WO2016178428A1 - 電動ブレーキシステム - Google Patents

電動ブレーキシステム Download PDF

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Publication number
WO2016178428A1
WO2016178428A1 PCT/JP2016/063606 JP2016063606W WO2016178428A1 WO 2016178428 A1 WO2016178428 A1 WO 2016178428A1 JP 2016063606 W JP2016063606 W JP 2016063606W WO 2016178428 A1 WO2016178428 A1 WO 2016178428A1
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WO
WIPO (PCT)
Prior art keywords
electric brake
power supply
electric
abnormality
brake system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2016/063606
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
唯 増田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NTN Corp
Original Assignee
NTN Corp
NTN Toyo Bearing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by NTN Corp, NTN Toyo Bearing Co Ltd filed Critical NTN Corp
Priority to EP16789564.8A priority Critical patent/EP3293063B1/en
Priority to CN201680026004.4A priority patent/CN107531223B/zh
Publication of WO2016178428A1 publication Critical patent/WO2016178428A1/ja
Priority to US15/800,656 priority patent/US10081345B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • 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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
    • B60T8/885—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
    • B60R16/033—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for characterised by the use of electrical cells or batteries
    • 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
    • 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
    • B60T13/741—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 acting on an ultimate actuator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • 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
    • 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
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • 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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
    • 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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D65/00—Parts or details
    • F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
    • F16D65/16—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake
    • F16D65/18—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake adapted for drawing members together, e.g. for disc brakes
    • 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
    • B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
    • B60T2220/04—Pedal travel sensor, stroke sensor; Sensing brake request
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/40—Failsafe aspects of brake control systems
    • B60T2270/414—Power supply failure

