CN117885708A - Linear control braking system - Google Patents
Linear control braking system Download PDFInfo
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- CN117885708A CN117885708A CN202410069035.4A CN202410069035A CN117885708A CN 117885708 A CN117885708 A CN 117885708A CN 202410069035 A CN202410069035 A CN 202410069035A CN 117885708 A CN117885708 A CN 117885708A
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- 239000002131 composite material Substances 0.000 claims abstract description 28
- 238000004891 communication Methods 0.000 claims abstract description 5
- 238000011084 recovery Methods 0.000 claims description 27
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- 150000001875 compounds Chemical class 0.000 claims description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 230000015556 catabolic process Effects 0.000 abstract description 5
- 238000006731 degradation reaction Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 6
- 230000003993 interaction Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The embodiment of the invention discloses a brake-by-wire system, and relates to the technical field of vehicle braking. The system comprises a main controller, a composite control module and an execution control module; the composite control module comprises redundant controllers, each execution controller is electrically connected with a brake actuator, and the main controller, the composite control module and the execution control module establish communication through a vehicle-mounted network. The main controller executes the vehicle braking function based on the final braking request, the main controller sends out instructions to all execution controllers, and the execution controllers control the corresponding braking executors to brake the vehicle; when the main controller fails, the redundant controller realizes the degradation braking function of the vehicle, controls all effective execution controllers in the execution control module, and then controls the corresponding braking executors to brake the wheels so as to brake the vehicle; by adding only one redundancy controller, redundancy in the braking system is realized without increasing the complexity and manufacturing cost of the system.
Description
Technical Field
The invention relates to the technical field of vehicle braking, in particular to a brake-by-wire system.
Background
In modern vehicle braking systems, each individual wheel is provided with an electromechanical brake unit, such braking systems being referred to as "brake-by-wire" systems.
Currently, in brake-by-wire systems, the brake pedal is used only for querying the driver of the vehicle for the braking demand, based on which these individual brake units are then activated by means of one or more electronic control units, without a mechanical connection between the brake pedal and the brake units. Since the brake system is an important safety device for a vehicle, it is often necessary to add at least some components or to perform some function redundantly within the brake system so that the brake system can operate reliably even in the event of a malfunction or defect. Redundancy is typically provided by mechanical means, such as by an additional hydraulic brake device as a back-up option for the brake system, but this makes the brake system more complex and costly, while also taking up more structural space and increasing the weight of the vehicle.
Therefore, there is a need for a technique that achieves redundancy in the braking system without significantly increasing the complexity and cost of the braking system.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a brake-by-wire system to solve the problem of high complexity of a brake system caused by redundancy of the brake system in the prior art.
The present application provides a brake-by-wire system comprising:
a main controller for executing a vehicle braking function according to the final braking request;
a composite control module including a redundant controller for performing a vehicle degraded braking function when the primary controller fails;
an execution control module including at least one execution controller;
each execution controller is electrically connected with a brake actuator, and the brake actuators are used for braking wheels;
and the main controller, the composite control module and the execution control module establish communication through a vehicle-mounted network.
Further, the composite control module includes an execution controller.
Further, the braking system also comprises an integrated acquisition module which comprises a wheel speed sensor and a motion sensor of each wheel.
Further, the brake system further comprises a pedal sensor and a redundant pedal sensor, wherein the pedal sensor and the redundant pedal sensor are electrically connected with a brake pedal, the pedal sensor is electrically connected with the main controller, and the redundant pedal sensor is electrically connected with the composite control module;
the brake system further comprises a pedal rationality detection module, wherein the pedal rationality detection module is used for detecting whether signals sent by the pedal sensor and the redundant pedal sensor are rational or not and outputting a driver brake request signal based on the detection result.
Further, the brake system further comprises a comprehensive brake request module for calculating the driver brake request signal and an external brake request signal and outputting the final brake request signal;
wherein the external brake request signal is from an external environment in which the vehicle is located.
Further, the braking system further comprises a braking torque calculation and distribution module for receiving at least the final braking request signal and the vehicle body state signal.
