CN118107547A - Brake, braking system, vehicle, warning method, and storage medium - Google Patents

Abstract

The application provides a brake, a braking system, a vehicle, an alarm method and a storage medium, wherein the brake comprises: a brake motor and an actuator; a position sensor for detecting a rotor position of the brake motor; the pressure sensor is used for detecting the braking clamping force of the actuating mechanism; wherein, trigger the braking trouble warning of stopper according to braking clamping force and rotor position. Therefore, the application can utilize the position sensor to feed back the rotor position of the brake motor in real time, and utilize the pressure sensor to feed back the brake clamping force in real time, so as to realize the real-time monitoring of the rotor position of the motor and the feedback brake clamping force in the vehicle braking process, thereby judging the brake fault according to the rotor position and the feedback brake clamping force, discovering the potential fault and the sudden fault of the brake in advance as much as possible or timely, and triggering the brake fault alarm when the potential fault or the sudden fault is detected.

Description

Brake, braking system, vehicle, warning method, and storage medium

Technical Field

The present application relates to the field of vehicles, and more particularly, to a brake, a brake system, a vehicle, an alarm method, and a storage medium in the field of vehicles.

Background

In the related art, when a vehicle brake using compressed air or brake fluid as a power transmission source performs braking, force feedback to a vehicle brake system is realized by feeding back braking force to a brake system central controller through a pressure sensor on an air path or a pressure sensor on a hydraulic pipeline, wherein the pressure sensor is arranged on the air path or the fluid pipeline of the brake system; the fault of the braking system can be detected and judged by the pressure differences detected by the pressure sensors at different positions on the pipeline, and an alarm is given by the braking system controller.

With the development of braking technology, brake-by-wire EMB (Electromechanical Brake System, electro-mechanical braking system) technology has penetrated the field of vehicle braking; the pure-line-control EMB braking system eliminates a gas loop or a brake fluid loop in the traditional braking system and corresponding pressure sensors on various pipelines; however, how to acquire the brake clamping force output of each brake from each wheel end in real time and how to detect faults occurring in the brake EMB brake when the EMB brake system performs vehicle braking becomes a problem to be solved.

Disclosure of Invention

The application provides a brake, a brake system, a vehicle, an alarm method and a storage medium in the field of vehicles, wherein the method can utilize a position sensor to feed back the rotor position of a brake motor in real time and utilize a pressure sensor to feed back the brake clamping force in real time, so that the real-time monitoring of the rotor position of the motor and the feedback brake clamping force in the braking process of the vehicle can be realized, whether a brake fault occurs or not can be judged according to the rotor position and the feedback brake clamping force, and the brake fault alarm can be triggered when the brake fault occurs.

In a first aspect, there is provided a brake, comprising: a brake motor and an actuator; a position sensor for detecting a rotor position of the brake motor; the pressure sensor is used for detecting the braking clamping force of the actuating mechanism; wherein, trigger the braking trouble warning of stopper according to braking clamping force and rotor position.

Through the technical scheme, the embodiment of the application can utilize the position sensor to feed back the rotor position of the braking motor in real time and utilize the pressure sensor to feed back the braking clamping force in real time, so that the real-time monitoring of the rotor position of the motor and the feedback braking clamping force in the braking process of the vehicle can be realized, whether the braking fault occurs can be judged according to the rotor position and the feedback braking clamping force, and the braking fault alarm can be triggered when the braking fault occurs.

In a second aspect, there is provided a brake system, the system comprising: the brake of the above embodiment; and the motor controller is used for controlling the braking motor to act according to the braking instruction and triggering the braking fault alarm of the brake according to the braking clamping force and the rotor position.

Through the technical scheme, the embodiment of the application can detect the working state of the brake in real time, receive the braking instruction after sending the braking instruction to the brake according to the vehicle state and the braking intention of a driver, and correspondingly drive the motor according to the braking instruction so as to finish the brake-by-wire of the braking motor; meanwhile, the potential faults and the sudden faults are detected in real time by utilizing the processing unit to acquire the braking clamping force and the rotor position, so that the potential faults and the sudden faults of the brake can be discovered as early as possible or timely in the aspect of braking safety, and a braking fault alarm is triggered when the potential faults or the sudden faults are detected.

