WO2023016512A1

WO2023016512A1 - Vehicle braking system having redundant control function and control method therefor

Info

Publication number: WO2023016512A1
Application number: PCT/CN2022/111692
Authority: WO
Inventors: 吴立泉; 许芬; 曹阿娜; 陈松
Original assignee: 芜湖伯特利汽车安全系统股份有限公司
Priority date: 2021-08-12
Filing date: 2022-08-11
Publication date: 2023-02-16
Also published as: CN115703442A

Abstract

Disclosed in the present invention is a vehicle braking system having a redundant control function. The system is provided with an electromagnetic valve, and the electromagnetic valve controls an actuating device of the vehicle braking system; the electromagnetic valve is provided with an electromagnetic valve main coil controlled by a main service brake unit and an electromagnetic valve backup coil controlled by a backup service brake unit. Also disclosed in the present invention is a control method for the vehicle braking system. By using the technical solution above, when an electrical failure occurs in a main service brake control unit, the backup service brake unit redundantly controls the electromagnetic valve of a hydraulic circuit to achieve normal service braking; it can be ensured that during the process of automatic driving, even if an electrical failure occurs in the main service brake unit, conventional service braking of a vehicle can be achieved without affecting the feeling of a driver, thereby improving the driving safety performance of the vehicle.

Description

Vehicle brake system with redundant control function and control method thereof

technical field

The invention belongs to the technical field of vehicle automatic driving control. More specifically, the present invention relates to a vehicle braking system with redundant control functions. The invention also relates to a control method of the braking system.

Background technique

With the development of autonomous driving functions in cars, the driver's involvement in the operation of the vehicle is getting less and less. When the vehicle reaches L4 level of automatic driving, the vehicle can be separated from the driver's operation. At this time, the driving control system of the vehicle needs to be able to completely take over the acceleration, deceleration and steering functions of the vehicle.

In the electronically controlled hydraulic braking system, the solenoid valve is used to control the on-off of the hydraulic circuit to realize the functions of vehicle braking and body stability control. For example, when performing service braking, if a certain wheel is locked due to excessive braking force, the electronically controlled hydraulic unit can control the braking force of the corresponding wheel by controlling the actions of the wheel-end isolation solenoid valve and pressure relief solenoid valve. Adjust to prevent the wheel from locking up and ensure the maximum braking efficiency of the wheel.

In order to meet the safety of driving brake without driver intervention during automatic driving, a backup driving braking unit will be configured in addition to the main driving braking unit.

The automatic driving service braking system generally uses a main service braking unit with vehicle stability control function, and is equipped with a backup service braking unit for backup braking in the event of electrical failure of the main service braking unit.

The conventional main service brake unit with vehicle body stability control function has a built-in driving circuit for controlling the brake hydraulic solenoid valve on each vehicle, which is used to realize the hydraulic circuit control during the braking process. These solenoid valves generally use a solenoid valve to drive a high-side switch and a corresponding low-side switch. The high-side switch is used to control the power supply of the solenoid valve, and the low-side switch is used to drive the action of the solenoid valve. When a short-circuit fault occurs in the low-side drive of a certain solenoid valve, the high-side switch needs to be turned off immediately to avoid the loss of control of the short-circuit faulty solenoid valve. At this time, even if the backup service braking system can work normally, the corresponding braking function will be affected because the solenoid valve drive circuit is out of control.

Contents of the invention

The invention provides a vehicle brake system with redundant control function, and its purpose is to improve the safety of the brake system.

In order to achieve the above object, the technical scheme that the present invention takes is:

The vehicle brake system with redundant control function of the present invention includes a main service brake unit and a backup service brake unit that are independent of each other; the vehicle brake system is provided with a solenoid valve, and the solenoid valve controls the vehicle The executive device of the braking system; the solenoid valve is provided with two independent solenoid valve coils, which are respectively the main coil of the solenoid valve controlled by the main service brake unit and the solenoid valve controlled by the backup service brake unit backup coil.