Further, when the main controller, the compound control module and the execution control module are all effective, the braking system also receives all wheel speed sensor signals and motion sensor signals at the same time, and the braking torque calculation and distribution module calculates a wheel braking torque request, an energy recovery braking torque request and a braking signal lamp request.
Further, when the main controller is disabled, the composite control module and the execution control module are enabled, the brake system only receives the final brake request signal and the vehicle body state signal, and the brake torque calculation and distribution module calculates a wheel brake torque request and a brake signal lamp request.
Further, when the main controller is valid, the composite control module is invalid, and at least one of the execution control modules is valid;
or,
when at least one of the main controller, the composite control module and the execution control module fails;
the braking system also receives all wheel speed sensor signals and all motion sensor signals simultaneously, and the braking moment calculation and distribution module calculates a wheel braking moment request, an energy recovery braking moment request and a braking signal lamp request.
Further, the final braking request value included in the final braking request signal is not greater than the first set value.
Further, the final brake request value included in the final brake request signal is not greater than the second set value.
Further, the braking system further comprises a VCU controller and an energy recovery braking moment module, wherein the energy recovery braking moment module receives the energy recovery braking moment request and outputs the energy recovery braking moment request again, and the VCU controller receives the energy recovery braking moment request output again so as to realize an energy recovery function. .
The above-described one or more embodiments of the present invention have at least one or more of the following advantages:
the main controller realizes all control functions and executes the vehicle braking function based on the final braking request, the main controller sends out instructions to all execution controllers, and the execution controllers control the corresponding braking actuators to brake the vehicle; when the main controller fails, the redundant controller realizes the degradation braking function of the vehicle, controls all effective execution controllers in the execution control module, and then controls the corresponding braking executors to brake the wheels so as to brake the vehicle; by adding only one redundancy controller, redundancy in the braking system is realized without increasing the complexity and manufacturing cost of the system.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The present disclosure will become more readily understood with reference to the accompanying drawings. As will be readily appreciated by those skilled in the art: the drawings are for illustrative purposes only and are not intended to limit the scope of the present invention. Moreover, like numerals in the figures are used to designate like parts, wherein:
FIG. 1 is a schematic diagram of a brake-by-wire system according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram illustrating connection relationships between elements in a brake-by-wire system according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of interaction of vehicle braking functions provided in an embodiment of the present application;
FIG. 4 is a schematic diagram of interaction of braking functions when a master controller provided in an embodiment of the present application fails;
FIG. 5 is a schematic diagram of interaction of braking functions when a composite control module provided in an embodiment of the present application fails;
fig. 6 is a schematic diagram of braking function interaction when any execution controller provided in an embodiment of the present application fails.
Reference numerals: 1. a composite control module; 2. executing a control module; 3. and a comprehensive acquisition module.
Detailed Description
Some embodiments of the invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these examples are merely for explaining the technical principles of the present invention and are not intended to limit the scope of the present invention.
As described in the background, since the brake system is an important safety device for a vehicle, it is often necessary to add at least some components or perform some functions redundantly within the brake system so that the brake system can operate reliably even in the event of a failure or defect. A significant portion of the industry now uses additional mechanical devices as a back-up option in the brake system, but this can complicate the brake system and can also present high production costs, excessive vehicle mass, and larger vehicle volumes.
In order to solve one or more of the above technical problems in the prior art, the present application creatively proposes a brake-by-wire system, in which a main controller realizes all control functions and executes a vehicle braking function based on a final braking request, the main controller sends instructions to all execution controllers, and the execution controllers control corresponding brake actuators to brake a vehicle; when the main controller fails, the redundant controller realizes the degradation braking function of the vehicle, controls all effective execution controllers in the execution control module, and then controls the corresponding braking executors to brake the wheels so as to brake the vehicle; by adding only one redundancy controller, redundancy in the braking system is realized without increasing the complexity and manufacturing cost of the system.
The present invention will be specifically illustrated by the following examples.
Referring to fig. 1 and 2, the braking system includes a main controller, a composite control module 1, and an execution control module 2, wherein communication is established between the three modules through a vehicle-mounted network.
In this embodiment, the vehicle network is a CAN communication network. In this embodiment, "M" in the drawings each represents a motor.