In a third aspect, there is provided a vehicle comprising: a plurality of braking systems as described above; and the control unit is used for sending a braking instruction to the braking system, receiving an alarm signal of the braking system and sending the alarm signal to alarm equipment.

Through the technical scheme, the embodiment of the application can detect the working state of the brake in real time, check the difference between the braking request instruction and the actual feedback in real time, and trigger an alarm signal when the difference between the braking request and the actual feedback is large, so that potential faults and sudden faults of the brake can be discovered as early as possible or timely in the aspect of braking safety, and trigger braking fault alarm when the potential faults or sudden faults are detected.

With reference to the third aspect, in some possible implementations, the plurality of braking systems includes first to fourth braking systems, and the control unit includes a first control unit and a second control unit, where the first control unit is in interactive communication with the first braking system and the second braking system; the second control unit is in interactive communication with the third brake system and the fourth brake system; the first control unit and the second control unit are in interactive communication, and the first control unit and/or the second control unit send alarm signals to the alarm equipment.

In a fourth aspect, a brake failure warning method is provided, where the method uses the brake system as described above to perform brake failure warning, and the method includes: acquiring a rotor position of a brake motor and a brake clamping force of an actuating mechanism; and triggering a brake failure alarm of the brake according to the brake clamping force and the rotor position.

Through the technical scheme, the embodiment of the application can acquire the braking clamping force and the rotor position in real time, and check the difference between the braking request instruction and the actual feedback in real time, so that potential faults and sudden faults can be detected, potential faults and sudden faults of the brake can be discovered as early as possible or timely in the aspect of braking safety, and braking fault alarming is triggered when the potential faults or sudden faults are detected.

With reference to the fourth aspect, in some possible implementations, triggering a brake failure alarm of the brake according to the brake clamping force and the rotor position includes: acquiring a calibration curve of the braking clamping force and the rotor position; and triggering a brake fault alarm of the brake according to the brake clamping force, the rotor position and the calibration curve.

With reference to the fourth aspect and the foregoing implementation manner, in some possible implementation manners, triggering a brake failure alarm of a brake according to a brake clamping force, a rotor position and a calibration curve includes: determining a reference clamping force according to the rotor position and the calibration curve; if the difference value between the braking clamping force and the reference clamping force is in the preset range, the braking fault alarm of the brake is not triggered, otherwise, the braking fault alarm of the brake is triggered.

With reference to the fourth aspect and the foregoing implementation manner, in some possible implementation manners, triggering a brake failure alarm of a brake according to a brake clamping force, a rotor position and a calibration curve includes: acquiring an allowable error value of a braking clamping force corresponding to each rotor position; generating a tolerance zone according to the calibration curve and the allowable error value; and if the corresponding points of the braking clamping force and the rotor position are within the tolerance zone, the braking fault alarm of the brake is not triggered, otherwise, the braking fault alarm of the brake is triggered.

With reference to the fourth aspect and the foregoing implementation manner, in some possible implementation manners, before acquiring the calibration curve of the brake clamping force and the rotor position, the method further includes: acquiring the rotor position and the braking clamping force in the braking process; acquiring the overall rigidity of the brake, the rigidity of a brake lining and the rigidity of a brake disc; and generating a calibration curve of the rotor position and the brake clamping force according to the rotor position, the brake clamping force, the overall rigidity of the brake, the rigidity of the brake lining and the rigidity of the brake disc.

In a fifth aspect, a computer readable storage medium is provided, the computer readable storage medium storing a computer program, which when executed, implements a brake failure warning method as described above.

