WO2022120811A1 - Circuit de commande de freinage d'urgence de véhicule et véhicule - Google Patents

Circuit de commande de freinage d'urgence de véhicule et véhicule Download PDF

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Publication number
WO2022120811A1
WO2022120811A1 PCT/CN2020/135791 CN2020135791W WO2022120811A1 WO 2022120811 A1 WO2022120811 A1 WO 2022120811A1 CN 2020135791 W CN2020135791 W CN 2020135791W WO 2022120811 A1 WO2022120811 A1 WO 2022120811A1
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WO
WIPO (PCT)
Prior art keywords
circuit
control circuit
vehicle
emergency stop
gate circuit
Prior art date
Application number
PCT/CN2020/135791
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English (en)
Chinese (zh)
Inventor
朱士雷
刘泓清
Original Assignee
武汉路特斯汽车有限公司
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 武汉路特斯汽车有限公司 filed Critical 武汉路特斯汽车有限公司
Priority to PCT/CN2020/135791 priority Critical patent/WO2022120811A1/fr
Priority to CN202080105600.8A priority patent/CN116249641A/zh
Publication of WO2022120811A1 publication Critical patent/WO2022120811A1/fr

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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
    • B60T13/10—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 fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
    • 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

Definitions

  • the invention relates to the field of vehicle control, in particular to a vehicle emergency braking control circuit and a vehicle.
  • the transmission path of the parking signal is as follows: the driver issues a parking instruction, the VCU receives the demand, the motor controller (30) receives the torque reduction request from the VCU, the motor controller (30) executes the state transition request of the VCU, and the motor controls
  • the device (30) is in Standby mode. Under normal circumstances, if the vehicle fails during driving, the driver will trigger the high-voltage power-off switch in the cab to forcibly cut off the high-voltage power supply circuit, thereby realizing the purpose of stopping the torque output and forcing the vehicle to stop. However, because the emergency stop operation of forcibly disconnecting the main relay is likely to cause the adhesion of the high voltage relay, once the main relay is adhered, the purpose of disconnecting the high voltage will not be achieved.
  • the present invention proposes a vehicle emergency braking control circuit and a vehicle.
  • the present invention is specifically implemented by the following technical solutions.
  • the present invention provides a vehicle emergency braking control circuit, comprising:
  • the emergency stop linkage switch is provided with a normally closed contact and a normally open contact, the first end of the normally closed contact is connected to the power supply, and the first end of the normally open contact is grounded , the second end of the normally open contact is connected with the second end of the normally closed contact;
  • a motor controller the motor controller is respectively connected with the second end of the normally open contact and the second end of the normally closed contact, and the motor controller is used for according to the
  • the emergency stop signal sent by the emergency stop linkage switch controls the vehicle to enter a preset state.
  • a further improvement of the vehicle emergency braking control circuit provided by the present invention is that the motor controller includes a filter circuit and a control circuit, and the input end of the filter circuit is respectively connected with the second end of the normally open contact and the normally open contact. The second end of the closed contact is connected, the output end of the filter circuit is connected to the control circuit, and the control circuit is used for the emergency stop signal sent by the emergency stop linkage switch when the normally open contact is closed The vehicle is controlled to enter the preset state.
  • a further improvement of the vehicle emergency braking control circuit provided by the present invention is that the filter circuit includes a resistor and a capacitor, a first end of the resistor, a first end of the capacitor, and a second end of the normally open contact The second end of the normally closed contact is connected to the control circuit, and the second end of the resistor and the second end of the capacitor are both grounded.
  • a further improvement of the vehicle emergency braking control circuit provided by the present invention is that the control circuit includes a first AND gate circuit, a NOT gate circuit, an OR gate circuit and a phase switch driver;
  • the first input end of the first AND gate circuit is connected with the filter circuit, the output end of the first AND gate circuit is connected with the input end of the NOT gate circuit, and the output end of the NOT gate circuit is connected with the
  • the first input end of the OR gate circuit is connected, the output end of the OR gate circuit is connected with the phase switch driver, and the phase switch driver is also connected with the bridge drive circuit, and the phase switch driver is used when receiving When a high level signal is used, the upper three bridges of the bridge driving circuit are controlled to be turned on and the lower three bridges are turned off.
  • a further improvement of the vehicle emergency braking control circuit provided by the present invention is that the second input end of the first AND gate circuit is used to receive an indication signal indicating that the vehicle enters an emergency stop state.
  • a further improvement of the vehicle emergency braking control circuit provided by the present invention is that the indication signal includes a collision signal generated when the vehicle collides.