Definitions

  • the present invention relates to an electric brake system provided with a plurality of electric brake devices, and relates to a technique that can provide a redundant function and secure a space for mounting an auxiliary power source by limiting the use of an auxiliary power source.
  • Patent Document 1 A technique for applying a braking force by pressing a brake pedal to convert a rotational motion of a motor into a linear motion via a linear motion mechanism and pressing a brake pad against a brake disc (Patent Document 1). 2. An electric linear actuator using a planetary roller screw mechanism (Patent Document 2).
  • a power supply redundant system completed on the brake caliper can be obtained by providing the motor, the control device for the motor, and the auxiliary power supply all in the brake caliper.
  • the main power source of a vehicle is often composed of a battery having a high energy density, but there are problems such as low resistance to charge / discharge cycles and low current density during charge / discharge.
  • the auxiliary power source is composed of a capacitor, improvement of these problems can be expected.
  • the space for mounting the auxiliary power source may be limited, which may make it difficult to store large amounts of energy.
  • An object of the present invention is to provide an electric brake system that has redundancy of a power supply system and can increase the degree of freedom of mounting space for components.
  • the electric brake system of the present invention includes a brake rotor 8, a friction member 9 that makes contact with the brake rotor 8, a friction member operation means 6 that makes the friction member 9 contact the brake rotor 8, and this friction member operation means 6
  • An electric brake system provided with a plurality of electric brake devices including an electric motor 4 for driving the electric motor 4 and a control device 2 for controlling the braking force by controlling the electric motor 4.
  • a main power supply device 3 for supplying electric power to the electric motor 4 and the control device 2 in each electric brake device is provided, and electric power supplied from the main power supply device 3 is stored in each electric brake device at least.
  • An auxiliary power source 18 for supplying electric power to the electric motor 4 of the electric brake device is provided.
  • the control device 2 of each electric brake device is An abnormality determination unit 26 that determines whether there is an abnormality in power supply from the power supply device 3 to the electric brake device; A redundancy function control unit that controls the braking force using the auxiliary power source 18 according to a predetermined condition when the abnormality determination unit 26 determines that there is an abnormality in power supply from the power supply device 3 to the electric brake device. 27,
  • the redundant function control unit 27 has, as the predetermined condition, at least a basic condition that a desired braking force cannot be produced only by all the electric brake devices determined by the abnormality determination unit 26 that there is no abnormality in power supply.
  • the desired braking force is an actual braking force that is output in response to a required braking force by a vehicle operator.
  • the predetermined condition and the desired braking force are determined based on results of tests and simulations, respectively.
  • the main power supply device 3 normally supplies power to the electric motor 4 and the control device 2.
  • the control device 2 controls the electric motor 4 so as to obtain an appropriate braking force based on, for example, a command from the host control device 17 or the like.
  • power is supplied to the auxiliary power supply 18 from the main power supply device 17 and stored.
  • the abnormality determination unit 26 determines whether there is an abnormality in power supply from the power supply device 3 to the electric brake device. When the abnormality determination unit 26 determines that there is an abnormality in the power supply to the electric brake device, the redundancy function control unit 27 controls the braking force using the auxiliary power source 18 in accordance with a predetermined condition.
  • the redundant function control unit 27 satisfies the basic condition that, as the predetermined condition, at least all of the electric brake devices that are determined to have no abnormality in power supply by the abnormality determination unit 26 cannot produce a desired braking force.
  • the brake force is controlled using the auxiliary power source 18.
  • auxiliary power source 18 is used only when the function of the entire electric brake system is lower than a predetermined value, for example, a battery smaller than a battery generally used in a vehicle or a capacitor is applied as the auxiliary power source 18. Can do. Since the auxiliary power supply 18 is used in a limited manner, the auxiliary power supply 18 can be reduced in size, and the degree of freedom for mounting the auxiliary power supply 18 on the vehicle can be increased. Thereby, the freedom degree of design can be raised.
  • the redundant function control unit 27 determines that there is no abnormality, that is, the basic condition that a desired braking force cannot be generated only by all the electric brake devices that are determined to have no abnormality in power supply by the abnormality determination unit. In addition to satisfying the basic condition that the longitudinal deceleration generated by all of the electric brake devices is less than or equal to the threshold value, the turning acceleration of the vehicle equipped with the electric brake system is determined as the predetermined condition.
  • the auxiliary power source 18 may be used so as to be less than or equal to the above value.
  • the predetermined value and the threshold value are determined based on results of tests and simulations, respectively.
  • a desired braking force corresponding to the required braking force can be obtained by using the auxiliary power supply 18.
  • the redundant function control unit 27 changes the longitudinal deceleration threshold based on a correlation in which the longitudinal deceleration threshold increases as the required braking force value by the vehicle operator increases. It is also good. Thus, by changing the threshold value of the deceleration in the front-rear direction, the usage frequency of the auxiliary power source 18 can be finely limited.
  • Vehicle speed estimation means 30 for estimating the traveling speed of a vehicle equipped with the electric brake system is provided, and the redundant function control unit 27 includes the vehicle speed estimation means 30 in addition to satisfying the basic condition as the predetermined condition.
  • the auxiliary power source 18 may be used when the vehicle speed estimated in step 1 satisfies a condition equal to or higher than the predetermined vehicle speed.
  • the determined vehicle speed is determined by results of tests, simulations, and the like.
  • the auxiliary power source 18 is used when the vehicle speed estimated by the vehicle speed estimation means 30 satisfies a condition equal to or higher than the predetermined vehicle speed.