Drawings

FIG. 1 is a schematic illustration of a brake according to an embodiment of the present application;

FIG. 2 is a schematic illustration of a braking system according to an embodiment of the present application;

FIG. 3 is a schematic flow chart of a brake command execution process according to an embodiment of the present application;

FIG. 4 is a schematic illustration of the relationship between brake clamping force and motor position in accordance with an embodiment of the present application;

FIG. 5 is a schematic illustration of a calibration curve of an internal pressure sensor in a brake in accordance with an embodiment of the present application;

FIG. 6 is a schematic illustration of a vehicle according to an embodiment of the application;

FIG. 7 is an exemplary diagram of an EMB system by wire wheel end brake alarm of an embodiment of the present application;

FIG. 8 is a flow chart of a brake failure warning method of an embodiment of the present application;

FIG. 9 is a schematic diagram of an EMB-by-wire system architecture according to an embodiment of the present application;

FIG. 10 is a schematic diagram of a bridge control electronic control unit according to an embodiment of the present application;

fig. 11 is a schematic illustration of an EMB wheel end brake assembly according to an embodiment of the application.

Reference numerals illustrate: a brake 10, a brake motor 110, an actuator 120, a position sensor 130, and a pressure sensor 140; a braking system 20, a motor controller 210; a vehicle 30, a control unit 310; the vehicle 07, the brake related alert display 007, the first bridge electronic control unit alert signal 710, the front left EMB wheel end brake command 711, the feedback signal 712, the alert signal 713, the front right EMB wheel end brake command 721, the feedback signal 722, the alert signal 723, the rear right EMB wheel end brake command 731, the feedback signal 732, the alert signal 733, the rear left EMB wheel end brake command 741, the feedback signal 742, the alert signal 743.

Detailed Description

The technical scheme of the application will be clearly and thoroughly described below with reference to the accompanying drawings. Wherein, in the description of the embodiments of the present application, unless otherwise indicated, "/" means or, for example, a/B may represent a or B: the text "and/or" is merely an association relation describing the associated object, and indicates that three relations may exist, for example, a and/or B may indicate: the three cases where a exists alone, a and B exist together, and B exists alone, and furthermore, in the description of the embodiments of the present application, "plural" means two or more than two.

The terms "first," "second," and the like, are used below for descriptive purposes only and are not to be construed as implying or implying 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 one or more such feature.

In the related art, a commercial vehicle brake can adopt compressed air or brake fluid as a power transmission source, and when the brake executes braking, force feedback to a vehicle braking system is realized by feeding back braking force to a central controller of the braking system through a pressure sensor on an air path or a pressure sensor on a hydraulic pipeline, wherein the pressure sensor is arranged on the air path or the fluid pipeline of the braking system; the failure detection of the brake system can be performed by using the pressure differences detected by the pressure sensors at different positions on the pipeline, and can be alarmed by the brake system controller, for example, when the brake system detects that the normal pressure at the outlet of the master cylinder and the pressure difference detected by the failure part exceeds 1.55Mpa, a red alarm signal needs to be lightened.

With the development of brake technology, brake-by-wire EMB technology has now penetrated the field of vehicle braking. The pure-line-control EMB braking system cancels a gas loop or a brake fluid loop in the traditional braking system and cancels corresponding pressure sensors on various pipelines, so that when the EMB braking system executes vehicle braking, how to acquire the braking clamping force output of each brake from each wheel end in real time is a problem to be solved, and further how to detect faults occurring in the line-control brake EMB brake is a problem to be considered and solved.

Therefore, the embodiment of the application can provide a brake alarm design suitable for an EMB brake system by wire, wherein the brake is internally provided with a pressure sensor capable of feeding back the brake clamping force of the brake in real time and an EMB motor position sensor, the brake is also provided with a controller capable of receiving a brake signal and executing a braking process after receiving the brake signal, and the controller is provided with a function capable of processing data output of the pressure sensor and the motor position sensor in the corresponding brake in real time and performing diagnosis function configuration on data processing of the two sensors.

In the embodiment of the application, from the aspect of control requirements of the brake system, the brake-by-wire EMB brake system can acquire real brake working states from brakes at all wheel ends of a vehicle in real time, so that the application performance can be guaranteed while various functions of the brake-by-wire EMB brake system are realized, potential faults and sudden faults of the brake can be discovered as early as possible or timely in the aspect of braking safety, and further, an alarm signal is sent when the potential faults or sudden faults are detected, so that a driver is informed of corresponding processing.