  • a further improvement of the vehicle emergency braking control circuit provided by the present invention is that the control circuit further includes a discharge control circuit, the discharge control circuit is connected to the output end of the first AND gate circuit, and the discharge control circuit uses Active discharge is performed when a low-level signal is received.
  • a further improvement of the vehicle emergency braking control circuit provided by the present invention is that the control circuit further includes a PWM generator and a second AND gate circuit;
  • the first input terminal of the second AND gate circuit is connected to the PWM generator, the second input terminal of the second AND gate circuit is connected to the output terminal of the first AND gate circuit, and the second AND gate circuit is connected to the output terminal of the first AND gate circuit.
  • the output end of the gate circuit is connected with the phase switch driver;
  • the PWM generator is also connected to the second input terminal of the OR circuit.
  • a further improvement of the vehicle emergency braking control circuit provided by the present invention is that the control circuit includes a processor, the processor is connected to the filter circuit, and the processor is configured to perform the operation on the high-voltage relay according to the emergency stop signal. monitor.
  • the present invention also provides a vehicle, comprising a bridge drive circuit and the vehicle emergency braking control circuit according to any one of claims to, a motor controller of the vehicle emergency braking control circuit and the bridge drive The circuit is connected, and the motor controller is used to control the bridge drive circuit according to the emergency stop signal sent by the emergency stop linkage switch when the normally open contact is closed to make the vehicle enter a preset state.
  • the present invention provides a vehicle emergency braking control circuit and the vehicle power-off control through hardware signals, so that the phenomenon of high-voltage relay adhesion will not occur, and the motor controller will enter a safe state after the driver presses the emergency stop linkage switch
  • the present invention adds an emergency stop switch, which is directly connected to the low-voltage signal trigger end of the motor controller, and the motor controller will directly enter a safe state when it receives a low level.
  • FIG. 1 is a circuit diagram of a vehicle emergency braking control circuit provided in Embodiment 1 of the present invention.
  • FIG. 2 is a circuit connection diagram of the bridge drive circuit and the motor controller in Embodiment 1 of the present invention.
  • the present invention proposes a vehicle emergency braking control circuit and a vehicle.
  • the present invention is specifically implemented by the following technical solutions.
  • the vehicle emergency braking control circuit proposed by the present invention includes:
  • the emergency stop linkage switch 20, the emergency stop linkage switch 20 is provided with a normally closed contact A1 and a normally open contact A2, the first end of the normally closed contact A1 is connected to the power supply 10, and the first end of the normally open contact A2 is grounded, The second end of the normally open contact A2 is connected to the second end of the normally closed contact A1;
  • the motor controller 30, the motor controller 30 is respectively connected with the second end of the normally open contact A2 and the second end of the normally closed contact A1, the motor controller 30 is used for the emergency stop linkage when the normally open contact A2 is closed
  • the emergency stop signal sent by the switch 20 controls the vehicle to enter a preset state.
  • the preset state is a safe state.
  • an emergency stop linkage switch 20 is added, and the emergency stop linkage switch 20 is directly connected to the motor controller 30.
  • the motor controller 30 is triggered to directly enter the preset state .
  • the normally closed contact A1 is in a closed state
  • the normally open contact A2 is in an open state
  • the power supply 10 is electrically connected to the motor controller 30, and the motor controller 30 receives a high level.
  • the normally closed contact A1 and the normally open contact A2 of the emergency stop linkage switch 20 can act at the same time, and the normally closed contact A1 is disconnected, thereby cutting off the connection between the power supply 10 and the motor controller 30.
  • the motor controller 30 can be directly grounded, that is, the motor controller 30 can receive a low level signal. This low level signal is the emergency stop signal, and the motor controller 30 enters the Preset state, control the vehicle to stop safely.
  • the voltage of the power supply 10 is 12V.
  • the emergency stop linkage switch 20 added in the first embodiment is connected to the low-voltage power supply 10 (equivalent to a high level) and the ground level (equivalent to a low level).
  • the emergency stop linkage switch 20 is also directly connected to the motor through a low-voltage connector.
  • the hardware circuit of the controller 30 In the first embodiment, the trigger signal of the motor controller 30 is the output signal of the emergency stop linkage switch 20, and the output signal of the emergency stop linkage switch 20 is generated after the driver determines that the emergency stop linkage switch 20 needs to be triggered according to the running state of the vehicle. After the controller 30 receives the trigger signal, it directly determines to enter the safe state through the safety logic circuit.
  • the emergency stop linkage switch 20 added in this embodiment 1 is installed in a low-voltage circuit, and the current passing through is a low-voltage current, so the main relay adhesion phenomenon caused by the large current will not occur.