The vehicle brake system with redundant control function of the present invention includes a main service brake unit and a backup service brake unit that are independent of each other; the vehicle brake system is provided with a solenoid valve, and the solenoid valve controls the vehicle The executive device of the braking system; the solenoid valve is provided with a solenoid valve main coil controlled by the main service brake unit and a solenoid valve backup coil controlled by the backup service brake unit, the solenoid valve main coil and The solenoid valve backup coil is the same solenoid valve coil, that is, the solenoid valve coil can be controlled by the main service brake unit or the backup service brake unit.

The two ends of the main coil of the solenoid valve are respectively connected to the main service brake unit through a main coil high-side switch and a main coil low-side switch.

The main service brake unit is connected with the main power supply.

The high-side switch of the main coil and the low-side switch of the main coil are all provided with a diagnostic circuit, and the fault status of the high-side switch of the main coil, the low-side switch of the main coil and the main coil of the solenoid valve is diagnosed through the main service brake unit.

The two ends of the backup coil of the electromagnetic valve are respectively connected to the backup service brake unit through a backup coil high-side switch and a backup coil low-side switch.

The backup service brake unit is connected to the backup power supply.

The backup coil high-side switch and the backup coil low-side switch are both provided with a diagnostic circuit, and the fault status of the backup coil high-side switch, the backup coil low-side switch and the solenoid valve backup coil is diagnosed through the backup service brake unit.

The main service brake unit and the backup service brake unit exchange their working state information with each other through a dedicated communication circuit.

In order to achieve the same purpose of the invention as the above-mentioned technical solution, the present invention also provides the above-mentioned control method of the vehicle braking system with redundant control function, and its technical solution is:

In the normal working state of the solenoid valve, the main coil of the solenoid valve is controlled by the main coil high-side switch and the main coil low-side switch connected to the main service brake unit, and then the solenoid valve is controlled to work;

When any single-point failure occurs in the main service brake unit of the solenoid valve and the high-low side drive circuit, the main service brake unit will diagnose the fault and close the drive circuit in the main service brake unit, and communicate The circuit notifies the backup service brake unit; at this time, the backup service brake unit controls the backup coil of the solenoid valve through the backup coil high-side switch and the backup coil low-side switch connected to the backup service brake unit, and then controls the solenoid valve to continue Work.

The present invention adopts the above-mentioned technical scheme, and when an electrical failure occurs in the main service brake control unit, the backup service brake unit redundantly controls the solenoid valve of the hydraulic circuit to realize normal service braking; it can ensure that the vehicle is automatically driven, Even if an electrical failure occurs in the main service braking unit, the conventional service braking without affecting the driver's feeling can be realized, and the driving safety performance of the vehicle can be improved.

Description of drawings

A brief description of the content shown in the drawings and the marks in the drawings is as follows:

Fig. 1 is a structural schematic diagram of a vehicle braking system with redundant control function according to an embodiment of the present invention;

Fig. 2 is a schematic diagram of the configuration of the solenoid valve body and the solenoid valve coil in one embodiment of the present invention.

Fig. 3 is a structural schematic diagram of a vehicle braking system with redundant control function according to another embodiment of the present invention.

The markings in the figure are:

1. Main service brake unit, 2. Solenoid valve main coil, 3. Main coil high side switch, 4. Main coil low side switch, 5. Backup service brake unit, 6. Solenoid valve backup coil, 7. Backup coil High side switch, 8, backup coil low side switch, 9, solenoid valve, 10, main power supply, 11, backup power supply.

Detailed ways

The specific implementation of the present invention will be described in further detail below by describing the embodiments with reference to the accompanying drawings, so as to help those skilled in the art have a more complete, accurate and in-depth understanding of the inventive concepts and technical solutions of the present invention.

The structure of the present invention is shown in FIGS. 1-3 . The present invention provides a vehicle braking system with redundant control functions, including a main service braking unit 1 and a backup service braking unit 5 that are independent of each other. The vehicle braking system has a redundant braking function, which is an electromagnetic braking system with redundant control functions that is operable on failure and based on the existing architecture of the main service brake control unit and the backup service brake unit that meet automatic driving requirements. The valve control circuit can continue to realize the service brake with anti-lock function by controlling the solenoid valve of the hydraulic circuit by the backup brake system when the main brake control system has an electrical failure.