  • the redundant function control unit 27 of the electric brake device that is determined to have an abnormality in the power supply determines whether to use the power of the auxiliary power source 18 from the sensing information of all the electric brake devices that have no abnormality in the power supply. May be determined.
  • the electric brake system includes a plurality of electric brake devices FL, FR, RL, RR, a main power supply device 3, and a host ECU 17.
  • Each electric brake device FL, FR, RL, RR includes an electric brake actuator 1, a control device 2, and an auxiliary power supply 18.
  • a control device 2 corresponding to each wheel of a four-wheel vehicle is provided. First, the electric brake actuator 1 will be described.
  • the electric brake actuator 1 includes an electric motor 4, a speed reduction mechanism 5 that decelerates the rotation of the electric motor 4, a linear motion mechanism (friction member operating means) 6, and a parking brake that is a parking brake.
  • a mechanism 7, a brake rotor 8, and a friction member 9 are included.
  • the electric motor 4, the speed reduction mechanism 5, and the linear motion mechanism 6 are incorporated in, for example, a housing not shown.
  • the electric motor 4 is composed of a three-phase synchronous motor or the like.
  • the speed reduction mechanism 5 is a mechanism that transmits the rotation of the electric motor 4 to the rotation shaft 10 of the linear motion mechanism 6 while reducing the transmission, and includes a primary gear 12 and an intermediate gear (secondary gear) attached to the rotor shaft 4 a of the electric motor 4. Gear) 13 and a tertiary gear 11 fixed to the end of the rotary shaft 10.
  • the speed reduction mechanism 5 can reduce the rotation of the primary gear 12 by the intermediate gear 13 and transmit it to the tertiary gear 11.
  • the linear motion mechanism 6 which is a friction member operating means, converts the rotational motion output from the speed reduction mechanism 5 into a linear motion of the linear motion portion 14 by the feed screw mechanism and abuts the friction member 9 against the brake rotor 8. Or it is a mechanism which makes it separate.
  • the linear motion part 14 is supported so as to be free of rotation and movable in the axial direction indicated by the arrow A1.
  • a friction member 9 is provided at the outboard side end of the linear motion portion 14.
  • the side of the electric brake devices FL, FR, RL, RR (FIG. 1) that is on the outside of the vehicle is referred to as the outboard side, and the side that is on the center side of the vehicle is referred to as the inboard side.
  • a linear solenoid is applied as the actuator 16 of the parking brake mechanism 7.
  • the parking brake mechanism 7 is locked by causing a lock member (solenoid pin) 15 to be advanced by an actuator 16 and fitted in a locking hole (not shown) formed in the intermediate gear 13. By prohibiting the rotation of 13, the parking lock state is established.
  • the parking brake mechanism 7 allows the rotation of the intermediate gear 13 by releasing the lock member 15 from the locking hole, thereby bringing the lock member 15 into an unlocked state.
  • a main power supply device 3 and a host ECU 17 which is a host control means of each controller 2 are connected to the controller 2 of each electric brake device FL, FR, RL, RR.
  • the host ECU is also referred to as “VCU”.
  • VCU an electric control unit that controls the entire vehicle is applied as the host ECU 17.
  • the host ECU 17 has an integrated control function for each electric brake device FL, FR, RL, RR.
  • the main power supply device 3 supplies electric power to the electric motor 4 (FIG. 2) and the control device 2 in each electric brake device FL, FR, RL, RR.
  • this power supply device 3 for example, a 12V battery mounted on a vehicle is used.
  • FIG. 3 is a block diagram of the control system of this electric brake system.
  • the host ECU 17 is realized by software or hardware according to the output of a sensor (not shown) that changes in accordance with the operation amount (required value of brake force) of the brake pedal 19 (FIG. 1) of the vehicle operator.
  • Each electric brake using a predetermined conversion function stored in a LUT (Look Up Table) or a software library (hereinafter referred to as an “implementation model”).
  • the brake force target value is output to each of the control devices 2 of the device.
  • the distribution ratio of the brake force target value to each electric brake device may be a fixed ratio, for example, and is variable based on information on in-vehicle sensors such as an acceleration sensor and vehicle motion and posture estimated from specifications of the mounted vehicle. It is good also as a ratio.
  • Each control device 2 includes a computing unit 20, a motor driver 21, a switch 22, a backflow prevention mechanism unit 23, and a current sensor 24.
  • the computing unit 20 is, for example, a processor such as a microcomputer or a hardware module such as an ASIC.
  • the computing unit 20 includes a control computation function unit 25, an abnormality determination unit 26, and a redundant function control unit 27.
  • control calculation function unit 25 controls the electric motor 4 through the motor driver 21 so as to obtain an appropriate braking force from the brake force target value from the host ECU 17 and the sensing information of the electric brake actuator 1.
  • control calculation function unit 25 receives the input of the braking force target value, sensing information, and the like using the above-described realization model, the comparison function, hardware equivalent thereto, or the like.
  • a hardware circuit or a software function on a processor (not shown) that can calculate and output a command to the motor driver 21 such as an on / off command to the element.
  • the motor driver 21 converts the DC power of the power supply device 3 into three-phase AC power used for driving the electric motor 4.
  • the motor driver 21 may be, for example, a half bridge circuit or a full bridge circuit using a switching element such as a field effect transistor (abbreviated as FET) or IGBT (insulated gate bipolar transistor), a snubber capacitor, or the like. .
  • a switching element such as a field effect transistor (abbreviated as FET) or IGBT (insulated gate bipolar transistor), a snubber capacitor, or the like.
  • the sensing information includes a motor current value detected from the current detection means Sa, a rotor angle of the motor 4 estimated from the rotation angle estimation means Sb, and the like.
  • the current detection means Sa may be, for example, a current sensor, or may estimate a motor current value from motor specifications such as an inductance value and a resistance value measured in advance and a motor voltage.
  • the rotation angle estimation means Sb may be, for example, an angle sensor such as a magnetic encoder or a resolver, or may estimate a motor angle using a physical equation from the motor specifications and motor voltage.
  • the abnormality determination unit 26 of the calculation unit 20 determines whether there is an abnormality in power supply from the power supply device 3 to the electric brake device.