  • the connection circuit of the emergency stop linkage switch 20 It is independent of the high voltage circuit where the main relay at the battery end is located.
  • the scheme of directly triggering the safety mechanism of the motor controller 30 through the output signal of the emergency stop linkage switch 20 in the first embodiment is more reliable. After the driver presses the emergency stop linkage switch 20, the emergency stop linkage switch 20 transmits the emergency stop linkage switch 20 to the motor controller 30.
  • the stop signal low level signal
  • the motor controller 30 responds to the emergency stop signal and enters a safe state.
  • the default state of the emergency stop linkage switch 20 is the state when it is not pressed.
  • the input signal of the emergency stop linkage switch 20 has two channels, one is connected to the power supply 10, and the other is grounded. Some of the two channels in the switch are designed to be connected to the power supply 10 and grounding respectively. ;
  • the output signal of the emergency stop linkage switch 20 is transmitted to the low voltage pin of the motor controller 30, and the motor controller 30 receives the output level signal of the emergency stop linkage switch 20 through the low voltage pin.
  • the emergency stop linkage switch 20 When the emergency stop linkage switch 20 is not pressed, the emergency stop linkage switch 20 outputs a high level signal of 12V, and the motor controller 30 does nothing, that is, the motor controller 30 will work normally; when the driver presses the emergency stop linkage switch 20 , the output signal of the emergency stop linkage switch 20 is a low-level signal, and the motor controller 30 enters a safe state (ie, ASC state) through a series of actions.
  • a safe state ie, ASC state
  • the motor controller 30 includes a filter circuit 31 and a control circuit 32.
  • the input end of the filter circuit 31 is respectively connected to the second end of the normally open contact A2 and the second end of the normally closed contact A1, and the output of the filter circuit 31 is connected to the second end of the normally open contact A2 and the second end of the normally closed contact A1 respectively.
  • the terminal is connected to the control circuit 32, and the control circuit 32 is used to control the vehicle to enter the preset state according to the emergency stop signal sent by the emergency stop linkage switch 20 when the normally open contact A2 is closed.
  • the filter circuit 31 includes a resistor R and a capacitor C, the first end of the resistor R, the first end of the capacitor C, the second end of the normally open contact A2, the second end of the normally closed contact A1 and the control circuit. 32 are connected, and the second end of the resistor R and the second end of the capacitor C are both grounded.
  • control circuit 32 includes a first AND gate circuit 41, a NOT gate circuit 42, an OR gate circuit 43 and a phase switch driver 44; the first input end of the first AND gate circuit 41 is connected to the filter circuit 31, and the first AND gate circuit 41 is The output end of the gate circuit 41 is connected with the input end of the NOT gate circuit 42, the output end of the NOT gate circuit 42 is connected with the first input end of the OR gate circuit 43, the output end of the OR gate circuit 43 is connected with the phase switch driver 44, the phase The switch driver 44 is also connected to the bridge drive circuit 50 , and the phase switch driver 44 is used to control the upper three bridges of the bridge drive circuit 50 to be turned on and the lower three bridges to be turned off when receiving a high level signal.
  • the motor controller 30 can receive a low level signal. Specifically, the low level signal is transmitted to the first AND gate circuit 41 after passing through the filter circuit 31. An input terminal, the first AND gate circuit 41 outputs a low level signal, the NOT gate circuit 42 receives a low level signal and outputs a high level signal, the OR gate circuit 43 receives a high level signal, and the OR gate circuit 43 outputs a high level signal signal and trigger the phase switch driver 44, the phase switch driver 44 controls the upper three bridges of the bridge drive circuit 50 to be turned on and the lower three bridges to be turned off, that is, the switch transistors Q1, the switch transistors Q2 and the switch transistors Q3 are turned on, and the switch transistors Q4, The switch tube Q5 and the switch tube Q6 are turned off and enter a preset state (safe state).
  • the second input terminal of the first AND gate circuit 41 is used to receive an indication signal indicating that the vehicle enters an emergency stop state.
  • the indication signal includes a collision signal generated when the vehicle collides.
  • the indication signal in Embodiment 1 can also trigger the motor controller 30 to make the motor controller 30 enter a preset state.
  • control circuit 32 also includes a discharge control circuit 45, which is connected to the output end of the first AND gate circuit 41, and is used for actively discharging when a low level signal is received.
  • a discharge control circuit 45 which is connected to the output end of the first AND gate circuit 41, and is used for actively discharging when a low level signal is received.
  • the state signal of the high-voltage main relay is obtained through CAN communication, thereby the state of the high-voltage main relay is known. When the signal is "open”, it means the high voltage main relay is open. Even if the state signal of the high-voltage main relay is not obtained, the MCU will try to actively discharge until the discharge fails for many times (three times in this embodiment 1).