In order to overcome the defects of the prior art and realize the purpose of the invention of improving the safety of the braking system, the technical solution adopted by the present invention is:

In one embodiment, as shown in FIG. 1, the vehicle brake system with redundant control function of the present invention is provided with a solenoid valve 9, and the solenoid valve 9 controls the actuator of the vehicle brake system; The solenoid valve 9 is provided with two independent solenoid valve coils, which are respectively the solenoid valve main coil 2 controlled by the main service brake unit 1 and the solenoid valve backup coil 6 controlled by the backup service brake unit 5 .

In another embodiment, as shown in FIG. 3 , the vehicle brake system with redundant control function of the present invention is provided with a solenoid valve 9, and the solenoid valve 9 controls the actuator of the vehicle brake system; The solenoid valve 9 is provided with a solenoid valve coil, which can be controlled by the main service brake unit or the backup service brake unit, so it can also be called the solenoid valve main coil 2 or the solenoid valve backup coil 6 .

In the case that the solenoid valve 9 is provided with two solenoid valve coils, the solenoid valve main coil 2 and the solenoid valve backup coil 6 in the present invention refer to two mutually independent solenoid valve coils. In the case that the solenoid valve 9 is provided with one solenoid valve coil, the solenoid valve main coil 2 and the solenoid valve backup coil 6 in the present invention refer to the same solenoid valve coil.

The main service braking unit 1 is an electro-hydraulic brake main control unit with a brake-by-wire function, which can receive instructions from the automatic driving control system to perform service braking while the vehicle is running; the main service braking unit 1 includes There are modules such as the electric controller and the mechanical part (spool) of the brake hydraulic solenoid valve 9; the main coil 2 of the solenoid valve can control the brake hydraulic pressure under the control of the high side switch 3 of the main coil and the low side switch 4 of the main coil. The solenoid valve 9 realizes the service brake function of the main system.

The backup service brake unit 5 is also an electro-hydraulic brake backup control unit with a brake-by-wire function, which includes modules such as an electric controller and a mechanical part (ie, a spool) of the brake hydraulic solenoid valve 9 . The backup service brake unit 5 can drive the solenoid valve backup coil 6 by controlling the backup coil high-side switch 7 and the backup coil low-side switch 8 when the main service brake unit 1 has a single-point failure failure of the electronic control circuit, Continue to control the braking hydraulic solenoid valve 9 to realize the service braking function of the backup system.

The present invention is applicable to an electronically controlled hydraulic brake system equipped with a main service brake system and a backup service brake system, and can redundantly control the electromagnetic of the hydraulic circuit by the backup service brake unit when an electrical failure occurs in the main service brake control unit. The valve realizes normal service braking; it can ensure that during the automatic driving process of the vehicle, even if the main service brake unit fails electrically, it can also realize the conventional service braking without affecting the driver's feeling.

In one embodiment, the solenoid valve 9 has two solenoid valve coils, the two solenoid valve coils are independent of each other, leading to two sets of independent electrical interfaces, which are respectively connected to two electric controller units, that is, the main service brake unit 1 and backup service brake unit 5. In another embodiment, the solenoid valve 9 has a solenoid valve coil, and the solenoid valve coil leads to two sets of independent electrical interfaces, which are respectively connected to two electric controller units, that is, the main service brake unit 1 and the backup service brake unit 1. Unit 5.

When the electric controller of the main service brake unit in the vehicle braking system has a single point of failure, the solenoid valve coil control circuit in the electric controller of the main service brake unit can be closed separately, and the electric controller of the backup service brake unit Continuing to control the work of the solenoid valve can ensure that the service braking of the vehicle is safely controlled during automatic driving.

Both ends of the main coil 2 of the solenoid valve are respectively connected to the main coil high side switch 3 and the main coil low side switch 4 in the main service brake unit 1 .