  • the abnormality determination unit 26 determines not only an abnormality of the power supply device itself but also an abnormality such as disconnection of the power supply harness extending from the power supply device 3.
  • a current sensor 24 is provided on the power supply direction upstream side of the power line extending from the main power supply device 3 to each control device 2.
  • the power line 28 passes from the power supply device 3 through the current sensor 24, the backflow prevention mechanism 23, and the switch 22 to the computing unit 20 and the auxiliary power supply 18, and between the backflow prevention mechanism 23 and the switch 22.
  • the second path 28b from the motor driver 21 to the motor driver 21 and the third path 28c from the motor driver 21 to the electric motor 4 are provided.
  • the backflow prevention mechanism 23 can use a diode, for example, and is provided to charge the auxiliary power supply 18 without returning the regenerative power of the electric motor 4 to the power supply device 3.
  • the computing unit 20 can supply the regenerative power of the electric motor 4 to the auxiliary power supply 18 by turning on the switch 22.
  • the abnormality determination unit 26 turns off the switch 22 when determining whether or not there is an abnormality in power supply, and in this switch disconnected state, the current value detected by the current sensor 24 is stored in a storage unit (not shown) in the computing unit 20. Judgment is made by comparing the stored threshold value.
  • the abnormality determination unit 26 receives the input of the current value detected by the current sensor 24 using the above-described implementation model, the comparison function, hardware equivalent thereto, or the like, and switches 22 It includes a hardware function or a software function on a processor (not shown) that can determine the power supply abnormality and output the result, including an open / close command.
  • the redundancy function control unit 27 controls the braking force using the auxiliary power supply 18 in accordance with a predetermined condition.
  • the redundant function control unit 27 is based on the basic condition that at least a desired braking force cannot be produced only by all the electric brake devices determined by the abnormality determination unit 26 that there is no abnormality in the power supply as the predetermined condition.
  • the brake force is controlled using the auxiliary power source 18. In this case, all the other electric brake devices having no abnormality in the power supply transmit their operating states to the electric brake devices that the abnormality determination unit 26 has determined that there is an abnormality in the power supply.
  • the sensing information can be used as the operation state.
  • the arithmetic unit 20 of the electric brake device having an abnormality in the power supply to which the sensing information is transmitted determines whether or not the electric brake device is operated by the auxiliary power source 18 in the redundant function control unit 27 of the arithmetic unit 20. To do.
  • the redundant function control unit 27 can determine whether to use the power of the auxiliary power supply 18 while viewing the functional state of the entire electric brake system from the operating states of all other electric brake devices.
  • the auxiliary power source 18 for example, a capacitor or a battery smaller than a battery generally used in a vehicle can be applied.
  • FIG. 4 is a diagram showing a usage example of the auxiliary power source 18 of this electric brake system.
  • “normal” indicates that the power supply 3 is connected
  • “invalid” indicates that the power supply 3 is not connected
  • the auxiliary power supply 18 is connected to the electric motor 4 (FIG. 3).
  • the disconnected state (the switch 22 in FIG. 3 is off) and “valid” indicate the state in which the power supply 3 is not connected and the auxiliary power supply 18 is connected (the switch 22 in FIG. 3 is on).
  • “Invalid” and “valid” are when the power supply, the electric brake, etc. are abnormal.
  • FIG. 4A shows that the power supply harness connected from the power supply device 3 to a part of the electric brake device FL (corresponding to the left front wheel in this example) is disconnected, and an abnormality determination unit is detected from the current value detected by the current sensor 24. 26 determines that an abnormality has occurred in the power supply. However, at this stage, a predetermined braking force can be produced using the electric brake devices FR, RL, and RR corresponding to the other wheels (in this example, the right front wheel and the left and right rear wheels).
  • the redundant function control unit 27 does not use the auxiliary power supply 18.
  • an abnormality of the arithmetic unit 20 has occurred in another electric brake device RL (this example corresponds to the left rear wheel).
  • the sensing information that is the operating state of the electric brake device RL and the sensing information of other normal electric brake devices FR and RR are transmitted to the part of the electric brake devices FL.
  • a clockwise turning acceleration in the figure is always generated.
  • the redundant function control unit 27 of the electric brake device FL corresponding to the left front wheel decides to use the auxiliary power source 18 of the electric brake device FL, sets the auxiliary power source 18 to “valid”, and sets three electric motors. Braking is performed using the brake devices FL, FR, and RR.
  • the basic condition that is, the basic condition that the longitudinal deceleration generated by the electric brake devices FR, RL, RR of the right front wheel and the left and right rear wheels determined to be normal is less than a threshold value ( For example, when the turning acceleration of the vehicle exceeds a predetermined value or the like, the auxiliary power supply 18 is activated and the braking force is generated in the electric brake device FL so that the turning acceleration of the vehicle is not more than a predetermined value.
  • the longitudinal deceleration is calculated by each calculator 20 from the sensing information in each electric brake device FR, RL, RR, and is calculated by the electric brake device FL to be controlled via the host ECU 17. Is transmitted to the container 20.
  • the redundant function control unit 27 of the arithmetic unit 20 determines whether or not to enable the auxiliary power supply 18 so as to enable the auxiliary power supply 18 of the electric brake device FL when the required braking force becomes high. It is possible to make the threshold for determining whether or not variable according to the required braking force.
  • the redundant function control unit 27 may change the deceleration threshold value in the front-rear direction based on the correlation stored in the storage unit.
  • the usage frequency of the auxiliary power supply 18 can be limited by changing the threshold value of the deceleration in the front-rear direction.