A main controller for executing a vehicle braking function according to the final braking request; the composite control module 1 includes a redundant controller for performing a vehicle degraded braking function when the main controller fails. The execution control module 2 comprises at least one execution controller, each of which is electrically connected to a brake actuator for braking a wheel.
Specifically, when the driver drives the vehicle, the driver actively brakes the vehicle as needed or is influenced by the outside, and the vehicle itself passively brakes the vehicle. At this time, these operation or environmental changes are transmitted to the main controller and processed, and finally converted into a final braking request, then the main controller executes the vehicle braking function according to the final braking request, the main controller sends commands to the composite control module 1 and the execution control module 2, then all the execution controllers receive the commands, and then the execution controllers control the corresponding braking actuators to apply clamping force to the vehicle to brake the wheels, thereby braking the vehicle. When the main controller fails, the redundant controller can replace the main controller to execute the vehicle degradation braking function, namely, the redundant controller sends instructions to all the execution controllers, and the execution controllers control the braking executors to apply clamping force to the wheels to brake the wheels, so that the vehicle is braked.
In the actual production and manufacturing, the production and manufacturing of the redundant controller may not completely replace the main controller in consideration of the production and manufacturing cost of the main controller; by "downgrade" is meant that the redundant controller can at least perform the basic of the vehicle braking functions, i.e. brake the vehicle.
Further, the composite control module 1 includes an execution controller. By integrating the execution controller and the redundant controller into one structure, not only can the redundancy of the vehicle braking function be realized, but also the space required by installation can be saved.
Referring to fig. 1 and 2, in the present embodiment, the vehicle is a four-wheeled sedan, and four wheels may be divided into front left, front right, rear left and rear right according to the azimuth. Correspondingly, the execution controllers are four, corresponding to four wheels, and each wheel corresponds to one execution controller. The execution control module 2 comprises three execution controllers, and the composite control module 1 comprises one execution controller; specifically, the front left wheel corresponding execution controller is named Front Left (FL) execution controller, the front right wheel corresponding execution controller in the composite control module 1 is named Front Right (FR) execution controller, the rear left wheel corresponding execution controller is named Rear Left (RL) execution controller, and the rear right wheel corresponding execution controller is named Rear Right (RR) execution controller.
Further, the system also comprises an integrated acquisition module 3 which comprises a wheel speed sensor and a motion sensor of each wheel. The wheel speed sensor and the motion sensor are respectively arranged on four wheels to obtain the wheel speed and the motion state signals of the wheels.
Further, the system also includes a pedal sensor and a redundant pedal sensor, both of which are electrically connected to the brake pedal, so that the pedal sensor and the redundant pedal sensor can both receive signals simultaneously when the driver operates the brake pedal. The pedal sensor is electrically connected with the main controller, and the redundant pedal sensor is electrically connected with the compound control module 1.
Referring to fig. 3, the system further includes a pedal rationality detection module for detecting whether signals emitted from both the pedal sensor and the redundant pedal sensor are rational, and outputting a driver brake request signal based on the detection result.
Specifically, when the driver operates the brake pedal, the pedal sensor and the redundant pedal sensor simultaneously sense the operation; the pedal sensor sends signals to the main controller directly, and the redundant pedal sensor forwards the signals to the main controller through the redundant controller. In practice, the two signals are identical, so when the pedal rationality detection module receives the two signals, it can determine that the detection result is rational, and then output the pedal rationality detection result as a driver brake request signal.
Further, the system also includes a comprehensive brake request module for calculating a driver brake request signal and an external brake request signal and outputting a final brake request signal.
Wherein the external brake request signal is from an external environment in which the vehicle is located.
Specifically, during the running of the vehicle, the vehicle itself actively judges whether braking is required or not under the influence of the external driving environment of the vehicle, and factors such as the external driving environment become an external braking request signal of the vehicle. Both the driver brake request signal and the external brake request signal are received by the integrated brake request module, and related calculations are performed, and then a final brake request is output.
Further, referring to FIG. 3, the system further includes a braking torque calculation and distribution module for receiving at least a final braking request signal and a body state signal.
It should be noted that, in this embodiment, the relevant calculation modules in the system are all built in the main controller; if the main controller fails, the redundant controller is internally provided with a relevant calculation module.
