skateboard chassis, the existing skateboard-by-wire chassis mainly adopt remote control mode or automatic driving control, brake pedal without mechanical connection, and the power supply for the chassis basically adopts Single supply model. When the power supply of the vehicle fails to provide power to the controllers such as VCU\EHB\EPB, it will not be able to effectively brake the vehicle in an emergency.

Contents of the invention

In view of this, the purpose of the embodiments of the present application is to provide a vehicle brake control system, method and storage medium, the system includes: a vehicle control module, a redundant controller, and a brake motor module, wherein the vehicle control The module includes the main power supply and the backup power supply; the redundant controller includes the power management module and the motor drive module; the redundant controller can discharge and charge the backup power supply according to the power supply voltage status of the vehicle control module, and switch the appropriate The power supply is used to drive the brake motor module for vehicle braking, so that the vehicle can actively switch the main power supply (for example: 12V main power supply) to the backup power supply, so that it still has a certain driving or parking braking capability when the main power supply fails. , so as to solve the above-mentioned technical problem of "when the power supply of the vehicle fails to provide power for the VCU\EHB\EPB and other controllers, it will not be able to effectively brake the vehicle".

In the first aspect, an embodiment of the present application provides a vehicle braking control system, the system includes: a vehicle control module, a redundant controller, and a brake motor module; the vehicle control module includes a main power supply and a backup power supply The redundant controller includes a power management module and a motor drive module; the motor drive module is electrically connected to the brake motor module, and the power management module is switchably connected to the main power supply and the backup power supply ; Wherein, the redundant controller is used to discharge and charge the standby power supply according to the power supply voltage state of the vehicle control module, and switch an appropriate power supply to drive the brake motor module for vehicle braking.

In the above implementation process, the redundant controller integrates the backup power management and EPB functions to control the main/standby power supply to automatically switch to its power supply mode, effectively ensuring the healthy operation of the power supply system as a whole, and thus increasing the operating time of the vehicle system. Reliability; when the main power supply fails, the redundantly configured backup power supply intervenes and replaces the failed main power supply to supply power to ensure its normal operation. This redundant configuration can effectively increase the average trouble-free time of the system Time, ensure the stable operation of vehicle braking, and improve driving safety.

Optionally, the redundant controller further includes: an electric signal sensor, a fault diagnosis module; the electric signal sensor is electrically connected to the brake motor module, and is used to detect the voltage at both ends of the brake motor in the brake motor module Real-time current; the fault diagnosis module is used to judge whether the brake motor module has a work failure fault according to the comparison result of the real-time current detected by the electrical signal sensor and the preset braking current target value; and after the work failure fault occurs , judging whether the brake motor module has a mechanical failure according to the vehicle speed information provided by the vehicle control module.

In the above implementation process, the EPB motor current is monitored through the redundant controller, and the parking control is quickly executed after receiving the parking or release signal from the vehicle control module, and the motor current is used to diagnose and identify the occurrence of the parking brake control process. Braking failures and mechanical failures effectively ensure the healthy operation of the braking system as a whole, thereby increasing the reliability of the vehicle system and improving vehicle safety.

Optionally, the redundant controller sends a current signal to the brake motor module; the fault diagnosis module is also used to judge whether the brake motor module has a short circuit or an open circuit fault according to the feedback of the current signal.

In the above implementation process, the redundant controller can diagnose the open circuit and short circuit faults of the EPB motor through the fault diagnosis module, which can well avoid the abnormal sound of the motor during the open and short circuit detection process, and can effectively detect the motor circuit The open and short circuit improves the safety and practicability.

Optionally, the electrical signal sensor is also used to detect the voltage of the power circuit of the vehicle control module; the vehicle control module also includes: a CAN interface; the redundant controller communicates with the vehicle through the CAN interface The control module establishes a communication connection; the redundant controller is used to receive the startup status of the vehicle control module through the CAN interface each time the vehicle is powered on, and make the DC converter automatically charge the backup power supply; and when the electric signal When the backup power supply voltage detected by the sensor is lower than the preset minimum motor braking voltage, the DC converter is automatically recharged for the backup power supply at regular intervals.

In the above implementation process, the status communication between the vehicle control module and the redundant controller is realized through the CAN interface. The redundant controller can monitor the communication status of the vehicle control module and monitor the vehicle running status in real time, so as to When the backup power supply voltage is lower than the preset value, automatic cycle charging is performed, which ensures the active braking function when the main power supply fails, and improves the continuity of the braking power supply.

Optionally, the vehicle control module is also used to send a mandatory charging signal to the redundant controller through the CAN interface; the redundant controller is also used to automatically charge when the backup power supply fails, When the main power supply fails, the backup power supply is forced to charge.

