CN116853208A - Brake redundancy control system and method for drive-by-wire chassis - Google Patents

Brake redundancy control system and method for drive-by-wire chassis Download PDF

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Publication number
CN116853208A
CN116853208A CN202310696321.9A CN202310696321A CN116853208A CN 116853208 A CN116853208 A CN 116853208A CN 202310696321 A CN202310696321 A CN 202310696321A CN 116853208 A CN116853208 A CN 116853208A
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CN
China
Prior art keywords
unit
control
wire
power supply
state information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310696321.9A
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Chinese (zh)
Inventor
韩勇
陈俊达
苏亮
石金明
常东鑫
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Xiamen University of Technology
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Xiamen University of Technology
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Filing date
Publication date
Application filed by Xiamen University of Technology filed Critical Xiamen University of Technology
Priority to CN202310696321.9A priority Critical patent/CN116853208A/en
Publication of CN116853208A publication Critical patent/CN116853208A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • 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
    • 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
    • B60T2260/00—Interaction of vehicle brake system with other systems
    • B60T2260/02—Active Steering, Steer-by-Wire
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/40—Failsafe aspects of brake control systems
    • B60T2270/402—Back-up
    • 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

Abstract

The invention discloses a brake redundancy control system and a brake redundancy control method for a wire control chassis, and relates to the technical field of intelligent wire control chassis safety, wherein the control system collects pressure data and displacement data through a data acquisition unit and detects whether a brake unit, an electronic control unit, a power supply unit and/or a bus have faults or not through a fault detection unit; when the electronic control unit fails, the backup control unit generates a second control signal, or when a certain device fails but the electronic control unit does not fail, the power supply unit generates a first, a third or a fourth control signal according to a specific failed device, and the power supply unit distributes voltages for the wire control steering unit, the wire control driving unit and the wire control driving unit according to the first, the second or the fourth control signal; the backup power supply unit distributes voltage according to the third control signal; the drive-by-wire steering unit, the drive-by-wire unit and the drive-by-wire unit steer, drive and brake according to the first, second, third or fourth control signals.

Description

Brake redundancy control system and method for drive-by-wire chassis
Technical Field
The invention relates to the technical field of intelligent drive-by-wire chassis safety, in particular to a brake redundancy control system and method for a drive-by-wire chassis.
Background
The development subjects of the future automobile industry are electric, intelligent, networking and sharing, however, the traditional vehicle chassis has slow response time, poor precision and larger energy loss due to the fact that the operation unit and the execution unit are connected through a mechanical structure, and accurate and rapid control of the vehicle cannot be realized, so that higher requirements are put forward on the control of the vehicle chassis. The wire control chassis for carrying out information transmission by replacing mechanical signals with electric signals is characterized in that 'man-machine decoupling' can be realized; the drive-by-wire chassis has the advantages of high precision and high response speed, and becomes a development trend of future vehicle chassis.
The intelligent drive-by-wire chassis replaces the traditional mechanical components with electronic components and buses to control the actuating mechanism, so that the defects of slow response time, poor precision and the like of the traditional vehicle chassis are overcome greatly, but some problems still exist:
1. because electronic components are prone to failure and have a limited life, it is necessary to design them for safety redundancy. In the prior art, the chassis adopting the double-wheel motor and the double brakes is high in cost, the vehicle mass cannot be effectively reduced, and redundancy equipment cannot play a role under most conditions, so that resource waste is caused.
2. Most of the prior art drive-by-wire chassis domains only consider the problem of failure redundancy of controllers and brakes in the aspect of safety redundancy, and less consider the problem of vehicle safety redundancy when a drive-by-wire chassis bus is physically damaged or fails due to other reasons.
3. Most of the existing vehicles do not have four-wheel independent steering function, and the parts for providing braking force for the vehicles cannot additionally provide braking force to brake the vehicles when abnormality occurs.
Disclosure of Invention
The invention aims to provide a brake redundancy control system and a brake redundancy control method for a drive-by-wire chassis, which can ensure that a vehicle can still brake when electronic components of the drive-by-wire chassis fail.