Namely, the brake system, the vehicle, the alarming method and the storage medium of the embodiment of the application can compare the brake-by-wire EMB brake system with the existing hydraulic braking and pneumatic braking, and when the output of the pressure sensor exceeds the threshold value relative to the specific motor position, the wheel end brake is considered to be faulty and an alarming signal is required to be sent out to inform a driver, so that the problem that the alarming caused by the pressure loss of the brake end is realized in the EMB brake system is solved, and the triggering condition is set; the brake, the brake system, the vehicle, the alarm method and the storage medium according to the embodiment of the application are specifically described below.

Specifically, fig. 1 is a schematic structural diagram of a brake according to an embodiment of the present application.

For example, as shown in fig. 1, the brake 10 may include: a brake motor 110, an actuator 120, a position sensor 130, and a pressure sensor 140.

Wherein the position sensor 130 is used for detecting the rotor position of the brake motor 110; a pressure sensor 140 for detecting a brake clamping force of the actuator 120; wherein embodiments of the present application trigger a brake failure warning of the brake 10 based on the brake clamping force and the rotor position.

According to the brake provided by the embodiment of the application, the rotor position of the brake motor can be fed back in real time by using the position sensor, and the brake clamping force can be fed back in real time by using the pressure sensor, so that the real-time monitoring of the rotor position of the motor and the feedback brake clamping force in the vehicle braking process can be realized, whether a brake fault occurs can be judged according to the rotor position and the feedback brake clamping force, and the brake fault alarm can be triggered when the brake fault occurs.

Fig. 2 is a schematic structural diagram of a braking system according to an embodiment of the present application.

For example, as shown in FIG. 2, the braking system 20 may include: such as the brake 10 and motor controller 210 of the above embodiment.

The motor controller 210 is configured to control the braking motor to act according to a braking command, and trigger a braking failure alarm of the brake according to a braking clamping force and a rotor position.

It can be understood that when the vehicle is braked, the embodiment of the application can send out a braking instruction to the brake according to the state of the vehicle and the braking intention of a driver, so that the embodiment of the application can utilize the motor controller to control the motor to perform corresponding actions according to the sent braking instruction, and acquire the braking clamping force and the rotor position by using the brake so as to trigger a braking fault alarm when judging that potential faults or sudden faults exist.

Specifically, the motor controller 210 includes: a receiving unit for receiving a braking instruction; a driving unit for driving the brake motor according to the brake command; and the processing unit is used for triggering a brake fault alarm of the brake according to the brake clamping force and the rotor position.

It can be understood that the motor controller in the embodiment of the application comprises a receiving unit for receiving a braking instruction, a driving unit for driving the braking motor and a processing unit for triggering braking fault alarm of the brake, so that the working state of the brake can be detected in real time through the cooperation of the units, after the braking instruction is sent to the brake according to the state of the vehicle and the braking intention of a driver, the braking instruction is received, and the motor is correspondingly driven according to the braking instruction, so that the brake-by-wire braking of the braking motor is completed; meanwhile, the processing unit is used for acquiring the braking clamping force and the rotor position, and detecting potential faults and sudden faults in real time so as to trigger braking fault alarm when judging that the potential faults or the sudden faults exist.

For example, fig. 3 shows a schematic process of executing a braking command, as shown in fig. 3, where the braking command of the embodiment of the present application is transmitted to a motor controller through a pedal simulator, a receiving unit of the motor controller receives the command, and the received braking command is sent to a wheel-end EMB brake motor control unit (a control unit of a vehicle described below), the wheel-end EMB brake motor control unit further converts the braking command into a motor rotor position request, the motor rotor is turned to a corresponding position under the control of the motor controller, and the motor rotor is turned to drive an actuator inside the brake to generate a braking clamping action, thereby generating a braking clamping force.

In an embodiment of the present application, the processing unit is further configured to: acquiring a calibration curve of the braking clamping force and the rotor position; and triggering a brake fault alarm of the brake according to the brake clamping force, the rotor position and the calibration curve.

It will be appreciated that the relationship between the output brake clamping force and the motor position during clamping of the locking brake disc is affected by the overall stiffness of the brake, the brake lining stiffness, the brake disc stiffness, and therefore a non-linear curve can be obtained of the relationship between the motor rotor position during execution of a brake command and the brake clamping force output by the brake, which curve can be shown as a theoretical relationship curve in fig. 4.