In the above implementation process, the status communication between the vehicle control module and the redundant controller is realized through the CAN interface. The redundant controller can monitor the communication status of the vehicle control module. When the backup power supply fails to automatically charge and the main power supply In the two cases of failure, the backup power supply is charged forcibly, which further ensures the active braking function under the failure of the main power supply and improves the continuity of the braking power supply.

Optionally, the power management module is also used to switch the output of the standby power supply to a normally-on state when the voltage of the main power supply detected by the electrical signal sensor is lower than a preset minimum voltage; and/or when the main power supply detected by the electrical signal sensor Switches the backup power output to an off state when the power supply voltage is above a preset minimum voltage amount.

In the above implementation process, by adopting active and forced charging modes for the backup power supply, it can be managed autonomously under normal conditions, and can provide emergency backup power for other controllers in failure mode, that is, when the main power supply of the vehicle fails, an emergency backup power supply is provided. The output is supplied to other controllers, which can further ensure the healthy operation of the power supply system as a whole, thereby increasing the reliability and stability of the vehicle system.

Optionally, the power management module is also used to switch to the main power supply when the backup power supply voltage detected by the electrical signal sensor is lower than the preset minimum operating voltage, and the motor drive module is used to drive the motor under the power supply of the main power supply. The motor module performs vehicle braking; and/or the power management module is also used to switch to the backup power supply when the voltage of the backup power supply detected by the electrical signal sensor is within the preset normal working voltage range, and the motor drive module uses The brake motor module is driven to brake the vehicle under the backup power supply.

In the above implementation process, the power management module integrated through the redundant controller can well manage and monitor the main power supply and the backup power supply, and at the same time integrates the EPB braking function, so that it can automatically manage the main power supply, the backup power supply and the auxiliary system. The motor module executes the parking brake, which ensures the normal operation of the parking brake, thereby improving the stability of the parking brake.

Optionally, the motor drive module includes a high-power MOS tube, which is used to adapt to the wheel-side direct-drive large motor handbrake or pull-wire small motor handbrake.

In the above implementation process, the relevant parameters of the brake motor module can be quickly calibrated through the redundant controller to adapt to the EPB motors of different models, and at the same time meet the two modes of large motor and small motor, realizing fast calibration and matching, reducing the cost of The cost of redevelopment and matching caused by system differences.

In the second aspect, the embodiment of the present application provides a vehicle braking control method, which is applied to the above-mentioned system, and the method includes: through the power management module of the redundant controller, the backup power supply Perform discharge and charge management, and switch to an appropriate power source; when switching to an appropriate power source, drive the brake motor module through the motor drive module to perform vehicle braking.

In the above implementation process, when the main power supply fails, the redundantly configured backup power supply intervenes and replaces the failed main power supply to work. This redundant configuration can effectively increase the mean time between failures of the system and ensure that the vehicle The stable operation of the brake improves the driving safety.

In the third aspect, the embodiment of the present application also provides an electronic device, including: a processor, a memory, the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the machine-readable The steps of the above method are performed when the instructions are executed by the processor.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored on the storage medium, and when the computer program is run by a processor, the steps of the above method are executed.

In order to make the above objects, features and advantages of the present application more comprehensible, the following specific embodiments are described in detail in conjunction with the accompanying drawings.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the accompanying drawings that need to be used in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, so It should not be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings according to these drawings without creative work.

Fig. 1 is a module function diagram of a vehicle brake control system provided by the embodiment of the present application;

FIG. 2 is a schematic structural diagram of a vehicle braking control system provided by an embodiment of the present application;

FIG. 3 is a connection circuit diagram between a redundant controller and a vehicle control module provided by an embodiment of the present application;

Fig. 4 is a schematic block diagram of an electronic device for a vehicle braking control system according to an embodiment of the present application.

Icons: 01-vehicle brake control system; 10-redundant controller; 11-power management module; 12-motor drive module; 20-vehicle control module; 21-main power supply; 22-backup power supply; 30-brake Motor module; 300-electronic equipment; 311-memory; 312-storage controller; 313-processor; 314-peripheral interface; 315-input and output unit; 316-display unit.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present application.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures. The term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements but also other elements not expressly listed elements, or also elements inherent in such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element. The terms "first", "second", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.

Before introducing this application, first briefly explain several concepts involved in this application:

VCU: vehicle controller is the core unit of electric vehicle operation, responsible for the functions of vehicle drive control, energy management, vehicle safety, fault diagnosis and information processing, and is a necessary guarantee for the safe and efficient operation of pure electric vehicles.