In order to achieve the above object, the present invention provides the following solutions:
a brake-by-wire chassis brake redundancy control system, the control system being connected with a brake pedal of a vehicle; the control system includes: the system comprises a data acquisition unit, a wire control and movement unit, a fault detection unit, an electronic control unit, a communication unit, a power supply unit, a backup control unit, a backup power supply unit, a wire control and movement unit and a wire control and movement unit;
the data acquisition unit is connected with the brake pedal and is used for acquiring pressure data and displacement data;
The fault detection unit is connected with the linear control and motor unit, the electronic control unit and the power supply unit through buses; the communication unit is connected with the fault detection unit and the electronic control unit; the fault detection unit is used for detecting whether the wire control and movement unit, the electronic control unit, the power supply unit and/or the bus has faults or not;
the backup control unit is connected with the data acquisition unit, the electronic control unit, the communication unit and the fault detection unit; the electronic control unit is connected with the wire control and movement unit, the wire control and steering unit, the wire control and driving unit, the communication unit and the power supply unit; the power supply unit and the backup power supply unit are connected with the wire control steering unit, the wire control driving unit and the wire control driving unit;
the backup control unit is used for:
when the bus fails, acquiring state information of a line control and movement unit, an electronic control unit or a power supply unit through the communication unit;
when the bus fails, acquiring state information of the wire control and power supply unit, the electronic control unit and/or the power supply unit through the bus; the state information is failure or failure-free;
When the state information of the bus is failure, the pressure data and the displacement data are sent to an electronic control unit through a communication unit;
when the line control moving unit, the electronic control unit, the power supply unit and the bus do not have faults, or when the state information of the power supply unit is faulty, or when the state information of the line control moving unit is faulty, the pressure data and the displacement data are sent to the electronic control unit;
when the state information of the electronic control unit is failure, generating a second control signal according to the pressure data and the displacement data;
the electronic control unit is used for generating a first control signal according to the pressure data and the displacement data; generating a third control signal according to the pressure data, the displacement data and the state information of the power supply unit; generating a fourth control signal according to the pressure data, the displacement data and the state information of the linear control dynamic unit;
the power supply unit is used for distributing voltage to the wire control steering unit, the wire control driving unit and the wire control driving unit according to the first control signal, the second control signal or the fourth control signal; the backup power supply unit is used for distributing voltage to the wire control steering unit, the wire control driving unit and the wire control driving unit according to the third control signal; the wire control steering unit, the wire control driving unit and the wire control braking unit are used for steering, driving and braking according to the first control signal, the second control signal, the third control signal or the fourth control signal.
Optionally, the brake-by-wire unit comprises two front wheel brake modules and two rear wheel brake modules; the steering-by-wire unit comprises two front wheel steering motors and two rear wheel steering motors; the drive-by-wire unit comprises two front wheel drive motors and two rear wheel drive motors; the fourth control signal comprises a first control instruction, a second control instruction and a third control instruction;
when the state information of the linear control and motor unit is failure; when the state information of the front wheel braking module or the rear wheel braking module is failure, the backup control unit is used for sending the pressure data and the displacement data to the electronic control unit; the electronic control unit is used for generating a third control instruction according to the pressure data, the displacement data and the state information of the front wheel braking module or the state information of the rear wheel braking module; the power supply unit is used for distributing voltage to the rear wheel braking module or the front wheel braking module according to the third control instruction; the rear wheel braking module or the front wheel braking module is used for braking according to the third control instruction;
when the state information of the front wheel braking module and the state information of the rear wheel braking module are both in failure, the backup control unit is used for sending the pressure data and the displacement data to the electronic control unit; the electronic control unit is used for judging the current vehicle speed and the braking speed threshold value;
When the current vehicle speed is greater than a braking speed threshold value, the electronic control unit is used for generating a first control instruction to control the front wheel steering motor and the rear wheel steering motor so as to enable the front wheel and the rear wheel to rotate by the same angle in opposite directions; the power supply unit distributes voltage to the front wheel steering motor and the rear wheel steering motor according to a first control instruction; the front wheel steering motor and the rear wheel steering motor are used for steering according to the first control instruction;
when the current vehicle speed is less than or equal to a braking speed threshold value, the electronic control unit is used for generating a second control instruction to control the rear wheel steering motor so as to enable the rear wheel to rotate in the opposite direction by the same angle; the power supply unit distributes voltage to the rear wheel steering motor and the front wheel driving motor according to a second control instruction; the rear wheel steering motor is used for steering according to the second control instruction; the front wheel drive motor is used for generating negative torque to provide braking force according to the second control instruction in a reverse rotation mode.
Optionally, when more than one of the state information of the wire control unit, the electronic control unit, the power supply unit and the bus is failure, the electronic control unit or the backup control unit generates a fifth control signal according to the state information to control the power supply unit, the wire control driving unit, the wire control unit and the wire control steering unit.
Optionally, the communication unit includes a fault communication module, a power supply communication module, an electronic control communication module, a backup control communication module, a wire control dynamic communication module, a wire control steering communication module and a wire control driving communication module; all the communication modules are mutually connected; the fault communication module is connected with the fault detection unit; the power supply communication module is connected with the power supply unit; the electronic control communication module is connected with the electronic control unit; the backup control communication module is connected with the backup control unit; the wire control dynamic communication module is connected with the wire control dynamic unit; the steering-by-wire communication module is connected with the steering-by-wire unit; the drive-by-wire communication module is connected with the drive-by-wire unit.
Optionally, the power supply unit and the backup power supply unit are connected with the data acquisition unit, the fault detection unit, the electronic control unit, the communication unit and the backup control unit, and the power supply unit and the backup power supply unit are used for supplying power to the data acquisition unit, the fault detection unit, the electronic control unit, the communication unit and the backup control unit.