  • the redundant function control unit 27 described above receives the result of the abnormality determination of the abnormality determination unit 26 using the above-described implementation model, the comparison function, hardware equivalent thereto, or the like, and receives the auxiliary power supply 18. Is used to determine whether or not to operate the electric brake device, and based on the result, a hardware circuit or a software function on a processor (not shown) that can operate the auxiliary power supply 18 is configured. Further, the redundant function control unit 27 specifically sets the threshold value of the longitudinal deceleration based on the correlation using the above-described realization model, a comparison function, hardware equivalent thereto, or the like. Software functions on a hardware circuit or processor (not shown) that can be modified are included.
  • the abnormality determination unit 26 of each of the four-wheel electric brake devices FL, FR, RL, RR controls the power supply.
  • the redundant function control unit 27 of each control device 2 immediately activates each auxiliary power source 18 and brakes according to the required braking force.
  • FIG. 6 is a diagram showing an operation example of this electric brake system. This figure shows an operation example in the examples of FIGS. 4 (a) and (b). These will be described with reference to FIGS. 4A, 4B and 3 as appropriate.
  • the control calculation function unit 25 controls the electric motor 4 based on the braking force target value corresponding to the required braking force and the sensing information, whereby braking is started. Then, suppose that power line abnormalities, such as said harness disconnection, generate
  • the electric brake device FL can be driven by using the auxiliary power supply 18, but the electric brake device can be braked by other electric brake devices FR, RL, RR to which the power supply system is normally connected. FL is not used (time t1 in the figure). It is preferable to determine each braking force of the electric brake devices FR, RL, and RR at this time under a constraint condition that a yaw rate that is a turning acceleration generated in the vehicle is equal to or less than a predetermined value.
  • the yaw rate is detected by, for example, the yaw rate sensor 29 (FIG. 3).
  • FIG. 7 is a diagram showing another operation example of the electric brake system. This figure shows an example of operation in the example of FIG. 4A on condition that the required brake force becomes a predetermined value or less. If power line abnormality such as harness disconnection occurs in the electric brake device FL from the start of braking, the operation is the same as that in FIG.
  • the electric brake device FL is driven using the auxiliary power source 18 (time t4). At that time, the electric brake device FL in which an abnormality has occurred can be set to a brake balance that requires as little power as possible. Thereafter, after the vehicle stops, the drive of the electric brake device FL is stopped in order to preserve the capacity of the auxiliary power supply 18, and the stopped state is maintained by the other electric brake devices RL, FR, RR (time t5).
  • the main power supply device 3 normally supplies electric power to the electric motor 4 and the control device 2.
  • the control device 2 controls the electric motor 4 so as to obtain an appropriate brake force from the brake force target value from the host ECU 17 and the sensing information of the electric brake actuator 1.
  • electric power is supplied to the auxiliary power supply 18 from the main power supply device 3 and stored.
  • the regenerative power of the electric motor 4 can also be supplied to the auxiliary power source 18.
  • the redundancy function control unit 27 controls the braking force using the auxiliary power source 18 according to the predetermined condition.
  • the redundant function control unit 27 uses the auxiliary power source 18 as a braking force to generate at least a desired braking force only with all the electric braking devices that are determined to have no abnormality in power supply. Control.
  • the redundant function of the power supply system can be provided by providing the auxiliary power supply 18 in addition to the main power supply device 3.
  • auxiliary power source 18 is used only when the function of the entire electric brake system is lower than a predetermined value, for example, a battery smaller than a battery generally used in a vehicle or a capacitor is applied as the auxiliary power source 18. Can do. Since the auxiliary power supply 18 is used in a limited manner, the auxiliary power supply 18 can be reduced in size, and the degree of freedom for mounting the auxiliary power supply 18 on the vehicle can be increased. Thereby, the freedom degree of design can be raised.
  • one control device 2 and one auxiliary power source 18 are provided for the two electric brake actuators 1 and 1 corresponding to the left and right wheels of the front wheel, and two electric brake actuators corresponding to the left and right wheels of the rear wheel are provided.
  • One control device 2 and one auxiliary power source 18 may be provided for the brake actuators 1 and 1.
  • the auxiliary power supply 18 may be provided in only some of the electric brake devices.
  • the front brake exhibits a braking force that is twice or more than that of the rear brake. Therefore, only the front electric brake device is provided with an auxiliary power source 18 and is made redundant. Also good.
  • the power supply state is monitored by the host ECU 17 without using the current sensor 24, and the monitored information is obtained from the computing unit 20. It is good also as a structure which transmits to.
  • the abnormality determination unit 26 of the computing unit 20 can determine whether or not there is an abnormality in power supply by checking information provided from the host ECU 17 with a predetermined relationship stored in the storage unit or the like.
  • the auxiliary power source 18 may be used only when the vehicle speed is equal to or higher than the predetermined vehicle speed.
  • vehicle speed estimation means 30 for estimating the traveling speed of a vehicle equipped with an electric brake system is provided, and the redundant function control unit 27 uses vehicle speed estimation means 30 as a predetermined condition.
  • the auxiliary power source 18 may be used when the estimated vehicle speed satisfies a condition equal to or higher than the predetermined vehicle speed.
  • a process such as using the front-side electric brake device having a larger braking force than the rear-side electric brake device may be used.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • General Engineering & Computer Science (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)
  • Regulating Braking Force (AREA)
  • Braking Arrangements (AREA)
  • Braking Systems And Boosters (AREA)
PCT/JP2016/063606 2015-05-07 2016-05-02 電動ブレーキシステム Ceased WO2016178428A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP16789564.8A EP3293063B1 (en) 2015-05-07 2016-05-02 Electric brake system
CN201680026004.4A CN107531223B (zh) 2015-05-07 2016-05-02 电动制动系统
US15/800,656 US10081345B2 (en) 2015-05-07 2017-11-01 Electric brake system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015094834A JP6054463B2 (ja) 2015-05-07 2015-05-07 電動ブレーキシステム
JP2015-094834 2015-05-07