EHB: The electronic hydraulic brake system is developed on the basis of the traditional hydraulic brake. The control mechanism replaces the traditional hydraulic brake pedal with an electronic brake pedal, and cancels the bulky vacuum booster. The integrated electronic pedal sensor can accurately perceive the priority of the driver's pedal control, and convert it into an electrical signal and transmit it to the electronic control unit. The high-pressure hydraulic control unit will automatically adjust the brake pressure of the wheels according to different driving conditions. The actuator replaces the pressure regulator and ABS module in conventional brakes with an integrated brake module.

EPB: Electronic parking brake system, which turns the traditional lever handbrake into an easy-to-reach button, and controls the parking brake through electronic circuits. The function is the same as the mechanical lever handbrake. There is no need to manually turn off the electronic handbrake when starting, and the electronic handbrake will be automatically turned off when the accelerator is stepped on to start.

The invention of the present application notices that: the parking brake of the vehicle brake system "pulls the handbrake" to keep the vehicle in a stationary state, which is automatically completed by the driver's operation of the parking switch (EPB) or the logic of the vehicle's parking brake. At present, with the breakthrough of vehicle-by-wire technology and the rise of skateboard chassis, the existing skateboard-by-wire chassis mainly adopt remote control mode or automatic driving control, brake pedal without mechanical connection, and the power supply for the chassis basically adopts Single supply model. When the power supply of the vehicle fails to provide power to the controllers such as VCU\EHB\EPB, it will not be able to effectively brake the vehicle in an emergency. Based on the above findings, the present application proposes a vehicle control system to solve the above defects, specifically as follows:

Please refer to FIG. 1 . FIG. 1 is a functional schematic diagram of modules of a vehicle braking control system 01 provided in an embodiment of the present application. The vehicle braking control system 01 includes: a vehicle control module 20, a redundant controller 10, and a brake motor module 30; the vehicle control module 20 includes a main power supply 21 and a backup power supply 22; the redundant controller 10 includes a power supply Management module 11, and motor drive module 12;

Wherein, the motor drive module 12 is electrically connected to the brake motor module 30, and the power management module 11 is switchably connected to the main power supply 21 and the backup power supply 22; the redundant controller 10 is used to Perform discharge and charge management on the standby power supply 22, and switch appropriate power supply to drive the brake motor module 30 for vehicle braking.

Exemplarily, the vehicle control module 20 may be a controller system including a core processing unit of a vehicle VCU (vehicle controller), and may realize various functions such as main/standby power management, CAN communication, and vehicle completion. The motor drive module 12 may include an H-bridge switch circuit, which may be connected to the four switches in the H-bridge respectively, and is used to control the current feed to the multiple motors and the rotation direction of the multiple motors through the four switches of the H-bridge, Specifically, the driving of multiple motors can be realized by outputting high or low levels to the four switches in the H-bridge; the power management module 11 can be equivalent to an analog switch or switch, which is used to realize The switching of the main power supply 21 and the backup power supply 22, its two input terminals are connected with the main power supply 21 and the backup power supply 22 respectively, when its control terminal is high level, the input terminal is connected with the main power supply 21, and the input terminal is connected with the main power supply 21 when it is low level. Backup power supply 22 is connected. When the redundant controller 10 detects that the main power supply 21 fails, it outputs a control signal to the control terminal of the power management module 11 to realize power switching.

The redundant controller 10 (BCU) includes a power management module 11 with 12V main power supply 21 and backup power supply 22 management capabilities and a motor drive module 12 with the ability to drive and brake the motor module 30 (EPB motor) for emergency parking braking, The redundant controller 10 integrates the management of the backup power supply 22 and the EPB function in one controller, which can well avoid the situation that the parking brake cannot be normally performed when the main power supply 21 fails. Wherein, for example, the working parameters of the main power supply 21 are generally 12V and 80Ah, and the working parameters of the backup power supply 22 may be 12V and 25Ah.

The process of redundant controller 10 managing the charging of standby power supply 22 can be: after the vehicle is powered on, redundant controller 10 detects the power-on signal of main power supply 21, and then redundant controller 10 can enter work, and after receiving the vehicle control After the Ready state issued by the controller, the internal charging circuit of the control DC converter 12V input to the BCU is closed, and the backup power supply 22 starts to charge; after one hour of charging, the redundant controller 10 will actively disconnect the charging switch, and the charging is completed. Among them, at the later stage of the charging time, the corresponding control algorithm can be modified according to the actual situation for calibration adjustment.

In order to prevent the redundant controller 10 from continuing to work and consume power after the vehicle control module 20 is powered off, if it is parked for a long time, it will cause the backup power supply 22 to lose power. Cannot work normally, thereby cause can't lift the handbrake and manage the charging of backup power supply 22, therefore increase the automatic sleep and wake-up function of redundant controller 10. When the vehicle control module 20 requests power off, it will simultaneously send the power off request information to the redundant controller 10, and the redundant controller 10 will automatically enter a sleep state within 30 seconds after receiving the signal, and no longer consumes energy. When the vehicle is powered on again, the redundant controller 10 will automatically activate and enter the working state upon receiving the 12V power-on voltage signal sent by the vehicle control module 20 .