In order to achieve the above purpose, the present invention also provides the following solutions:
The control method is applied to the brake redundancy control system of the drive-by-wire chassis; the control method comprises the following steps:
collecting pressure data and displacement data based on the data collecting unit;
whether a brake unit, an electronic control unit, a power supply unit or a bus is in fault or not is detected based on a fault detection unit;
when one or more of the wire control moving unit, the electronic control unit, the power supply unit or the bus fails, acquiring state information of the wire control moving unit, the electronic control unit, the power supply unit and the bus through the communication unit based on the backup control unit; the state information is failure or failure-free;
when the state information of the electronic control unit is failure, generating a second control signal based on the backup control unit according to the pressure data and the displacement data;
when the state information of the bus is failure or the line control unit, the electronic control unit, the power supply unit and the bus are not failure, generating a first control signal according to pressure data and displacement data based on the electronic control unit;
when the state information of the power supply unit is failure, generating a third control signal based on the electronic control unit according to the pressure data, the displacement data and the state information of the power supply unit;
Generating a fourth control signal based on the electronic control unit according to the pressure data, the displacement data and the state information of the linear control unit;
distributing voltage to the wire control steering unit, the wire control driving unit and the wire control driving unit based on the power supply unit according to the first control signal, the second control signal or the fourth control signal;
distributing voltages to the steer-by-wire unit, the drive-by-wire unit and the drive-by-wire unit according to the third control signal based on a backup power supply unit;
steering, driving and braking are respectively carried out based on the wire control steering unit, the wire control driving unit and the wire control braking unit according to the first control signal, the second control signal, the third control signal or the fourth control signal.
Optionally, the control method further includes:
the brake-by-wire unit comprises two front wheel braking modules and two rear wheel braking modules; the steering-by-wire unit comprises two front wheel steering motors and two rear wheel steering motors; the drive-by-wire unit comprises two front wheel drive motors and two rear wheel drive motors; the fourth control signal comprises a first control instruction, a second control instruction and a third control instruction; when the state information of the front wheel brake module or the rear wheel brake module is faulty, generating a third control instruction based on the electronic control unit according to the pressure data, the displacement data and the state information of the front wheel brake module or the state information of the rear wheel brake module;
Distributing voltage to a rear wheel braking module or a front wheel braking module based on the power supply unit according to the third control instruction;
braking is carried out according to the third control instruction based on a rear wheel braking module or a front wheel braking module;
when the state information of the front wheel braking module and the state information of the rear wheel braking module are both in failure, judging the current vehicle speed and a braking speed threshold value based on the electronic control unit;
when the current vehicle speed is greater than a braking speed threshold value, generating a first control instruction based on the electronic control unit to control the front wheel steering motor and the rear wheel steering motor so as to enable the front wheel and the rear wheel to rotate by the same angle in opposite directions;
distributing voltages to the front wheel steering motor and the rear wheel steering motor based on a power supply unit according to a first control instruction;
steering according to the first control instruction based on the front wheel steering motor and the rear wheel steering motor;
when the current vehicle speed is smaller than or equal to a braking speed threshold value, generating a second control instruction based on the electronic control unit to control the rear wheel steering motor so as to enable the rear wheel to rotate in the opposite direction by the same angle;
distributing voltages to the rear wheel steering motor and the front wheel driving motor based on a power supply unit according to a second control instruction;
Steering according to the second control instruction based on the rear wheel steering motor; and providing braking force based on negative torque generated by the front wheel driving motor for reverse rotation according to the second control command.
Optionally, the control method further includes:
when more than one of the state information of the wire control moving unit, the electronic control unit, the power supply unit and the bus is in fault, generating a fifth control signal according to the state information based on the electronic control unit or the backup control unit to control the power supply unit, the wire control driving unit, the wire control moving unit and the wire control steering unit.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses a brake redundancy control system and a brake redundancy control method for a drive-by-wire chassis, wherein pressure data and displacement data are acquired through a data acquisition unit; detecting whether the wire control and movement unit, the electronic control unit, the power supply unit and/or the bus have faults or not through a fault detection unit; when a wire control unit, an electronic control unit, a power supply unit and/or a certain device or certain devices of a bus are in fault, the backup control unit or the electronic control unit respectively obtains different control signals according to state information, pressure data and displacement data of the certain device or certain devices; the power supply unit distributes voltage to the wire control steering unit, the wire control driving unit and the wire control driving unit according to the first control signal, the second control signal or the fourth control signal; the backup power supply unit distributes voltage to the wire control steering unit, the wire control driving unit and the wire control driving unit according to the third control signal; the wire control steering unit, the wire control driving unit and the wire control braking unit steer, drive and brake according to the first control signal, the second control signal, the third control signal or the fourth control signal.
Compared with the failure redundancy design of the existing intelligent drive-by-wire chassis domain which only considers the controller and the brake in the aspect of safety redundancy, the invention ensures that the vehicle can still brake when the drive-by-wire chassis electronic components fail in a hardware redundancy mode.
Compared with the prior intelligent drive-by-wire chassis which cannot provide larger braking force to brake the vehicle after the brake fails, the intelligent drive-by-wire chassis has the advantages that the communication unit, the backup control unit, the backup power supply and the four-wheel independent drive-by-wire steering system are used, the vehicle can be still controlled when the electronic control unit, the drive-by-wire control unit, the bus and/or the power supply unit of the intelligent drive-by-wire chassis fail, and the braking safety redundancy of the intelligent drive-by-wire chassis is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a brake redundancy control system for a brake-by-wire chassis of the present invention;
FIG. 2 is a schematic view of the appearance of the drive-by-wire chassis of the present invention;
FIG. 3 is a schematic flow chart illustrating the implementation of a brake redundancy control system for a brake-by-wire chassis according to an embodiment of the present invention.