It should be noted that, the braking clamping force according to the embodiment of the present application may be detected by the pressure sensor 140 of the brake 10, and the pressure data detected by the pressure sensor 140 outputs a voltage signal, where the voltage signal is calibrated and temperature compensated, and thus may be in a linear function with the positive pressure applied by the sensor, so that the corresponding braking clamping force may be obtained by the voltage signal, and the calibration curve of the pressure sensor may be shown in fig. 5.

Therefore, the embodiment of the application can further utilize the processing unit to acquire the relation curve of the braking clamping force and the rotor position so as to trigger a braking fault alarm when judging that potential faults or sudden faults exist.

It should be noted that the foregoing explanation of the brake embodiment is also applicable to the brake system of this embodiment, and will not be repeated here.

According to the braking system provided by the embodiment of the application, the working state of the brake can be detected in real time, after a braking instruction is sent to the brake according to the vehicle state and the braking intention of a driver, the braking instruction is received, and the motor is correspondingly driven according to the braking instruction, so that the brake-by-wire of the braking motor is completed; meanwhile, the potential faults and the sudden faults are detected in real time by utilizing the processing unit to acquire the braking clamping force and the rotor position, so that the potential faults and the sudden faults of the brake can be discovered as early as possible or timely in the aspect of braking safety, and a braking fault alarm is triggered when the potential faults or the sudden faults are detected.

Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

For example, as shown in fig. 6, the vehicle 30 may include: a plurality of brake systems 20 and control units 310 as in the above embodiments.

The control unit 310 is configured to send a braking instruction to the braking system, receive an alarm signal of the braking system, and send the alarm signal to the alarm device.

It can be understood that the vehicle of the embodiment of the application can obtain the actual working state, potential faults and sudden faults of the brake through the cooperation of a plurality of systems and the control unit, so that the brake can be timely alarmed when the faults are detected.

In an embodiment of the present application, the plurality of brake systems 20 includes first to fourth brake systems, and the control unit 310 includes a first control unit and a second control unit, wherein the first control unit is in interactive communication with the first brake system and the second brake system; the second control unit is in interactive communication with the third brake system and the fourth brake system; the first control unit and the second control unit are in interactive communication, and the first control unit and/or the second control unit send alarm signals to the alarm equipment.

It can be understood that the first braking system and the second braking system in the embodiment of the application are in interactive communication with the first control unit, the third braking system and the fourth braking system are in interactive communication with the second control unit, and the two control units are also in interactive communication, so that the difference between a braking request instruction and actual feedback can be checked in real time, and an alarm signal is triggered when the difference between the braking request and the actual feedback is large, so that a driver is timely reminded of brake failure.

For example, fig. 7 shows an example of a braking system for warning or alarming when the EMB wheel end brake fails in the braking system 07 of the automobile, as shown in fig. 7, the embodiment of the present application may consider that the first braking system includes a left front EMB wheel end brake, the second braking system includes a right front EMB wheel end brake, the third braking system includes a right rear EMB wheel end brake, and the fourth braking system includes a left rear EMB wheel end brake; the method comprises the following steps:

The first control unit, i.e. the first bridge control electronic control unit, may send brake command signals 711, 721 and may receive feedback signals 712 and 722 and alarm signals 713 and 723 sent by the front left and front right EMB wheel end brakes; the second control unit, namely the second bridge control electronic control unit, can send braking command signals 731 and 741 and can receive feedback signals 732 and 742 sent by the rear-right and rear-left EMB wheel end brakes; meanwhile, the brake system bridge control unit is provided with a processing module which can send an alarm signal 710 to an EMB brake signal lamp on the instrument panel of the whole vehicle. The sensor processing module in the EMB wheel end brake can monitor sensor data in real time in the braking process, detect the working state, potential faults and sudden faults of the EMB wheel end brake in real time according to the detected sensor output, and if the potential faults or the sudden faults are detected, the signal receiving and processing unit is further provided with a function configuration for sending an alarm to the bridge control electronic control unit, and the bridge control electronic control unit sends an alarm signal 710 to the whole vehicle instrument display unit 007 after receiving the alarm of the wheel end EMB brake, wherein the signal types include but are not limited to optical signals and acoustic signals.