The redundant controller 10 integrates the backup power supply 22 management and EPB functions to control the power supply mode of the main/standby power supply autonomous switching, effectively ensuring the healthy operation of the power supply system as a whole, thereby increasing the reliability of the vehicle system; when the main power supply 21 When a failure occurs, the redundantly configured backup power supply 22 intervenes and replaces the failed main power supply 21 to work. This redundant configuration can effectively increase the mean time between failures of the system and ensure the stable operation of the vehicle brake. , Improve driving safety.

In one embodiment, the redundant controller 10 further includes: an electric signal sensor, a fault diagnosis module; the electric signal sensor is electrically connected to the brake motor module 30, and is used to detect the The real-time current at the terminal; the fault diagnosis module is used to judge whether the brake motor module 30 has a work failure fault according to the comparison result of the real-time current detected by the electrical signal sensor and the preset braking current target value; and after no work failure fault occurs , according to the vehicle speed information provided by the vehicle control module 20, it is judged whether there is a mechanical failure in the brake motor module 30.

Exemplarily, as shown in FIG. 2 , the electrical signal sensor includes a current sensor and a voltage sensor, which are used to detect the real-time voltage and current at both ends of the target object. The fault diagnosis module can support the circuit open circuit and short circuit diagnosis of the EPB motor, can monitor the current of the EPB motor, and can make a simple fault judgment on whether the motor is working normally. Mechanical faults can be worn brake pads or mechanically damaged calipers. In addition, the electrical signal sensor may only include one of the current sensor and the voltage sensor, and it can also monitor the current of the EPB motor based on the corresponding control algorithm, and make a simple fault judgment on whether the motor is working normally.

Disc brakes usually consist of a brake fluid pump, a brake disc connected to the wheel, and brake calipers on the disc. When braking, high-pressure brake fluid pushes the piston in the caliper to press the brake shoe against the brake disc to produce a braking effect. The caliper has the function of slowing down, stopping or keeping the moving wheel, which can be used in the disc brake system; the brake pad can refer to the friction material fixed on the brake drum or brake disc that rotates with the wheel, and the friction lining in it Plates and friction pads are subjected to external pressure to generate friction to achieve the purpose of vehicle deceleration.

The redundant controller 10 quickly executes the parking control after receiving the parking or release signal from the VCU, and drives the brake motor module 30 through the motor drive module 12 to perform braking work. Specifically, it can be divided into two types: manual parking and manual release. model. The manual parking brake can be: the redundant controller 10 is in the release state of the handbrake, manually pull the EPB switch, and the redundant controller 10 executes the parking brake; the manual release of the brake can be: the redundant controller 10 is in the handbrake activation state, manually press the EPB switch, and the redundant controller 10 releases the parking brake.

Because the working current of the brake motor has a linear relationship with the clamping force of the caliper, and the current change of the motor presents a consistent curve during each normal operation. Therefore, the redundant controller 10 can detect the current current when the brake motor module 30 pulls the handbrake and releases the handbrake through the electrical signal sensor, and compares the currents of the handbrake and the handbrake released with the set target threshold value respectively, if less than If the target value threshold is set, the fault diagnosis module will consider the EPB brake to be invalid; if it is equal to or greater than the set target value threshold, it means that the EPB brake is working normally. If the vehicle speed information provided by the vehicle control module 20 can still be received , that is, when the redundant controller 10 adopts effective braking, the vehicle still has an effective speed output at this time, indicating that the brake pads are not tightened at the caliper end, which may be due to worn brake pads or mechanical damage to the caliper.

Monitor the EPB motor current through the redundant controller 10, quickly execute the parking control after receiving the parking or release signal from the VCU, and then diagnose and identify the brake failure failure and mechanical failure during the parking brake control process through the motor current. Faults effectively ensure the healthy operation of the braking system as a whole, thereby increasing the reliability of the vehicle system and improving vehicle safety.

In one embodiment, the redundant controller sends a current signal to the brake motor module 30; the fault diagnosis module judges whether the brake motor module 30 has a short circuit or an open circuit fault according to the feedback of the current signal.

Exemplarily, the fault diagnosis module may determine whether the multiple motors have an open circuit fault based on the corresponding excitation currents when the multiple motors are excited by the pulse current that fails to rotate and the release current generated by the multiple motors after the excitation.

