KR20140026034A - Brake-by-wire system and operating method therefor - Google Patents

Brake-by-wire system and operating method therefor Download PDF

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Publication number
KR20140026034A
KR20140026034A KR1020120092943A KR20120092943A KR20140026034A KR 20140026034 A KR20140026034 A KR 20140026034A KR 1020120092943 A KR1020120092943 A KR 1020120092943A KR 20120092943 A KR20120092943 A KR 20120092943A KR 20140026034 A KR20140026034 A KR 20140026034A
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KR
South Korea
Prior art keywords
control unit
wheel drive
wheel
drive control
central
Prior art date
Application number
KR1020120092943A
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Korean (ko)
Inventor
김태진
Original Assignee
현대모비스 주식회사
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Priority to KR1020120092943A priority Critical patent/KR20140026034A/en
Publication of KR20140026034A publication Critical patent/KR20140026034A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • 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
    • B60T17/221—Procedure or apparatus for checking or keeping in a correct functioning condition of brake 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • 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
    • B60T2270/82—Brake-by-Wire, EHB
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/81—Braking systems

Abstract

Disclosed are an electronically controlled brake system and an operation method thereof. The electronically controlled brake system according to the present invention includes a plurality of wheel control units which are installed to correspond to each wheel of a vehicle and generates braking force by controlling a motor corresponding to the wheel, a central control unit which calculates braking force for each wheel and controls each wheel control unit corresponding to the calculated braking force, and a coupler which connects to each wheel control unit and the central control unit, forms a star-shaped network, and relays data transmission and reception between each wheel control unit and the central control unit. The central control unit controls each wheel control unit through a plurality of couplers. [Reference numerals] (100) Wheel control unit; (200) Central control unit; (300) Coupler; (AA) Network A; (BB) Network B

Description

Electronically controlled brake system and its driving method {Brake-By-Wire System and Operating Method therefor}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electronically controlled brake system and a method of driving the same. More particularly, the present invention relates to a case where an accident such as an accident of a vehicle, a failure of a communication network, or an electronic control unit (ECU) occurs. The present invention relates to an electronically controlled brake system capable of ensuring stability and a driving method thereof.

Brake-By-Wire (BBW) system is a system that obtains the braking force of the vehicle by operating the caliper by the driving force of the motor by using the ECU (Electronic Control Unit) and the motor beyond the conventional brake concept using hydraulic pressure. Say.

The electronically controlled brake system reduces the weight of the vehicle by not using hydraulic pressure and improves fuel economy by reducing engine power loss. In addition, as electric vehicles are widely used, a motor-based electronically controlled brake system is used as the main driving device, without using an electric pump to drive a hydraulic system that generates pressure by using the power of an existing engine.

1 is a view schematically showing the configuration of a general BBW system.

Referring to FIG. 1, a total of two five ECUs are used in an electronically controlled brake system, and an electronic pedal for implementing a driver's braking intention and a caliper operated by a motor for implementing braking force are located on each wheel. The center ECU (CECU) is located at the center of the vehicle, manages the overall operation of the electronically controlled brake system, communicates with the electronic pedals, information on the wheel speed sensor and communicates with other systems to calculate the braking force according to the user's needs. To this end, the CECU implements braking algorithms such as anti-lock brake systems (ABS) and electronic controlled suspension (ECS).

Four WECUs (Wheel ECUs) located on each wheel receive the braking force and braking algorithm calculated by the CECU and control the calipers to the required driving force to brake the vehicle. Communication between CECU and WECU is an important factor for safe and accurate vehicle braking.

The most commonly used communication for communication between ECUs in a vehicle is controller area network (CAN) communication. CAN communication is a communication technology of a vehicle network system developed to provide digital serial communication between various measurement control devices in a vehicle, and a low-cost and scalable communication network can be configured through a BUS type communication structure.

Fail-Safe should always be considered because the electronically controlled brake system for vehicle braking is a braking system that greatly affects the safety of the vehicle. In particular, it is necessary to think about the failure of communication between the CECU that calculates the braking force and the WECU that drives it, and come up with alternatives.

By the way, the passive hub method of the existing CAN communication has not been considered for failsafe at the time of communication failure from the initial design. Therefore, it is difficult to build an electronically controlled brake system using existing communication methods.

2 shows a general electronically controlled brake system using a CAN scheme.