Symbol description:
the system comprises a drive-by-wire chassis-100, a drive-by-wire steering unit-101, a drive-by-wire braking unit-102, a brake pedal-103, a fault detection unit-104, an electronic control unit-105, a communication unit-106, a battery management unit-107, a drive-by-wire driving unit-108, a backup control unit-109, a backup control communication module-110, a bus-111, a communication sub-module-A, B, C, D, E, F of the electronic control unit and a communication sub-module-b of the fault detection unit 0 、e、f 0 G, power supply communication module-f 1 Communication sub-module-a of drive-by-wire unit 1 、a 2 、a 3 、a 4 Communication sub-module-b of a brake-by-wire unit 1 、b 2 、b 3 、b 4 Communication sub-module-c of a steer-by-wire unit 1 、c 2 、c 3 、c 4 。
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a brake redundancy control system and a brake redundancy control method for a drive-by-wire chassis, which can ensure that a vehicle can still brake when electronic components of the drive-by-wire chassis fail.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1 and 2, the brake-by-wire chassis brake redundancy control system of the present invention is connected to a brake pedal 103 of a vehicle; the control system includes: the data acquisition unit, the drive-by-wire unit 102, the failure detection unit 104, the electronic control unit 105, the communication unit 106, the power supply unit, the backup control unit 109, the backup power supply unit, the drive-by-wire steering unit 101, and the drive-by-wire unit 108.
The data acquisition unit is connected with the brake pedal 103, and the data acquisition unit is used for acquiring pressure data and displacement data.
The fault detection unit 104 is connected with the wire control and action unit 102, the electronic control unit 105 and the power supply unit through a bus 111; the communication unit 106 is connected with the fault detection unit 104 and the electronic control unit 105; the fault detection unit 104 is configured to detect whether the wired control unit 102, the electronic control unit 105, the power supply unit, and/or the bus 111 is faulty.
The backup control unit 109 is connected with the data acquisition unit, the electronic control unit 105, the communication unit 106 and the fault detection unit 104; the electronic control unit 105 is connected with the wire control and movement unit 102, the wire control and movement unit 101, the wire control and movement unit 108, the communication unit 106 and the power supply unit; the power supply unit and the backup power supply unit are connected with the steer-by-wire unit 101, the drive-by-wire unit 108 and the drive-by-wire unit 102.
The backup control unit 109 is configured to:
when the bus fails, acquiring state information of the wire control unit 102, the electronic control unit 105 or the power supply unit through the communication unit 106;
when the bus fails, the state information of the wire control unit 102, the electronic control unit 105 and the power supply unit is obtained through the bus 111; the state information is failure or failure-free;
when the status information of the bus 111 is that a fault occurs, the pressure data and the displacement data are sent to the electronic control unit 105 through the communication unit 106;
When none of the line control unit 102, the electronic control unit 105, the power supply unit, and the bus 111 fails, or when the state information of the power supply unit is failed, or when the state information of the line control unit 102 is failed, the pressure data and the displacement data are transmitted to the electronic control unit 105;
when the state information of the electronic control unit 105 is that a fault occurs, a second control signal is generated according to the pressure data and the displacement data.
The electronic control unit 105 is configured to generate a first control signal according to the pressure data and the displacement data; generating a third control signal according to the pressure data, the displacement data and the state information of the power supply unit; a fourth control signal is generated based on the pressure data, displacement data, and state information of the line control unit 102.
The power supply unit is configured to distribute voltages to the steer-by-wire unit 101, the drive-by-wire unit 108, and the brake-by-wire unit 102 according to the first control signal, the second control signal, or the fourth control signal; the backup power supply unit is configured to distribute voltages to the steer-by-wire unit 101, the drive-by-wire unit 108, and the drive-by-wire unit 102 according to the third control signal; the steer-by-wire unit 101, the drive-by-wire unit 108 and the brake-by-wire unit 102 are configured to steer, drive and brake according to the first control signal, the second control signal, the third control signal, the fourth control signal.
The battery management unit 107 includes the power supply unit and a backup power supply unit.
Further, the brake-by-wire unit 102 includes two front wheel brake modules and two rear wheel brake modules; the steering-by-wire unit 101 includes two front-wheel steering motors and two rear-wheel steering motors; the drive-by-wire unit 108 includes two front wheel drive motors and two rear wheel drive motors; the fourth control signal includes a first control instruction, a second control instruction, and a third control instruction. The two front wheel braking modules and the two rear wheel braking modules are all electromechanical brakes; the electromechanical brake is preferably an electronic brake EMB; the electronic brake EMB has the advantages of quick brake response time and simple structure.
When the state information of the line control and action unit 102 is that a fault occurs; wherein, when the state information of the front wheel brake module or the rear wheel brake module is failure, the backup control unit 109 is configured to send the pressure data and the displacement data to the electronic control unit 105; the electronic control unit 105 is configured to generate a third control instruction according to the pressure data, the displacement data, and state information of the front wheel brake module or state information of the rear wheel brake module; the power supply unit is used for distributing voltage to the rear wheel braking module or the front wheel braking module according to the third control instruction; the rear wheel braking module or the front wheel braking module is used for braking according to the third control instruction.