The redundant controller 10 sends a small pulse width current to the EPB motor through the motor drive control module. The cycle and pulse width of this current value vary according to different motor models, and at the same time send a voltage signal and detect the output voltage at both ends of the motor through the current sensor. Current, the fault diagnosis module compares it with the test calibration value, and then determines whether there is an open or short circuit fault in the motor line, and then sends it to the VCU. For example, it may be determined whether there is an open-circuit motor among the current multiple motors by comparing the measured maximum values of the excitation current and release current with the maximum values of the excitation current and release current measured when the multiple motors are normal.

The redundant controller 10 can diagnose the circuit open circuit and short circuit fault of the EPB motor through the fault diagnosis module, which can well avoid the abnormal sound of the motor during the open and short circuit detection process, can effectively detect the open and short circuit of the motor circuit, and improve safety and practicality.

In one embodiment, the electrical signal sensor is also used to detect the voltage of the power supply circuit of the vehicle control module 20; the vehicle control module 20 also includes: a CAN interface; the redundant controller 10 communicates with the vehicle control module through the CAN interface 20 establish a communication connection;

The redundant controller 10 is used to receive the starting state of the vehicle control module 20 through the CAN interface when the vehicle is powered on each time, and make the DC converter automatically charge the backup power supply 22; and when the backup power supply 22 detected by the electrical signal sensor When the voltage is lower than the preset minimum motor braking voltage, the DC converter is automatically recharged to the backup power supply 22 at regular intervals.

Exemplarily, the vehicle control module 20 exchanges messages with the redundant controller 10 through the CAN interface, receives the status signal of the MCU, and sends a brake control command to the MCU, wherein the CAN communication size can be 500 kbit/s. Each power-on can enter the ready state after the high-voltage self-test on the vehicle. Since the EPB parking brake is performed, the backup power supply 22 is used to supply power to the EPB motor, and the operating voltage of the EPB motor can be 9-16V, so the preset minimum motor braking voltage can be 11V, that is, the voltage of the backup power supply 22 is 11V. The value can be adjusted according to the actual situation, and there are no restrictions here.

The state discrimination of the redundant controller 10 can be divided into three situations: power-on, normal power-off, and abnormal power-off: (1) power on, receive the ready signal, the redundant controller 10 controls to start charging, and stops charging after 1 hour , the EPB motor is in the working state; (2) power off normally, receive the high-voltage request signal, the redundant controller 10 is in the normal working state, the output of the backup power supply 22 is disconnected after 3 minutes, and the redundant controller 10 sleeps after 30s; (3) Power off abnormally (main power supply 21 failure), receive no high voltage request signal, main power supply 21 is lower than 11V, redundant controller 10 actively parks, will not cut off backup power supply 22 output and enter dormancy state.

Correspondingly, please refer to Fig. 3, Fig. 3 is the connection circuit diagram of redundant controller 10 and the complete vehicle, (1) power-on process: when the complete vehicle is powered on, the VCU sends a vehicle Ready signal to indicate that the power-on is successful, S2 is closed, and the redundant The remaining controller 10 detects the voltage of the main/standby power supply, and automatically selects an available power supply for use by the EPB motor. If the VCU sends a handbrake release signal at this moment, the redundant controller 10 controls the motor to work after receiving it. Simultaneously close the switches S1 and S3 to charge the backup power supply 22 . After charging for one hour, the S1 will be automatically disconnected. (2) When the vehicle is running: the VCU requests the redundant controller 10 to park or release, the redundant controller 10 disconnects S3 first, stops charging the backup battery, and then controls the motor to work. (3) Power off process: the VCU first requests the redundant controller 10 to park, and the redundant controller 10 actively parks.

Optionally, when the vehicle is powered on, the redundant controller 10 receives the Ready state sent by the vehicle control module 20, and the redundant controller 10 will close the loop between the DCDC (direct current converter) and the backup power supply 22 to allow the DCDC to Standby power supply 22 charges, can charge 1 hour, and the specific time of charging can be set according to different spare battery models. At the same time, when the voltage of the backup power supply 22 is lower than 11v, the redundant controller 10 will also make it enter the automatic cycle charging state, and drive the DCDC to charge the backup power supply 22 repeatedly every 0.5 hours.

The status communication between the vehicle control module 20 and the redundant controller 10 is realized through the CAN interface, and the redundant controller 10 can monitor the communication status of the vehicle control module 20, so that when the voltage of the backup power supply 22 is lower than the preset Automatic cycle charging is carried out when the value is high, which ensures the active braking function under the failure of the main power supply 21 and improves the continuity of the braking power supply.

In one embodiment, the vehicle control module 20 is also used to send a mandatory charging signal to the redundant controller 10 through the CAN interface; When 21 breaks down, the backup power supply 22 is forced to charge.

Exemplarily, the redundant controller 10 may reserve a forced charging switch. The VCU can send a message instruction to the redundant controller 10 through the CAN interface for forced charging. When the automatic charging of the backup power supply 22 fails and the main power supply 21 fails, the redundant controller 10 can drive the DC converter to charge the backup power supply 22 in an emergency according to the forced charging command issued by the VCU.