It should be noted that the foregoing explanation of the embodiment of the braking system is also applicable to the vehicle of this embodiment, and will not be repeated here.

According to the vehicle provided by the embodiment of the application, the working state of the brake can be detected in real time, and the difference between the braking request instruction and the actual feedback is checked in real time, so that when the difference between the braking request and the actual feedback is large, an alarm signal is triggered, and therefore, the potential faults and the sudden faults of the brake can be discovered as early as possible or timely in the aspect of braking safety, and when the potential faults or the sudden faults are detected, the braking fault alarm is triggered.

Fig. 8 is a schematic flow chart of a brake failure warning method provided by an embodiment of the application.

As shown in fig. 8, the method uses the brake system to alarm the brake fault, wherein the brake fault alarm method comprises the following steps:

Step S101, acquiring a rotor position of a brake motor and a brake clamping force of an actuator.

It can be understood that, because the electronic rotor position and the brake clamping force of the actuating mechanism can reflect the state of the brake motor in the braking process, the embodiment of the application can acquire the rotor position of the brake motor and the brake clamping force of the actuating mechanism, and therefore, whether the current vehicle is braked abnormally can be judged through the rotor position and the brake clamping force.

And step S102, triggering a brake failure alarm of the brake according to the brake clamping force, the rotor position and the calibration curve.

It can be understood that the normal calibration conditions and acceptable floating ranges of the brake clamping force and the rotor position can be obtained by the calibration curves of the brake clamping force and the rotor position, namely, the embodiment of the application can judge whether the brake fault occurs currently or not according to the relationship between the brake clamping force and the rotor position and comparing the calibration curves, and carry out fault alarm when the brake fault occurs; the method comprises the following steps:

in an embodiment of the application, triggering a brake failure alarm of a brake according to a brake clamping force and a rotor position comprises: acquiring a calibration curve of the braking clamping force and the rotor position; and triggering a brake fault alarm of the brake according to the brake clamping force, the rotor position and the calibration curve.

It can be understood that the embodiment of the application can utilize the braking clamping force and the rotor position in the braking process to compare the corresponding values on the calibration curve, judge whether the braking fault occurs according to the numerical deviation, and realize the braking fault alarm of triggering the brake according to the braking clamping force, the rotor position and the calibration curve, thereby improving the braking fault triggering sensitivity and the driving safety; the calibration curve of the embodiment of the present application may be shown as a theoretical relationship curve in fig. 4, and the method for generating the calibration curve of the rotor position and the brake clamping force may be specifically as follows:

In an embodiment of the present application, before obtaining the calibration curve of the brake clamping force and the rotor position, the method further includes: acquiring the rotor position and the braking clamping force in the braking process; acquiring the overall rigidity of the brake, the rigidity of a brake lining and the rigidity of a brake disc; and generating a calibration curve of the rotor position and the brake clamping force according to the rotor position, the brake clamping force, the overall rigidity of the brake, the rigidity of the brake lining and the rigidity of the brake disc.

It can be understood that the relationship between the output brake clamping force and the motor position of the brake is influenced by the overall rigidity of the brake, the rigidity of the brake lining, the rigidity of the brake disc and the friction heat energy generated in the braking process in the process of clamping the locked brake disc, so that the relationship between the motor rotor position and the brake clamping force output by the brake in the process of executing a brake command is a nonlinear curve; according to the embodiment of the application, the rotor position and the braking clamping force in the braking process can be obtained, and the overall rigidity of the brake, the rigidity of a brake lining and the rigidity of a brake disc are obtained, so that a calibration curve of the rotor position and the braking clamping force is generated, and the braking fault alarm of the brake can be triggered according to the calibration curve; the embodiment of the application can realize the triggering of the brake fault alarm of the brake by using at least one mode, and specifically comprises the following steps:

As one possible implementation, triggering a brake failure warning of the brake according to the brake clamping force, the rotor position and the calibration curve comprises: determining a reference clamping force according to the rotor position and the calibration curve; if the difference value between the braking clamping force and the reference clamping force is in the preset range, the braking fault alarm of the brake is not triggered, otherwise, the braking fault alarm of the brake is triggered.