Wherein, when the state information of the front wheel brake module and the state information of the rear wheel brake module are both faulty, the backup control unit 109 is configured to send the pressure data and the displacement data to the electronic control unit 105; the electronic control unit 105 is configured to determine a current vehicle speed and a braking speed threshold.
When the current vehicle speed is greater than the braking speed threshold, the electronic control unit 105 is used for generating a first control instruction to control the front wheel steering motor and the rear wheel steering motor so as to enable the front wheel and the rear wheel to rotate by the same angle in opposite directions; the power supply unit distributes voltage to the front wheel steering motor and the rear wheel steering motor according to a first control instruction; the front wheel steering motor and the rear wheel steering motor are used for steering according to the first control instruction.
When the current vehicle speed is less than or equal to the braking speed threshold, the electronic control unit 105 is used for generating a second control instruction to control the rear wheel steering motor so as to enable the rear wheel to rotate in the opposite direction by the same angle; the power supply unit distributes voltage to the rear wheel steering motor and the front wheel driving motor according to a second control instruction; the rear wheel steering motor is used for steering according to the second control instruction; the front wheel drive motor rotates in the reverse direction to generate negative torque to provide braking force. The front wheel driving motor changes a working mode specifically according to a second control instruction, and is driven by the original direction rotation of the front wheels to reversely rotate to generate negative torque so as to provide partial braking force for the vehicle.
In addition, when more than one of the state information of the wire control unit 102, the electronic control unit 105, the power supply unit and the bus 111 is faulty, the electronic control unit 105 or the backup control unit 109 generates a fifth control signal according to the state information to control the power supply unit, the wire control driving unit 108, the wire control unit 102 and the wire control steering unit 101.
The communication unit 106 includes a fault communication module, a power supply communication module, an electronic control communication module, a backup control communication module 110, a wire control dynamic communication module, a wire control steering communication module, and a wire control driving communication module; all the communication modules are mutually connected; the fault communication module is connected with the fault detection unit 104; the power supply communication module is connected with the power supply unit; the electronic control communication module is connected with the electronic control unit 105; the backup control communication module 110 is connected with the backup control unit 109; the wire control dynamic communication module is connected with the wire control dynamic unit 102; the steer-by-wire communication module is connected with the steer-by-wire unit 101; the drive-by-wire communication module is connected to the drive-by-wire unit 108.
The electronic control communication module comprises six communication sub-modules: A. b, C, D, E, F. The fault detection communication module comprises four communication sub-modules: b 0 、e、f 0 G. The drive-by-wire communication module comprises four communication sub-modules: a, a 1 、a 2 、a 3 、a 4 . The line control dynamic communication module comprises four communication sub-modules: b 1 、b 2 、b 3 、b 4 . The steer-by-wire communication module comprises four communication sub-modules: c 1 、c 2 、c 3 、c 4 . The power supply communication sub-module f 1 Is applied to a power supply unit; when the power supply fails, the power supply communication sub-moduleBlock f 1 And is also applicable to the backup power supply unit. The communication module or the communication sub-module is a wifi signal device.
The power supply unit and the backup power supply unit are connected with the data acquisition unit, the fault detection unit 104, the electronic control unit 105, the communication unit 106 and the backup control unit 109, and the power supply unit and the backup power supply unit are used for supplying power to the data acquisition unit, the fault detection unit 104, the electronic control unit 105, the communication unit 106 and the backup control unit 109.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
As shown in fig. 3, pressure data and displacement data are acquired by a data acquisition unit; while the failed device is detected by the failure detection unit 104.
When no device fails, or when the power supply unit fails, or when the line control unit 102 fails, the backup control unit 109 transmits the pressure data and the displacement data to the electronic control unit 105, and the electronic control unit 105 generates the first control signal, or the third control signal, or the fourth control signal, respectively, according to the device failure information.
When the electronic control unit 105 fails, the backup control unit 109 generates a second control signal from the pressure data and the displacement data.
The power supply unit distributes voltage according to the first control signal, the second control signal or the fourth control signal; the backup power supply unit distributes voltage according to the third control signal.
The steer-by-wire unit 101, the drive-by-wire unit 108, and the brake-by-wire unit 102 perform steering, driving, and braking according to the first control signal, or the second control signal, or the third control signal, or the fourth control signal.
In order to achieve the above purpose, the present invention also provides the following solutions:
the brake redundancy control method of the drive-by-wire chassis is applied to the brake redundancy control system of the drive-by-wire chassis; the control method comprises the following steps:
s1: pressure data and displacement data are acquired based on the data acquisition unit.
S2: whether the motor unit 102, the electronic control unit 105, the power supply unit, or the bus 111 is malfunctioning is detected based on the failure detection unit 104.
S3: when one or more of the wire control unit 102, the electronic control unit 105, the power supply unit, or the bus 111 fails, status information of the wire control unit 102, the electronic control unit 105, the power supply unit, and the bus 111 is acquired through the communication unit 106 based on the backup control unit 109; the state information is failure or non-failure.