Referring to FIG. 2, the network of the electronically controlled brake system using the CAN method does not have a fail safe concept for a communication network failure, and thus, the entire system may not operate normally when a communication failure occurs. In Passive Hub type network such as CAN communication, if communication line is broken or a specific communication node is broken and the communication network is fixed, the whole network is broken and communication itself is not possible. In this case, fail-safe operation must be performed on each ECU individually. However, when fail-safe is performed only with an individual ECU due to the structure of the electronically controlled brake system, a more secure network system is required because it is difficult to guarantee the safety of the entire vehicle.

The present invention was devised to solve the above-described problems, and can guarantee the stability of the entire vehicle in case of a problem such as an accident of a vehicle, a failure of a communication network or an electronic control unit (ECU). An object of the present invention is to provide an electronically controlled brake system and a driving method thereof.

Electronically controlled brake system according to an embodiment of the present invention for achieving the above object, a plurality of wheel drive control unit that is installed corresponding to the motor of each wheel (wheel) of the vehicle, and performs a braking force by controlling the corresponding motor ; A central controller which calculates a braking force for each wheel and controls corresponding wheel driving controllers according to the calculated braking force; And a coupler connected to each wheel driving control unit and the central control unit to form a star network, and relaying transmission and reception of data between each wheel driving control unit and the central control unit. Here, the central controller controls each wheel drive controller through a plurality of couplers.

Each coupler relays data transmission and reception between each wheel drive control unit when an abnormality occurs in the central control unit.

When the network communication between at least one of the plurality of wheel drive control units and the coupler is interrupted, the central controller controls the remaining wheel drive control unit to emergency brake the corresponding wheel.

Each wheel drive control unit and the central control unit may have the same number of channels as the number of couplers.

Each coupler may have the same number of channels as the number of the wheel drive controller and the central controller.

An electronically controlled brake driving method according to an embodiment of the present invention for achieving the above object comprises the steps of: calculating a braking force for each wheel drive controller by the central controller; A coupler connected to each wheel drive controller and the central controller in a star network, and relaying data transmission and reception between each wheel drive controller and the central controller; And controlling each motor corresponding to each wheel of the vehicle by the control of the central controller. Here, the central controller may control each wheel driving controller through a plurality of couplers.

The above-described electronically controlled brake driving method may further include a step of transmitting / receiving data to and from each other through a coupler when an error occurs in the central control unit.

The above-described electronically controlled brake driving method may further include emergency braking of the corresponding wheel by controlling the remaining wheel driving control unit when the network communication between the coupler and at least one of the plurality of wheel driving control units is interrupted. Can be.

Each wheel drive control unit and the central control unit may have the same number of channels as the number of couplers.

Each coupler may have the same number of channels as the number of the wheel drive controller and the central controller.

According to the present invention, even when a problem such as a vehicle accident, a communication network or a failure of the electronic control unit occurs, it is possible to ensure the stability of the entire vehicle, thereby improving the stability of the electronically controlled brake system to improve its performance. It becomes possible.

1 is a view schematically showing the configuration of a general BBW system.
2 shows a general electronically controlled brake system using a CAN scheme.
3 is a view schematically showing an electronically controlled brake system according to an embodiment of the present invention.
4 is a view illustrating a star configuration using a coupler of the present invention.
5 is a diagram illustrating a case where a failure occurs in the wheel drive control unit.
Figure 6 compares (a) a case where a communication line is disconnected at a fault A position in a network using a passive hub scheme of a conventional CAN, and (b) a case where a fault occurs at a B position of an electronically controlled brake system according to the present invention. Figure is shown.
7 is a flowchart illustrating an electronically controlled brake driving method according to an embodiment of the present invention.

Hereinafter, an electronically controlled brake system and a driving method thereof according to embodiments of the present invention will be described in detail with reference to the accompanying drawings.

3 is a view schematically showing an electronically controlled brake system according to an embodiment of the present invention.

Referring to FIG. 3, the electronically controlled brake system according to the present invention includes a wheel electronic control unit 100, a center ECU 200, and a coupler 300.

The wheel drive control unit 100 is installed to correspond to a motor (not shown) of each wheel of the vehicle, and controls the corresponding motor to execute the braking force. That is, the wheel drive control unit 100 controls the motor of each wheel of the vehicle to execute the braking force.

The central controller 200 calculates braking force for each wheel, and controls each wheel driving controller 100 corresponding to the calculated braking force. That is, the central controller 200 may calculate the braking force of each wheel of the vehicle and independently control each wheel driving controller 100 according to the calculated braking force.

The coupler 300 is connected to each of the wheel drive controller 100 and the central controller 200 to form a star-shaped network, and the data between the wheel drive controller 100 and the central controller 200. Relays transmission and reception of.