The preset range can be calibrated according to actual conditions, and is not particularly limited.

It can be understood that the embodiment of the application can set the difference range of the braking clamping force and the reference clamping force, and when the difference value of the braking clamping force and the reference clamping force is in the preset range, the obtained braking clamping force deviation is considered to be smaller, so that the braking process can be considered to be safely and successfully executed; otherwise, when the difference value between the braking clamping force and the reference clamping force is not in the preset range, the embodiment of the application can consider that the braking clamping force obtained at the moment has larger deviation, and further can consider that the braking process is performed to have faults, an alarm signal is triggered, and an alarm signal is sent to a vehicle instrument panel through a motor controller to inform a driver of the faults of the brake in time.

Therefore, the embodiment of the application can determine whether to trigger the brake fault alarm through the difference value calculation, namely, the signals of the pressure sensor and the motor position sensor are mutually checked when the brake works normally, and when the output of the pressure sensor exceeds a threshold value relative to the position of a specific motor, the wheel end brake is considered to be faulty, and an alarm signal is required to be sent out to inform a driver; the output of the pressure sensor is used as a main reference and the output of the motor position sensor is used as an auxiliary reference during fault alarming.

As another possible implementation, triggering a brake failure warning of the brake according to the brake clamping force, the rotor position and the calibration curve comprises: acquiring an allowable error value of a braking clamping force corresponding to each rotor position; generating a tolerance zone according to the calibration curve and the allowable error value; and if the corresponding points of the braking clamping force and the rotor position are within the tolerance zone, the braking fault alarm of the brake is not triggered, otherwise, the braking fault alarm of the brake is triggered.

The allowable error value corresponds to the rotor position, and may be calibrated according to the actual situation, which is not specifically limited.

It can be understood that in an actual application scene, compared with a calibration curve, the points corresponding to the positions of the motor of the vehicle and the braking clamping force may deviate, and the situation that the points approach the curve but do not fall on the curve occurs.

Specifically, the embodiment of the application can generate a tolerance zone by using the allowable error with reference to the calibration curve, and can consider that the braking process is safely and successfully executed at the moment if the corresponding points of the braking clamping force and the rotor position are within the tolerance zone; when the corresponding points of the braking clamping force and the rotor position are not in the tolerance zone, the current braking process can be considered to be faulty, and braking fault alarm needs to be triggered.

The following is a description of one specific embodiment; as shown in fig. 9 to 11, fig. 9 is a schematic diagram of the architecture of the linear control-motor EMB system; FIG. 10 is a schematic diagram of a bridge control electronic control unit; fig. 11 is a schematic view of an EMB wheel end brake:

In the embodiment of the application, the control unit is provided with a module and a signal processing module which can perform signal interaction with the EMB wheel end brake; the bridge control electronic control unit signal interaction module can send braking command signals 711, 721, 731 and 741 and can receive feedback signals 712, 722, 732 and 742 (shown in fig. 7) sent by the EMB wheel end brakes, and meanwhile, the brake system bridge control unit is configured with a processing module capable of sending an alarm signal 710 to an EMB brake signal lamp on the whole vehicle instrument panel; the wheel end brake comprises an EMB brake motor controller, a pressure sensor and a motor position sensor which are integrated in the brake; the motor controller is provided with a unit for receiving a braking signal, and can execute a braking command after receiving the braking signal, and is provided with a signal receiving and processing unit of a sensor.

Specifically, taking a left front EMB wheel end brake as an example, a controller of the left front EMB wheel end brake monitors and compares a braking instruction 711 received by a signal receiving unit from a first bridge control electronic control unit in real time, the braking instruction 711 is processed and converted into a position instruction of an EMB motor through the left front wheel end EMB brake controller, the wheel end EMB motor drives a set of executing mechanism through a driving module to realize a braking process, a pressure sensor module feeds back braking clamping force of the wheel end EMB brake in real time in the braking process, a motor position sensor module feeds back the motor rotor position of the wheel end EMB brake in real time in the braking process, and the two signals are processed by a signal processing unit of the wheel end EMB motor controller in a diagnosis mode and then fed back to a signal receiving unit and a signal processing unit of the bridge control unit; the wheel end EMB brake of the embodiment of the application can check the difference between the braking request command and the actual feedback in real time, when the difference between the requested braking clamping force and the requested motor position and the actual output is within the tolerance range specified in fig. 4, the braking process is considered to be safely and successfully executed on the wheel end EMB brake, otherwise, an alarm signal is triggered, and an alarm signal is sent to a vehicle instrument panel through a bridge control module controller to inform a driver of the brake failure in time.