  • CAN communication is connected through twisted pair wires. Each component that needs CAN communication has a CAN connector on it. Through CANH and CANL two wires, it is connected to the CAN network to connect the power battery energy control module BECM, the whole Vehicle controller VCU, vehicle microcontroller MCU and other nodes, each node can communicate with each other, the status of the high-voltage main relay can be sent by the BECM with the signal HvSysRlySts, and the MCU can read the signal value of HvSysRlySts (the signal value includes open , closed, etc.) to determine the state of the high-voltage relay.
  • Active discharge is to actively release the energy stored in a high-voltage energy storage device.
  • the internal storage capacitor of the MCU will store a large amount of energy.
  • the power is disconnected, due to the characteristics of the capacitor, the stored energy will not disappear immediately, and because the energy is too high, people hope that it can quickly release the stored energy, so other energy-consuming components or electrical appliances are artificially added.
  • the energy released by the MCU is the energy on the entire power high-voltage system loop including itself.
  • control circuit 32 also includes a PWM generator 46 and a second AND gate circuit 47; the first input end of the second AND gate circuit 47 is connected to the PWM generator 46, and the second input end of the second AND gate circuit 47 It is connected to the output end of the first AND gate circuit 41 , the output end of the second AND gate circuit 47 is connected to the phase switch driver 44 ; the PWM generator 46 is also connected to the second input end of the OR gate circuit 43 .
  • the PWM generator 46 is used to generate a PWM drive signal, and the drive signal controls the bridge drive circuit 50 .
  • the second AND gate circuit 47 is used to filter the PWM signal, so as to avoid a contradiction in the PWM signal when the emergency stop linkage switch 20 is not pressed.
  • the output of the PWM generator 46 If the output of the PWM generator 46 is 0, the output of the second AND circuit 47 must be 0. And if the output of the PWM generator 46 is "1", the output of the second AND gate circuit 47 is "1" only when the emergency stop signal is not triggered; and as long as the emergency stop signal is triggered, it finally passes through the OR gate ASC will be activated. Therefore, the design of the second AND gate circuit 47 ensures in principle that the two factors that trigger the state of the ASC cannot have contradictory outputs.
  • control circuit 32 includes a processor 48, the processor 48 is connected to the filter circuit 31, and the processor 48 is used for monitoring the high-voltage relay according to the emergency stop signal.
  • the software level also has monitoring actions (if the software can work normally), that is, the emergency stop signal will be transmitted to the processor 48 (CPU) and enter the "Error state” state (error state) for monitoring.
  • the CPU is the central processing unit. When the vehicle is running, it will enter "ASC" due to various factors, such as overheating, abnormal torque accuracy, abnormal speed, etc. Each error corresponds to a different fault code, and different faults also correspond to different fault handling mechanisms. The CPU will monitor whether the motor controller enters a reasonable and correct state at this time, and at the same time, record the fault.
  • the second embodiment provides a vehicle, which includes a bridge drive circuit 50 and the vehicle emergency braking control circuit as in Embodiment 1.
  • the motor controller 30 of the vehicle emergency braking control circuit is connected to the bridge drive circuit 50, and the motor controls The controller 30 is used to control the bridge drive circuit 50 according to the emergency stop signal sent by the emergency stop linkage switch 20 when the normally open contact A2 is closed to make the vehicle enter a preset state.
  • the preset state is a safe state.
  • an emergency stop linkage switch 20 is added, and the emergency stop linkage switch 20 is directly connected to the motor controller 30.
  • the motor controller 30 is triggered to enter the preset state directly.
  • the trigger signal of the motor controller 30 is the output signal of the emergency stop linkage switch 20, and the output signal of the emergency stop linkage switch 20 is generated after the driver determines that the emergency stop linkage switch 20 needs to be triggered according to the running state of the vehicle. After the controller 30 receives the trigger signal, it directly determines to enter the safe state through the safety logic circuit.
  • the emergency stop linkage switch 20 added in the second embodiment is installed in a low-voltage circuit, and the current passing through is a low-voltage current, so the main relay adhesion phenomenon caused by the large current will not occur.
  • the connection circuit of the emergency stop linkage switch 20 It is independent of the high voltage circuit where the main relay at the battery end is located.
  • the scheme of directly triggering the safety mechanism of the motor controller 30 through the output signal of the emergency stop linkage switch 20 in the second embodiment is more reliable. After the driver presses the emergency stop linkage switch 20 , the emergency stop linkage switch 20 transmits an emergency signal to the motor controller 30 .
  • the stop signal low level signal
  • the motor controller 30 responds to the emergency stop signal and enters a safe state.
  • the present invention performs power-off control through hardware signals, and there is no high-voltage relay sticking phenomenon. After the driver presses the emergency stop linkage switch, the motor controller will enter a safe state to ensure safe parking; compared with the prior art, the present invention adds an emergency stop The switch is directly connected to the low-voltage signal trigger terminal of the motor controller. When the motor controller receives a low level, it will directly enter the safe state.