 That is, the network of the electronically controlled brake system according to the embodiment of the present invention uses a star-shaped method in which ECUs can form a 1: 1 connection without using a conventional passive hub of CAN. At this time, the coupler 300 is connected to each wheel drive control unit 100 and the central control unit 200 in the middle of the star shape, as if the router (Router) in the middle of the Ethernet (Ethernet) system, each wheel Relays the data transmitted and received between the drive control unit 100 and the central control unit 200. Such a coupler 300 may be provided in plurality between each wheel drive control unit 100 and the central control unit 200, through which the same wheel drive control unit 100 may be routed several paths, that is, several couplers 300 Can be controlled via Through this network structure, a plurality of channels are formed instead of a single channel, and a redundancy structure can be used to prepare for a network failure. In FIG. 3, for convenience of description, two couplers 300 are illustrated and described, but the number of couplers 300 is not limited to the illustrated drawings.

Each wheel drive control unit 100 and the central control unit 200 has the same number of channels as the number of couplers 300. In addition, each coupler 300 has the same number of channels as the number of the wheel drive controller 100 and the central controller 200.

In FIG. 3, the wheel drive controller 100 and the central controller 200 of the electronically controlled brake system are illustrated as having two channels so as to be connected to two networks, respectively, according to the number of couplers 300. That is, each wheel drive controller 100 and the central controller 200 are connected in a solid line through one coupler 300 to form a network A, and each wheel drive controller 100 is connected through the other coupler 300. And the central control unit 200 is connected by a dotted line to form a network B. The electronically controlled brake system according to the present invention is configured to have a plurality of networks in this way so that there are always two channels for communication from one wheel drive controller 100 to another wheel drive controller 100 or the central controller 200. It is possible to have physical redundancy.

4 is a view illustrating a star configuration using a coupler of the present invention.

If only one network (for example, network A shown in FIG. 3) is separately shown in the overall network configuration, a star-shaped network can be configured as shown in FIG. 4. The coupler 300 located in the center serves to connect each wheel drive controller 100 and the central controller 200 by performing only a router function. In the electronically controlled brake system according to an embodiment of the present invention, the communication between the central control unit 200 and each of the wheel drive control units 100 is a main role of communication. As shown in FIG. The wheel drive control unit 100 of the communication with one-to-one to send and receive data. Of course, communication between any wheel drive control unit 100 and another wheel drive control unit 100 can also be made, but rarely occurs in the operation of a normal electronically controlled brake system. However, in the electronically controlled brake system according to the embodiment of the present invention, when an abnormality such as a failure occurs in the central controller 200, the coupler 300 relays data transmission and reception between the respective wheel drive controllers 100. When emergency braking is required, the braking force of each other can be calculated and shared through communication between the wheel driving control unit 100 so that the braking can be performed more stably than the case in which the communication between the wheel driving control unit 100 is cut off and a single operation is performed. Will be.

5 is a diagram illustrating a case where a failure occurs in the wheel drive control unit.

The characteristic of the star-shaped network by the electronically controlled brake system according to the embodiment of the present invention is that each connection is independent. Thus, even if a failure occurs in one part, the failure does not affect the entire network. As shown in FIG. 5, even if a failure such as disconnection occurs in a network connected to one wheel drive controller 100, the central controller 200 and the other three wheel drive controllers 100 communicate with each other. By being able to do this, it can be incomplete, but by controlling the three wheels it is possible to stop the vehicle through emergency braking.

Figure 6 compares (a) a case where a communication line is disconnected at a fault A position in a network using a passive hub method of a conventional CAN, and (b) a case where a fault occurs at a B position of an electronically controlled brake system according to the present invention. Figure is for.

A feature of the electronically controlled brake system according to an embodiment of the present invention is that it physically constitutes a redundancy network. As a result, as described above with reference to FIG. 3, the network is composed of a plurality of networks A and B that are independent of each other and can perform the same work.

As shown in (a) of FIG. 6, in the network using the Passive Hub method of the existing CAN, if the communication line is disconnected at the fault A position, the hub type configuration is different from that of the central controller 200 and the other wheel drive controller 100. Although disconnected, the four wheel drive controllers 100 may configure a network to perform communication. However, if the communication lines are in contact with each other or the GND and VCC in the fault A position, the whole communication network is ineffective, and all communication in the electronically controlled brake system is in a fault state.