Wherein S3 further comprises:
s301: when the state information of the electronic control unit 105 is that a failure occurs, a second control signal is generated based on the backup control unit 109 from the pressure data and the displacement data.
S302: when the state information of the bus 111 is that a fault occurs, or when none of the line control unit 102, the electronic control unit 105, the power supply unit, and the bus 111 fails, a first control signal is generated based on the electronic control unit 105 according to pressure data, displacement data.
S303: when the state information of the power supply unit is a failure, a third control signal is generated based on the electronic control unit 105 according to the pressure data, the displacement data and the state information of the power supply unit.
S304: a fourth control signal is generated based on the electronic control unit 105 from the pressure data, displacement data and state information of the line control unit 102.
S4: the power supply unit distributes voltages to the steer-by-wire unit 101, the drive-by-wire unit 108 and the brake-by-wire unit 102 according to the first control signal, the second control signal or the fourth control signal.
S5: voltages are distributed to the steer-by-wire unit 101, the drive-by-wire unit 108 and the drive-by-wire unit 102 based on the backup power unit according to the third control signal.
S6: steering, driving and braking are performed based on the first control signal, or the second control signal, or the third control signal, or the fourth control signal, respectively, by the steer-by-wire unit 101, the drive-by-wire unit 108 and the brake-by-wire unit 102.
Further, the control method further includes:
the brake-by-wire unit 102 includes two front wheel brake modules and two rear wheel brake modules; the steer-by-wire unit 101 includes two front wheel steering motors and two rear wheel steering motors; the drive-by-wire unit comprises two front wheel drive motors and two rear wheel drive motors; the fourth control signal comprises a first control instruction, a second control instruction and a third control instruction; when the state information of the front wheel brake module or the rear wheel brake module is faulty, a third control instruction is generated based on the electronic control unit 105 according to the pressure data, the displacement data, and the state information of the front wheel brake module or the state information of the rear wheel brake module.
And distributing voltage to the rear wheel braking module or the front wheel braking module based on the power supply unit according to the third control instruction.
And braking is performed based on the rear wheel braking module or the front wheel braking module according to the third control instruction.
When the state information of the front wheel brake module and the state information of the rear wheel brake module are both faulty, the current vehicle speed and the brake speed threshold value are discriminated based on the electronic control unit 105.
When the current vehicle speed is greater than the braking speed threshold, the front wheel steering motor and the rear wheel steering motor are controlled based on the first control instruction generated by the electronic control unit 105 to rotate the front wheels and the rear wheels in opposite directions by the same angle.
And distributing voltages to the rear wheel steering motor and the front wheel driving motor based on the power supply unit according to a second control instruction.
Steering is performed according to the first control instruction based on the front wheel steering motor and the rear wheel steering motor.
When the current vehicle speed is equal to or less than the braking speed threshold, the rear wheel steering motor is controlled based on the second control instruction generated by the electronic control unit 105 to rotate the rear wheel in the opposite direction by the same angle.
And distributing voltages to the rear wheel steering motor and the front wheel driving motor based on the power supply unit according to a second control instruction.
Steering according to the second control instruction based on the rear wheel steering motor; and providing braking force based on negative torque generated by the front wheel driving motor for reverse rotation according to the second control command.
Furthermore, the control method further includes:
when more than one of the state information of the wire control unit 102, the electronic control unit 105, the power supply unit and the bus 111 is faulty, a fifth control signal is generated to control the power supply unit, the wire control driving unit 108, the wire control unit 102 and the wire control steering unit 101 based on the state information of the electronic control unit 105 or the backup control unit 109.
In the redundancy scheme of the failure of the bus 111 of the wire control chassis 100, the data transmission among all devices in the wire control chassis 100 is realized through the WiFi signal device with lower cost, so that the vehicle can still brake according to the brake intention of a driver when the bus 111 fails.
In the redundancy scheme of failure of the electronic control unit 105, the backup control unit 109 does not process the data acquired by the data acquisition unit when the electronic control unit 105 works normally, and only transmits the data acquired by the data acquisition unit to the electronic control unit 105; and when the electronic control unit 105 fails, a control instruction is sent to each device participating in braking according to the data acquired by the data acquisition unit, so that the requirement on the bottom layer controller is reduced.
In the redundancy scheme of failure of the power supply unit, the backup power supply unit supplies power to all the devices participating in braking, so that the devices participating in braking in the chassis domain can work normally when the vehicle brakes.
The four-wheel arrangement electromechanical brake can shorten the braking response time, and the four wheels of the vehicle are independently steered by arranging the four steering motors. In the redundancy scheme of failure of the on-line control unit 102, braking force can be provided by the hub driving motor and the EMB of the non-failed wheel, and emergency braking force can be provided by utilizing the rotation of the left and right wheels by a certain angle to enable the tire to slide and rub with the ground even in the dangerous situation that the EMB of the four wheels fails.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the method disclosed in the embodiment, since it corresponds to the system disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the system part.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.