The status communication between the vehicle control module 20 and the redundant controller 10 is realized through the CAN interface. The redundant controller 10 can monitor the communication status of the vehicle control module 20. When the automatic charging of the backup power supply 22 fails and the main power supply 21 In the state of failure, the standby power supply 22 is charged forcibly, which further ensures the active braking function when the main power supply 21 fails, and improves the continuity of the braking power supply.

In one embodiment, the power management module 11 is also used to switch the output of the backup power supply 22 to a normally-on state when the voltage of the main power supply 21 detected by the electrical signal sensor is lower than the preset minimum voltage; and/or when the electrical signal sensor When the detected voltage of the main power supply 21 is higher than the preset minimum voltage, the output of the backup power supply 22 is switched to an off state.

Exemplarily, the preset minimum voltage may be the minimum voltage of the main power supply 21, such as 3V, and the specific value may be adjusted according to the actual situation, and no limitation is set here. The power management module 11 of the redundant controller 10 can provide a 12V/40A backup power supply 22 output, that is, provide an emergency backup output for other controllers to work when the main power supply 21 of the vehicle fails. The specific process can be: when the main power supply 21 works normally, that is, the voltage of the main power supply 21 detected by the voltage sensor is higher than 3V, the output of the backup power supply 22 is switched to an off state, and the CAN request can be sent by the VCU to actively select on and off; when the main power supply 21 When the output fails, that is, the voltage of the main power supply 21 detected by the voltage sensor is lower than 3V, the output of the backup power supply 22 is switched to a normally open state.

The status communication between the vehicle control module 20 and the redundant controller 10 is realized through the CAN interface. The redundant controller 10 can monitor the communication status of the vehicle control module 20, and the backup power supply 22 can be charged actively or forcibly. Mode, self-management under normal circumstances, emergency backup power supply 22 can be provided for other controllers in failure mode, that is, when the main power supply 21 of the vehicle fails, an emergency backup output is provided for other controllers to work, which can further ensure the overall power supply system The healthy operation of the vehicle will increase the reliability and stability of the vehicle system.

In one embodiment, the power management module 11 is also used to switch to the main power supply 21 when the voltage of the standby power supply 22 detected by the electrical signal sensor is lower than the preset minimum operating voltage, and the motor drive module 12 is used to supply power to the main power supply 21 The lower driving brake motor module 30 performs vehicle braking; and/or

The power management module 11 is also used to switch to the backup power supply 22 when the voltage of the backup power supply 22 detected by the electrical signal sensor is within the preset normal operating voltage range, and the motor drive module 12 is used to drive the brake motor under the power supply of the backup power supply 22 Module 30 performs vehicle braking.

Exemplarily, if the working voltage of the EPB motor is 9V to 16V, since the power supply of the redundant controller 10 is selected by the main power supply 21 and the backup power supply 22, and the power supply of the EPB motor is usually powered by the backup power supply 22, the voltage of the backup power supply 22 is low Above 11V, the EPB motor may not work normally, and below 9V the controller may not work normally. The preset minimum working voltage may be the lowest voltage for normal operation of the backup power supply 22 , so here it may be 9V, and the preset normal working voltage range may be 9V to 14V.

The redundant controller detects the voltage of the backup power supply 22 of the vehicle control module 20 through the voltage sensor. When the voltage sensor detects that it is in the range of 9 to 14V, the power supply in the vehicle is switched to the backup power supply 22 through the power management module 11, and the motor The drive control module drives the brake motor module 30 to perform EPB parking brake; when it is lower than 9V, the power supply in the vehicle is switched to the main power supply 21 through the power management module 11 within 0.05s, and the motor drive control module drives the brake The motor module 30 performs the EPB parking brake.

The power management module 11 integrated through the redundant controller 10 can well manage and monitor the main power supply 21 and the backup power supply 22, and at the same time integrates the EPB braking function, and then can automatically manage the main power supply 21 and the backup power supply 22 to cooperate with the auxiliary system. The motor module executes the parking brake, which ensures the normal operation of the parking brake, thereby improving the stability of the parking brake.

In one embodiment, the motor drive module 12 includes a high-power MOS tube, which is used to adapt to the handbrake braking of the wheel-side direct-drive large motor or the pull-wire type small motor handbrake.

Exemplarily, the MOS transistor may be a metal (Metal)-oxide (Oxide)-semiconductor (Semiconductor) field effect transistor, and the current of the drain of the output terminal is controlled by the voltage applied to the gate of the input terminal. The motor drive module 12 includes a high-power MOS tube, which can withstand a maximum current of 70A, which can cover the needs of various EPB motors of current models.