Abstract

Circuit de commande de freinage d'urgence de véhicule et véhicule, le circuit comprenant : une alimentation électrique (10) ; un commutateur de liaison d'arrêt d'urgence (20), le commutateur de liaison d'arrêt d'urgence (20) étant doté d'un contact normalement fermé (NC) (A1) et d'un contact normalement ouvert (NO) (A2), une première extrémité du contact NC (A1) étant connectée à l'alimentation électrique (10), une première extrémité du contact NO (A2) étant mise à la terre et une seconde extrémité du contact NO (A2) étant connectée à une seconde extrémité du contact NC (A1) ; et un dispositif de commande de moteur (30), le dispositif de commande de moteur (30) étant connecté à une seconde extrémité du contact NO (A2) et à la seconde extrémité du contact NC (A1), et le dispositif de commande de moteur (30) étant utilisé pour commander le véhicule pour entrer dans un état prédéfini en fonction d'un signal d'arrêt d'urgence envoyé par le commutateur de liaison d'arrêt d'urgence (20) lorsque le contact NO (A2) est fermé. Le circuit réalise une commande de mise hors tension au moyen d'un signal matériel, de sorte qu'un relais à haute tension ne colle pas. Après qu'un conducteur appuie sur le commutateur de liaison d'arrêt d'urgence (20), le dispositif de commande de moteur (30) entre dans un état sûr afin de garantir un stationnement sûr.
PCT/CN2020/135791 2020-12-11 2020-12-11 Circuit de commande de freinage d'urgence de véhicule et véhicule WO2022120811A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2020/135791 WO2022120811A1 (fr) 2020-12-11 2020-12-11 Circuit de commande de freinage d'urgence de véhicule et véhicule
CN202080105600.8A CN116249641A (zh) 2020-12-11 2020-12-11 一种车辆紧急制动控制电路及车辆

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2020/135791 WO2022120811A1 (fr) 2020-12-11 2020-12-11 Circuit de commande de freinage d'urgence de véhicule et véhicule

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WO2022120811A1 true WO2022120811A1 (fr) 2022-06-16

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080129234A1 (en) * 2006-10-17 2008-06-05 Andreas Buente Activation current for dc motor having brake and emergency operation supply unit
CN201143927Y (zh) * 2007-05-25 2008-11-05 桂林思超汽车科技有限公司 电控制动装置
CN202156435U (zh) * 2011-07-26 2012-03-07 孙小刚 铁路车辆紧急停车装置
CN102582608A (zh) * 2012-02-29 2012-07-18 湖南南车时代电动汽车股份有限公司 一种纯电动汽车紧急制动电气控制装置
CN206307030U (zh) * 2016-11-04 2017-07-07 中车大连机车车辆有限公司 牵引、电制工况互锁保护电路
CN209298873U (zh) * 2019-01-24 2019-08-23 宁波毅文机械有限公司 行车动作失控自动急停电路
CN110723128A (zh) * 2019-11-18 2020-01-24 中车南京浦镇车辆有限公司 一种城轨车辆紧急制动扩展装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080129234A1 (en) * 2006-10-17 2008-06-05 Andreas Buente Activation current for dc motor having brake and emergency operation supply unit
CN201143927Y (zh) * 2007-05-25 2008-11-05 桂林思超汽车科技有限公司 电控制动装置
CN202156435U (zh) * 2011-07-26 2012-03-07 孙小刚 铁路车辆紧急停车装置
CN102582608A (zh) * 2012-02-29 2012-07-18 湖南南车时代电动汽车股份有限公司 一种纯电动汽车紧急制动电气控制装置
CN206307030U (zh) * 2016-11-04 2017-07-07 中车大连机车车辆有限公司 牵引、电制工况互锁保护电路
CN209298873U (zh) * 2019-01-24 2019-08-23 宁波毅文机械有限公司 行车动作失控自动急停电路
CN110723128A (zh) * 2019-11-18 2020-01-24 中车南京浦镇车辆有限公司 一种城轨车辆紧急制动扩展装置

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