Illustratively, when the main controller, the compound control module 1 and the execution control module 2 are all active, the system also receives the wheel speed sensor signals and the motion sensor signals of four wheels simultaneously to realize a brake request function, an energy recovery function request function, an ABS function and an ESC function, and calculates a wheel brake torque request, an energy recovery brake torque request and a brake signal lamp request.
Further, the system also comprises a VCU controller and an energy recovery braking moment module, wherein the energy recovery braking moment module receives the energy recovery braking moment request and outputs the energy recovery braking moment request again, and the VCU controller receives the energy recovery braking moment request output again to realize the energy recovery function.
The system also includes a brake signal request module that receives the brake signal request and outputs the brake signal request again to the brake signal to illuminate the brake signal.
The system also comprises a four-wheel braking clamping force calculation module which calculates the four-wheel braking clamping force request through four-wheel braking parameters of the whole vehicle after receiving the four-wheel braking moment request. The FR execution controller, the FL execution controller, the RR execution controller and the RL execution controller execute four-wheel brake clamping force requests and then respectively control corresponding brake actuators to realize service braking.
For example, referring to fig. 4, when the main controller fails, the composite control module 1 and the execution control module 2 are both active, the system receives only the final brake request signal and the car sound status signal, and the brake torque calculation and distribution module calculates the wheel brake torque request and the brake signal light request.
Further, the final brake request value included in the final brake request signal is not greater than the first set value. In this embodiment, the first set value is 3m/s2.
The composite control module 1 receives signals of redundant pedal sensors, the pedal rationality detection module detects rationality of pedal signals, and the detected rationality of the pedal signals are reasonable as long as the pedal signals are detected, and the detected rationality of the pedal is output as a driver braking request signal.
In the event of a failure of the main controller, the system cannot acquire the pedal sensor signal, the wheel speed sensor signal for four wheels, the motion sensor signal, and the external brake request signal is disabled. The integrated brake request module receives only the driver brake request signal and limits the final brake request value to be not greater than the first set value, and then outputs the final brake request signal.
The braking moment and distribution module receives a final braking request signal and simultaneously receives a vehicle body state signal to realize a vehicle degradation braking request function; when the main controller fails, the derating braking request function distributes four-wheel braking moment requests in a fixed proportion, and finally calculates the four-wheel braking moment requests and the braking signal lamp requests.
The brake signal light request module receives the brake signal light request and outputs the brake signal light request to the brake signal light again to turn on the brake signal light.
And after receiving the four-wheel braking moment request, the four-wheel braking clamping force calculation module calculates the four-wheel braking clamping force request through the four-wheel braking parameters of the whole vehicle. The FR execution controller, the FL execution controller, the RR execution controller and the RL execution controller execute four-wheel brake clamping force requests and then respectively control corresponding brake actuators to realize service braking.
For example, referring to fig. 5 and 6, when the main controller is active, the composite control module 1 is disabled, and at least one execution controller of the execution control modules 2 is active;
or,
the main controller is effective, and when at least one execution controller in the composite control module 1 is effective and the execution control module 2 is invalid;
the system also receives wheel speed sensor signals and motion sensor signals of a plurality of wheels simultaneously, and the braking moment calculation and distribution module calculates a wheel braking moment request, an energy recovery braking moment request and a braking signal lamp request.
Wherein the number of the plurality is less than four, in this embodiment 3.
Further, the final brake request value included in the final brake request signal is not greater than the second set value. In this embodiment, the second set value is 6m/s2. The vehicle can still keep better braking performance under the condition, so that the vehicle can meet the braking requirement.
Referring to fig. 5, when at least one of the main controller, the composite control module 1, and the execution control module 2 is active; the main controller receives only the signal of the pedal sensor and disables the external brake request signal.
Referring to fig. 6, when at least one of the main controller is active, the composite control module 1 is active, and the execution control module 2 is disabled; the main controller receives the signals of the pedal sensors and the signals of the redundant pedal sensors forwarded by the composite control module 1, and disables the external brake request signal.