Combining the differences between skateboard chassis platforms and electronic parking brake systems of multiple companies, the redundant controller 10 is comprehensively developed. By introducing the working mode selection and calibration mode into the handbrake control program of the redundant controller 10, according to Different handbrake structures select different working modes, and then calibrate different control parameters according to different handbrake motors.

For the EPB large motor with wheel direct drive, it is mainly suitable for chassis vehicles over 1 ton. You can choose to work in the corresponding DEPB working mode. By calibrating the relevant parameters of the redundant controller 10, such as the maximum current limit threshold, control the two wheels The side direct drive motor realizes the control of the two calipers, and then realizes the parking brake.

For small pull-wire EPB motors, which are mainly suitable for chassis vehicles under 1 ton, you can choose to work in the corresponding SEPB working mode, and control the single pull-wire motor by calibrating the relevant parameters of the redundant controller 10, such as the maximum current limit threshold. Metal cables control the two calipers and thus the parking brake.

The motor drive module 12 uses a high-power MOS tube, which reduces the volume of the controller compared with the traditional EPB solution. At the same time, the EPB function is specially designed for the skateboard chassis, which cancels the numerous vehicle signal inputs of the traditional EPB. At the same time, the current detection and current limit calibration of the EPB motor enable the redundant controller to quickly adapt to different chassis models.

The relevant parameters of the brake motor module can be quickly calibrated through the redundant controller 10 to adapt to the EPB motors of different models, and at the same time meet the two modes of large motor and small motor, which realizes fast calibration and matching, and reduces the number of restarts caused by different systems. The cost of developing a match.

In one embodiment, a vehicle braking control method is provided, the method is applied to the vehicle braking control system 01 introduced above, and the method includes:

The power management module 11 of the redundant controller 10 performs discharge and charge management on the backup power supply 22 according to the power supply voltage state of the vehicle control module 20, and switches an appropriate power supply.

Exemplarily, the redundant controller 10 integrates the management of the backup power supply 22 and the EPB function into one controller, and can switch an appropriate power supply to cooperate with the parking brake. When the main power supply 21 fails, the redundantly configured backup power supply 22 intervenes and replaces the failed main power supply 21 to work. This redundant configuration can effectively increase the mean time between failures of the system, ensure the stable operation of vehicle braking, and improve driving safety.

The power management module 11 integrated in the redundant controller 10 can well manage and monitor the main power supply 21 and the backup power supply 22, and can quickly switch to the backup power supply 22 after the main power supply 21 fails, and automatically manage the automatic charging and discharging of the backup power supply 22 and Support VCU's forced charging request.

Please refer to FIG. 4 , which is a schematic block diagram of an electronic device. The electronic device 300 may include a memory 311 , a storage controller 312 , a processor 313 , a peripheral interface 314 , an input and output unit 315 , and a display unit 316 . Those of ordinary skill in the art can understand that the structure shown in FIG. 4 is only schematic, and does not limit the structure of the electronic device 300 . For example, the electronic device 300 may also include more or fewer components than shown in FIG. 4 , or have a different configuration than that shown in FIG. 4 .

The memory 311 , memory controller 312 , processor 313 , peripheral interface 314 , input/output unit 315 , and display unit 316 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The aforementioned processor 313 is used to execute the executable modules stored in the memory.

Wherein, the memory 311 can be, but not limited to, random access memory (Random Access Memory, referred to as RAM), read-only memory (Read Only Memory, referred to as ROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM) , Erasable Programmable Read-Only Memory (EPROM for short), Electric Erasable Programmable Read-Only Memory (EEPROM for short), etc. Wherein, the memory 311 is used to store the program, and the processor 313 executes the program after receiving the execution instruction, and the method performed by the electronic device 300 according to the process definition disclosed in any embodiment of the present application can be applied to processing In the device 313, or implemented by the processor 313.

The above-mentioned processor 313 may be an integrated circuit chip with signal processing capabilities. The above-mentioned processor 313 can be a general-purpose processor, including a central processing unit (Central Processing Unit, referred to as CPU), a network processor (Network Processor, referred to as NP), etc.; it can also be a digital signal processor (digital signal processor, referred to as DSP) , Application Specific Integrated Circuit (ASIC for short), Field Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Various methods, steps, and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.

The aforementioned peripheral interface 314 couples various input/output devices to the processor 313 and the memory 311 . In some embodiments, peripheral interface 314, processor 313, and memory controller 312 may be implemented in a single chip. In some other instances, they can be implemented by independent chips respectively.

The aforementioned input and output unit 315 is used to provide the user with input data. The input and output unit 315 may be, but not limited to, a mouse and a keyboard.