However, when using the network method of the electronically controlled brake system according to an embodiment of the present invention, as shown in Fig. 6 (b), if the communication line is in contact with each other or the GND, VCC in contact with the fault B position does not use the communication line If not, the electronic brake system can operate normally through Network B. Even network A may not communicate with the central controller 200, and communication between the respective wheel drive controllers 100 may be continuously performed.

7 is a flowchart illustrating an electronically controlled brake driving method according to an embodiment of the present invention.

3 to 7, the central controller 200 calculates braking force for each wheel (S110). In this case, the central controller 200 may control the respective wheel drive controller 100 to drive each wheel according to the calculated braking force. That is, the central controller 200 may calculate the braking force of each wheel of the vehicle and independently control each wheel driving controller 100 according to the calculated braking force.

The coupler 300 is connected to each of the wheel drive controller 100 and the central controller 200 to form a star-shaped network, and the data between the wheel drive controller 100 and the central controller 200. The transmission and reception of the relay (S120).

The wheel drive control unit 100 is installed to correspond to a motor (not shown) of each wheel of the vehicle, and controls a corresponding motor to execute a braking force (S130). That is, the wheel drive control unit 100 controls the motor of each wheel of the vehicle to execute the braking force.

When an abnormality such as a failure occurs in the central controller 200 (S140), the coupler 300 relays data transmission and reception between the respective wheel drive controllers 100, and when the emergency braking is required, the wheel drive controllers 100. Computing and sharing the braking force of each other through the communication between the communication between the wheel drive control unit 100 is cut off so that the braking can be performed stably as compared to the case of a single operation (S150).

In addition, when the electronically controlled brake system according to the embodiment of the present invention prevents use of a failure such as disconnection in a network connected to any one of the wheel drive controllers 100 (S160), the central controller 200 is different. The three wheel drive control unit 100 communicates with each other, and controls the remaining three wheels to stop the vehicle through emergency braking (S170).

100: wheel drive control unit 200: central control unit
300: coupler 110, 210, 310: channel

Claims (10)

A plurality of wheel drive controllers installed corresponding to motors of each wheel of the vehicle and controlling the corresponding motors to execute braking force;
A central control unit for calculating a braking force for each of the wheels and controlling each of the wheel driving controllers corresponding to the calculated braking force; And
A coupler connected to each of the wheel drive control unit and the central control unit to form a star network, and relaying transmission and reception of data between the wheel drive control unit and the central control unit;
Including;
And the central controller controls each of the wheel drive controllers through a plurality of couplers.
The method of claim 1, wherein each of the couplers,
The electronic brake system, characterized in that for relaying the data transmission and reception between each of the wheel drive control unit when the abnormality occurs in the central control unit.
2. The apparatus of claim 1,
And when the network communication between at least one of the plurality of wheel drive control units and the coupler is interrupted, controlling the remaining wheel drive control unit to emergency brake the corresponding wheel.
The method of claim 1,
Each of the wheel drive control unit and the central control unit,
And the number of channels equal to the number of couplers.
The method of claim 1, wherein each of the couplers,
And the same number of channels as the number of the wheel drive control unit and the central control unit.
Calculating, by the central controller, a braking force for each wheel drive controller;
A coupler connected to each of the wheel drive control unit and the central control unit in a star network, and relaying transmission and reception of data between the wheel drive control unit and the central control unit; And
Controlling each of the wheel drive controllers to control a motor corresponding to each wheel of the vehicle by the control of the central controller;
Including;
And the central controller controls each of the wheel drive controllers through a plurality of couplers.
The method of claim 1,
In the event that an abnormality occurs in the central control unit, each wheel drive control unit transmitting and receiving data to and from each other through the coupler
Electronically controlled brake drive method further comprising.
The method according to claim 6,
When the network communication between at least one of the plurality of wheel drive control units and the coupler is interrupted, controlling the remaining wheel drive control unit to emergency brake the corresponding wheel;
Electronically controlled brake drive method further comprising.
The method according to claim 6,
Each of the wheel drive control unit and the central control unit,
And a number of channels equal to the number of the couplers.
The method of claim 6, wherein each of the couplers,
And the same number of channels as the number of the wheel drive control unit and the central control unit.



KR1020120092943A 2012-08-24 2012-08-24 Brake-by-wire system and operating method therefor KR20140026034A (en)

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Application Number Priority Date Filing Date Title
KR1020120092943A KR20140026034A (en) 2012-08-24 2012-08-24 Brake-by-wire system and operating method therefor

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Application Number Priority Date Filing Date Title
KR1020120092943A KR20140026034A (en) 2012-08-24 2012-08-24 Brake-by-wire system and operating method therefor

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