In summary, according to the brake fault alarm method provided by the embodiment of the application, the brake clamping force and the rotor position can be obtained in real time, and the difference between the brake request command and the actual feedback can be checked in real time, so that potential faults and sudden faults can be detected, potential faults and sudden faults of a brake can be found as early as possible or timely in the aspect of brake safety, and brake fault alarm is triggered when the potential faults or sudden faults are detected.

The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor implements the brake failure warning method as above.

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 application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

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 application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. 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 different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, 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 application.

Claims (10)

1. A brake, the brake comprising:

A brake motor and an actuator;

A position sensor for detecting a rotor position of the brake motor;

the pressure sensor is used for detecting the braking clamping force of the actuating mechanism; wherein,

And triggering a brake failure alarm of the brake according to the brake clamping force and the rotor position.

2. A braking system, the system comprising:

The brake of claim 1;

and the motor controller is used for controlling the braking motor to act according to a braking instruction and triggering a braking fault alarm of the brake according to the braking clamping force and the rotor position.

3. A vehicle, characterized in that the vehicle comprises:

a plurality of brake systems according to any one of claim 2;

and the control unit is used for sending a braking instruction to the braking system, receiving an alarm signal of the braking system and sending the alarm signal to alarm equipment.

4. The vehicle of claim 3, wherein the plurality of brake systems includes first through fourth brake systems, the control unit includes a first control unit and a second control unit, wherein,

The first control unit is in interactive communication with a first braking system and a second braking system;

the second control unit is in interactive communication with a third brake system and a fourth brake system;

the first control unit and the second control unit are in interactive communication, and the first control unit and/or the second control unit send the alarm signal to alarm equipment.

5. A brake failure warning method using the brake system according to any one of claims 2, wherein the method includes:

acquiring a rotor position of a brake motor and a brake clamping force of an actuating mechanism;

and triggering a brake failure alarm of the brake according to the brake clamping force and the rotor position.

6. The method of claim 5, wherein said triggering a brake failure warning of said brake based on said brake clamping force and said rotor position comprises:

Acquiring a calibration curve of the braking clamping force and the rotor position;

And triggering a brake fault alarm of the brake according to the brake clamping force, the rotor position and the calibration curve.

7. The method of claim 6, wherein said triggering a brake failure warning of said brake based on said brake clamping force, said rotor position, and said calibration curve comprises:

determining a reference clamping force from the rotor position and the calibration curve;

And if the difference value between the braking clamping force and the reference clamping force is in a preset range, not triggering braking fault alarm of the brake, otherwise triggering braking fault alarm of the brake.

8. The method of claim 6, wherein said triggering a brake failure warning of said brake based on said brake clamping force, said rotor position, and said calibration curve comprises:

acquiring an allowable error value of a braking clamping force corresponding to each rotor position;

Generating a tolerance zone according to the calibration curve and the allowable error value;

And if the points corresponding to the brake clamping force and the rotor position are located in the tolerance zone, not triggering the brake fault alarm of the brake, otherwise triggering the brake fault alarm of the brake.

9. The method of claim 6, further comprising, prior to obtaining the calibration curve of brake clamping force and rotor position:

acquiring the rotor position and the braking clamping force in the braking process;

acquiring the overall rigidity of the brake, the rigidity of a brake lining and the rigidity of a brake disc;

And generating a calibration curve of the rotor position and the brake clamping force according to the rotor position, the brake clamping force, the overall rigidity of the brake, the rigidity of the brake lining and the rigidity of the brake disc.

10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed, implements the brake failure warning method according to any one of claims 5 to 9.