The above-mentioned display unit 316 provides an interactive interface (such as a user operation interface) between the electronic device 300 and the user for the user's reference. In this embodiment, the display unit 316 may be a liquid crystal display or a touch display. The liquid crystal display or the touch display can display the process of the processor executing the program.

The electronic device 300 in this embodiment may be used to execute each step in each method provided in the embodiment of this application.

In addition, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the foregoing method embodiments are executed.

The computer program product of the above-mentioned method provided by the embodiment of the present application includes a computer-readable storage medium storing program code, and the instructions included in the program code can be used to execute the steps in the above-mentioned method embodiment. For details, please refer to the above-mentioned method implementation example, which will not be repeated here.

In the embodiments provided in this application, it should be understood that the disclosed devices and methods may be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms. The functional modules in the embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

It should be noted that, if the functions are realized in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk, and other media capable of storing program codes.

In this document, relational terms such as first and second etc. are used only to distinguish one entity or operation from another without necessarily requiring or implying any such relationship between these entities or operations. Actual relationship or sequence.

The above descriptions are only examples of the present application, and are not intended to limit the scope of protection of the present application. For those skilled in the art, various modifications and changes may be made to the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims (10)

1. A vehicle brake control system, characterized in that the system comprises: the system comprises a whole vehicle control module, a redundant controller and a brake motor module;

the whole vehicle control module comprises a main power supply and a standby power supply;

the redundancy controller comprises a power supply management module and a motor driving module; the motor driving module is electrically connected with the brake motor module, and the power management module is in switchable connection with the main power supply and the standby power supply;

the redundant controller is used for carrying out discharging and charging management on the standby power supply according to the power supply voltage state of the whole vehicle control module, and switching a proper power supply to drive the brake motor module to brake the vehicle.

2. The system of claim 1, wherein the redundant controller further comprises: an electric signal sensor and a fault diagnosis module;

the electric signal sensor is electrically connected with the brake motor module and is used for detecting real-time current at two ends of a brake motor in the brake motor module;

the fault diagnosis module is used for judging whether the brake motor module has a working failure fault according to the comparison result of the real-time current detected by the electric signal sensor and a preset brake current target value; and after the working failure fault does not occur, judging whether the mechanical fault occurs in the brake motor module according to the vehicle speed information provided by the whole vehicle control module.

3. The system of claim 2, wherein the redundant controller sends a current signal to the brake motor module; and the fault diagnosis module is also used for judging whether the brake motor module has short-circuit or open-circuit faults according to the feedback of the current signal.

4. The system of claim 2, wherein the electrical signal sensor is further configured to detect a voltage of a vehicle control module power circuit;

the vehicle control module further comprises: a CAN interface; the redundant controller is in communication connection with the whole vehicle control module through the CAN interface;

the redundancy controller is used for receiving the starting state of the whole vehicle control module through the CAN interface when the vehicle is electrified every time, and enabling the direct current converter to automatically charge the standby power supply; and when the voltage of the standby power supply detected by the electric signal sensor is lower than the preset lowest motor brake voltage, enabling the direct current converter to automatically and circularly charge the standby power supply at regular intervals.

5. The system of claim 4, wherein the vehicle control module is further configured to send a forced charge signal to the redundant controller via a CAN interface; and the redundancy controller is also used for forcibly charging the standby power supply when the automatic charging of the standby power supply fails and the main power supply fails according to the forced charging signal.

6. The system of claim 4, wherein the power management module is further configured to switch the standby power output to a normally open state when the main power voltage detected by the electrical signal sensor is lower than a preset minimum voltage level; and/or when the main power supply voltage detected by the electric signal sensor is higher than the preset minimum voltage, switching the output of the standby power supply to a closed state.

7. The system of claim 4, wherein the power management module is further configured to switch to a main power source when the backup power voltage detected by the electrical signal sensor is lower than a preset minimum operating voltage, and the motor driving module is configured to drive the brake motor module to brake the vehicle when the motor driving module is powered by the main power source; and/or

The power management module is also used for switching to a standby power supply when the standby power supply voltage detected by the electric signal sensor is within a preset normal working voltage range, and the motor driving module is used for driving the braking motor module to brake the vehicle under the power supply of the standby power supply.

8. The system of claim 1, wherein the motor drive module comprises a high power MOS transistor for adapting a wheel-side direct drive large motor hand brake or a pull-cord small motor hand brake.

9. A vehicle brake control method applied to the system according to any one of claims 1 to 8, the method comprising:

the standby power supply is subjected to discharge and charge management through a power supply management module of the redundant controller according to the power supply voltage state of the whole vehicle control module, and a proper power supply is switched;

and under the condition of switching to a proper power supply, the motor driving module drives the brake motor module to brake the vehicle.

10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, performs the steps of the method as claimed in claim 9.

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