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US15/800,656 Continuation US10081345B2 (en) 2015-05-07 2017-11-01 Electric brake system

Publications (1)

Publication Number Publication Date
WO2016178428A1 true WO2016178428A1 (ja) 2016-11-10

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PCT/JP2016/063606 Ceased WO2016178428A1 (ja) 2015-05-07 2016-05-02 電動ブレーキシステム

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US (1) US10081345B2 (enExample)
EP (1) EP3293063B1 (enExample)
JP (1) JP6054463B2 (enExample)
CN (1) CN107531223B (enExample)
WO (1) WO2016178428A1 (enExample)

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WO2019069681A1 (ja) * 2017-10-02 2019-04-11 日立オートモティブシステムズ株式会社 自動車のブレーキシステム
WO2020075322A1 (ja) * 2018-10-09 2020-04-16 三菱電機株式会社 車両用電動制動装置およびその制御方法
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CN113696731A (zh) * 2021-09-01 2021-11-26 中汽创智科技有限公司 用于制动系统的冗余供电系统、冗余供电控制方法及车辆
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EP3293063A4 (en) 2019-01-09
JP2016210267A (ja) 2016-12-15
JP6054463B2 (ja) 2016-12-27
US10081345B2 (en) 2018-09-25
CN107531223A (zh) 2018-01-02
US20180065607A1 (en) 2018-03-08
EP3293063B1 (en) 2019-12-18
EP3293063A1 (en) 2018-03-14
CN107531223B (zh) 2019-12-20

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