Claims (8)

1. A brake-by-wire chassis brake redundancy control system, wherein the control system is connected with a brake pedal of a vehicle; the control system includes: the system comprises a data acquisition unit, a wire control and movement unit, a fault detection unit, an electronic control unit, a communication unit, a power supply unit, a backup control unit, a backup power supply unit, a wire control and movement unit and a wire control and movement unit;
the data acquisition unit is connected with the brake pedal and is used for acquiring pressure data and displacement data;
the fault detection unit is connected with the linear control and motor unit, the electronic control unit and the power supply unit through buses; the communication unit is connected with the fault detection unit and the electronic control unit; the fault detection unit is used for detecting whether the wire control and movement unit, the electronic control unit, the power supply unit and/or the bus has faults or not;
the backup control unit is connected with the data acquisition unit, the electronic control unit, the communication unit and the fault detection unit; the electronic control unit is connected with the wire control and movement unit, the wire control and steering unit, the wire control and driving unit, the communication unit and the power supply unit; the power supply unit and the backup power supply unit are connected with the wire control steering unit, the wire control driving unit and the wire control driving unit;
The backup control unit is used for:
when the bus fails, acquiring state information of a line control and movement unit, an electronic control unit or a power supply unit through the communication unit;
when the bus fails, acquiring state information of the wire control and power supply unit, the electronic control unit and/or the power supply unit through the bus; the state information is failure or failure-free;
when the state information of the bus is failure, the pressure data and the displacement data are sent to an electronic control unit through a communication unit;
when the line control moving unit, the electronic control unit, the power supply unit and the bus do not have faults, or when the state information of the power supply unit is faulty, or when the state information of the line control moving unit is faulty, the pressure data and the displacement data are sent to the electronic control unit;
when the state information of the electronic control unit is failure, generating a second control signal according to the pressure data and the displacement data;
the electronic control unit is used for generating a first control signal according to the pressure data and the displacement data; generating a third control signal according to the pressure data, the displacement data and the state information of the power supply unit; generating a fourth control signal according to the pressure data, the displacement data and the state information of the linear control dynamic unit;
The power supply unit is used for distributing voltage to the wire control steering unit, the wire control driving unit and the wire control driving unit according to the first control signal, the second control signal or the fourth control signal; the backup power supply unit is used for distributing voltage to the wire control steering unit, the wire control driving unit and the wire control driving unit according to the third control signal; the wire control steering unit, the wire control driving unit and the wire control braking unit are used for steering, driving and braking according to the first control signal, the second control signal, the third control signal or the fourth control signal.
2. The brake-by-wire chassis redundancy control system of claim 1, wherein the brake-by-wire unit comprises two front wheel brake modules and two rear wheel brake modules; the steering-by-wire unit comprises two front wheel steering motors and two rear wheel steering motors; the drive-by-wire unit comprises two front wheel drive motors and two rear wheel drive motors; the fourth control signal comprises a first control instruction, a second control instruction and a third control instruction;
when the state information of the linear control and motor unit is failure; when the state information of the front wheel braking module or the rear wheel braking module is failure, the backup control unit is used for sending the pressure data and the displacement data to the electronic control unit; the electronic control unit is used for generating a third control instruction according to the pressure data, the displacement data and the state information of the front wheel braking module or the state information of the rear wheel braking module; the power supply unit is used for distributing voltage to the rear wheel braking module or the front wheel braking module according to the third control instruction; the rear wheel braking module or the front wheel braking module is used for braking according to the third control instruction;
When the state information of the front wheel braking module and the state information of the rear wheel braking module are both in failure, the backup control unit is used for sending the pressure data and the displacement data to the electronic control unit; the electronic control unit is used for judging the current vehicle speed and the braking speed threshold value;
when the current vehicle speed is greater than a braking speed threshold value, the electronic control unit is used for generating a first control instruction to control the front wheel steering motor and the rear wheel steering motor so as to enable the front wheel and the rear wheel to rotate by the same angle in opposite directions; the power supply unit distributes voltage to the front wheel steering motor and the rear wheel steering motor according to a first control instruction; the front wheel steering motor and the rear wheel steering motor are used for steering according to the first control instruction;
when the current vehicle speed is less than or equal to a braking speed threshold value, the electronic control unit is used for generating a second control instruction to control the rear wheel steering motor so as to enable the rear wheel to rotate in the opposite direction by the same angle; the power supply unit distributes voltage to the rear wheel steering motor and the front wheel driving motor according to a second control instruction; the rear wheel steering motor is used for steering according to the second control instruction; the front wheel drive motor is used for generating negative torque to provide braking force according to the second control instruction in a reverse rotation mode.
3. The brake-by-wire chassis redundancy control system of claim 2, wherein when more than one of the state information of the brake-by-wire unit, the electronic control unit, the power supply unit, and the bus is a failure, the electronic control unit or the backup control unit generates a fifth control signal according to the state information to control the power supply unit, the drive-by-wire unit, the brake-by-wire unit, and the steering-by-wire unit.
4. The brake-by-wire chassis redundancy control system of claim 1, wherein the communication unit comprises a fault communication module, a power supply communication module, an electronic control communication module, a backup control communication module, a brake-by-wire communication module, a steering-by-wire communication module, and a drive-by-wire communication module; all the communication modules are mutually connected; the fault communication module is connected with the fault detection unit; the power supply communication module is connected with the power supply unit; the electronic control communication module is connected with the electronic control unit; the backup control communication module is connected with the backup control unit; the wire control dynamic communication module is connected with the wire control dynamic unit; the steering-by-wire communication module is connected with the steering-by-wire unit; the drive-by-wire communication module is connected with the drive-by-wire unit.