In the above two cases, the braking torque calculation and distribution module receives the final braking request signal, and simultaneously receives the wheel speed sensor signals, the motion sensor signals and the vehicle body state signals of the plurality of wheels, so as to implement a vehicle derating braking request function, an energy recovery function request function and a derating ABS function, and finally calculate a plurality of wheel braking torque requests, an energy recovery braking torque request and a brake signal lamp request.
In this embodiment, the brake actuators include motors, and each of the actuator controllers is electrically connected to the motor of its corresponding brake actuator, while also being electrically connected to a clamp force sensor and a motor angle sensor. .
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (12)
1. A brake-by-wire system, the brake system comprising:
a main controller for executing a vehicle braking function according to the final braking request;
a composite control module including a redundant controller for performing a vehicle degraded braking function when the primary controller fails;
an execution control module including at least one execution controller;
each execution controller is electrically connected with a brake actuator, and the brake actuators are used for braking wheels;
and the main controller, the composite control module and the execution control module establish communication through a vehicle-mounted network.
2. The brake-by-wire system of claim 1, wherein the compound control module comprises an execution controller.
3. The brake-by-wire system of claim 1, further comprising an integrated acquisition module including wheel speed sensors, motion sensors for each wheel.
4. The brake-by-wire system of claim 3, further comprising a pedal sensor and a redundant pedal sensor, wherein the pedal sensor and the redundant pedal sensor are each electrically connected to a brake pedal, wherein the pedal sensor is electrically connected to the master controller, and wherein the redundant pedal sensor is electrically connected to the compound control module;
the brake system further comprises a pedal rationality detection module, wherein the pedal rationality detection module is used for detecting whether signals sent by the pedal sensor and the redundant pedal sensor are rational or not and outputting a driver brake request signal based on the detection result.
5. The brake-by-wire system of claim 4, further comprising a comprehensive brake request module for calculating the driver brake request signal and an external brake request signal and outputting the final brake request signal;
wherein the external brake request signal is from an external environment in which the vehicle is located.
6. The brake-by-wire system of claim 5, further comprising a braking torque calculation and distribution module for receiving at least the final braking request signal and a body state signal.
7. The brake-by-wire system of claim 6, wherein the brake system further receives all wheel speed sensor signals and motion sensor signals simultaneously when the master controller, the compound control module, and the execute control module are all active, and the braking torque calculation and distribution module calculates a wheel braking torque request, an energy recovery braking torque request, and a brake signal light request.
8. The brake-by-wire system of claim 6, wherein the brake system receives only the final brake request signal and the body state signal when the master controller is disabled, the compound control module, and the execute control module are active, the brake torque calculation and distribution module calculates a wheel brake torque request and a brake signal light request.
9. The brake-by-wire system of claim 6, wherein at least one of the execution control module and the compound control module is active when the master controller is active;
or,
when at least one of the main controller, the composite control module and the execution control module fails;
the braking system also receives all wheel speed sensor signals and all motion sensor signals simultaneously, and the braking moment calculation and distribution module calculates a wheel braking moment request, an energy recovery braking moment request and a braking signal lamp request.
10. The brake-by-wire system of claim 8, wherein a final brake request value included in the final brake request signal is not greater than a first set value.
11. The brake-by-wire system of claim 9, wherein a final brake request value included in the final brake request signal is not greater than a second set value.
12. The brake-by-wire system of claim 8 or 9, further comprising a VCU controller and an energy recovery braking torque module, the energy recovery braking torque module receiving the energy recovery braking torque request and outputting the energy recovery braking torque request again, the VCU controller receiving the energy recovery braking torque request output again to implement an energy recovery function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410069035.4A CN117885708A (en) | 2024-01-17 | 2024-01-17 | Linear control braking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410069035.4A CN117885708A (en) | 2024-01-17 | 2024-01-17 | Linear control braking system |
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| Publication Number | Publication Date |
|---|---|
| CN117885708A true CN117885708A (en) | 2024-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410069035.4A Pending CN117885708A (en) | 2024-01-17 | 2024-01-17 | Linear control braking system |
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| CN (1) | CN117885708A (en) |
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- 2024-01-17 CN CN202410069035.4A patent/CN117885708A/en active Pending
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