5. The brake redundancy control system of claim 1, wherein the power supply unit and the backup power supply unit are connected to the data acquisition unit, the fault detection unit, the electronic control unit, the communication unit, and the backup control unit, and the power supply unit and the backup power supply unit are used for supplying power to the data acquisition unit, the fault detection unit, the electronic control unit, the communication unit, and the backup control unit.
6. A brake-by-wire chassis redundancy control method, characterized in that the control method is applied to the brake-by-wire chassis redundancy control system according to any one of claims 1 to 5; the control method comprises the following steps:
collecting pressure data and displacement data based on the data collecting unit;
whether a brake unit, an electronic control unit, a power supply unit or a bus is in fault or not is detected based on a fault detection unit;
when one or more of the wire control moving unit, the electronic control unit, the power supply unit or the bus fails, acquiring state information of the wire control moving unit, the electronic control unit, the power supply unit and the bus through the communication unit based on the backup control unit; the state information is failure or failure-free;
When the state information of the electronic control unit is failure, generating a second control signal based on the backup control unit according to the pressure data and the displacement data;
when the state information of the bus is failure or the line control unit, the electronic control unit, the power supply unit and the bus are not failure, generating a first control signal according to pressure data and displacement data based on the electronic control unit;
when the state information of the power supply unit is failure, generating a third control signal based on the electronic control unit according to the pressure data, the displacement data and the state information of the power supply unit;
generating a fourth control signal based on the electronic control unit according to the pressure data, the displacement data and the state information of the linear control unit;
distributing voltage to the wire control steering unit, the wire control driving unit and the wire control driving unit based on the power supply unit according to the first control signal, the second control signal or the fourth control signal;
distributing voltages to the steer-by-wire unit, the drive-by-wire unit and the drive-by-wire unit according to the third control signal based on a backup power supply unit;
Steering, driving and braking are respectively carried out based on the wire control steering unit, the wire control driving unit and the wire control braking unit according to the first control signal, the second control signal, the third control signal or the fourth control signal.
7. The brake-by-wire chassis brake redundancy control method of claim 6, further comprising:
the brake-by-wire unit comprises two front wheel braking modules and two rear wheel braking modules; the steering-by-wire unit comprises two front wheel steering motors and two rear wheel steering motors; the drive-by-wire unit comprises two front wheel drive motors and two rear wheel drive motors; the fourth control signal comprises a first control instruction, a second control instruction and a third control instruction; when the state information of the front wheel brake module or the rear wheel brake module is faulty, generating a third control instruction based on the electronic control unit according to the pressure data, the displacement data and the state information of the front wheel brake module or the state information of the rear wheel brake module;
distributing voltage to a rear wheel braking module or a front wheel braking module based on the power supply unit according to the third control instruction;
braking is carried out according to the third control instruction based on a rear wheel braking module or a front wheel braking module;
When the state information of the front wheel braking module and the state information of the rear wheel braking module are both in failure, judging the current vehicle speed and a braking speed threshold value based on the electronic control unit;
when the current vehicle speed is greater than a braking speed threshold value, generating a first control instruction based on the electronic control unit to control the front wheel steering motor and the rear wheel steering motor so as to enable the front wheel and the rear wheel to rotate by the same angle in opposite directions;
distributing voltages to the front wheel steering motor and the rear wheel steering motor based on a power supply unit according to a first control instruction;
steering according to the first control instruction based on the front wheel steering motor and the rear wheel steering motor;
when the current vehicle speed is smaller than or equal to a braking speed threshold value, generating a second control instruction based on the electronic control unit to control the rear wheel steering motor so as to enable the rear wheel to rotate in the opposite direction by the same angle;
distributing voltages to the rear wheel steering motor and the front wheel driving motor based on a power supply unit according to a second control instruction;
steering according to the second control instruction based on the rear wheel steering motor; and providing braking force based on the negative torque generated by the front wheel drive motor for reverse rotation.
8. The brake-by-wire chassis brake redundancy control method of claim 7, further comprising:
When more than one of the state information of the wire control moving unit, the electronic control unit, the power supply unit and the bus is in fault, generating a fifth control signal according to the state information based on the electronic control unit or the backup control unit to control the power supply unit, the wire control driving unit, the wire control moving unit and the wire control steering unit.
CN202310696321.9A 2023-06-13 2023-06-13 Brake redundancy control system and method for drive-by-wire chassis Pending CN116853208A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310696321.9A CN116853208A (en) 2023-06-13 2023-06-13 Brake redundancy control system and method for drive-by-wire chassis

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310696321.9A CN116853208A (en) 2023-06-13 2023-06-13 Brake redundancy control system and method for drive-by-wire chassis

Publications (1)

Publication Number Publication Date
CN116853208A true CN116853208A (en) 2023-10-10

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310696321.9A Pending CN116853208A (en) 2023-06-13 2023-06-13 Brake redundancy control system and method for drive-by-wire chassis

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Country Link
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