Both the high-side switch 3 of the main coil and the low-side switch 4 of the main coil are provided with diagnostic circuits. The fault states of the main coil high side switch 3 , the main coil low side switch 4 and the solenoid valve main coil 2 are diagnosed through the main service brake unit 1 .

Both ends of the electromagnetic valve backup coil 6 are respectively connected to the backup coil high side switch 7 and the backup coil low side switch 8 in the backup service brake unit 5 . That is, the two ends of the backup coil 6 of the electromagnetic valve are respectively connected to the backup service brake unit 5 through the backup coil high side switch 7 and the backup coil low side switch 8 .

Both the backup coil high-side switch 7 and the backup coil low-side switch 8 are provided with diagnostic circuits. The fault states of the backup coil high-side switch 7 , the backup coil low-side switch 8 and the solenoid valve backup coil 6 are diagnosed through the backup service brake unit 5 .

In one embodiment, the solenoid valve failure operable control circuit is designed with two control coils for the solenoid valve 9 and is configured with a high-side switch and a low-side switch respectively, and each high-side switch and each low-side switch of the solenoid valve driving circuit can be controlled by the main The service brake unit and backup service brake unit are controlled separately and do not interfere with each other. In another embodiment, the solenoid valve failure operable control circuit designs a control coil for the solenoid valve 9 and configures two sets of high-side switches and low-side switches, and each high-side switch and each low-side switch of the solenoid valve driving circuit can be controlled by The main service brake unit and backup service brake unit are controlled separately and do not interfere with each other.

Main coil high side switch 3, solenoid valve main coil 2, main coil low side switch 4 are controlled by a main service brake unit 1; backup coil high side switch 7, solenoid valve backup coil 6, backup coil low side switch 8 are controlled by a Backup service brake unit 5 control. In this way, two independent drive control circuits are formed, and the two drive control circuits respectively have their own power supply units. The technical solution of the present invention can ensure that the power supply of the main coil 2 of the solenoid valve or the backup coil 6 of the solenoid valve can be continuously guaranteed after one power supply of the vehicle fails, and can continue to control the work of the solenoid valve 9 after one of the low-side switches fails.

The main service braking unit 1 is connected to the main power supply 10 . The backup service brake unit 5 is connected to a backup power supply 11 .

The main service braking unit 1 and the backup service braking unit 5 are independent of each other and have their own power supply units, namely the main power supply 10 and the backup power supply 11 . The power supply of the solenoid valve is respectively provided by the main service brake unit and the backup service brake unit from their respective power supply systems on the whole vehicle without interfering with each other. When the electrical controller system is normal, the main service brake unit controls the operation of the solenoid valve, and the solenoid valve control circuit of the backup service brake unit is in a closed state.

The main service brake unit 1 and the backup service brake unit 5 exchange their working state information with each other through a dedicated communication circuit.

In order to achieve the same invention purpose as the above-mentioned technical solution, the present invention also provides the above-mentioned control method of the vehicle brake system with redundant control function, and its technical solution is:

Described solenoid valve 9 is in normal working condition, is controlled solenoid valve main coil 2 by main coil high side switch 3 and main coil low side switch 4 connected with main service brake unit 1, and then controls solenoid valve 9 to work;

When any single-point failure occurs in the main service brake unit 1 of the solenoid valve main coil 2 and the high and low side drive circuits, the main service brake unit 1 diagnoses the fault and closes the drive circuit in the main service brake unit, And notify the backup service brake unit 5 through the communication circuit; at this time, the backup service brake unit 5 controls the electromagnetic switch 7 through the backup coil high side switch 7 and the backup coil low side switch 8 connected with the backup service brake unit 5. Valve backup coil 6, and then control solenoid valve 9 to continue working.

The invention provides a redundant control circuit for a brake hydraulic pressure control solenoid valve on a hydraulic circuit of a vehicle brake system. The solenoid valve 9 is controlled by the main coil high-side switch 3 and the main coil low-side switch 4 connected to the main service brake unit 1 to work by controlling the solenoid valve main coil 2 under normal working conditions. When any single-point failure occurs in the drive control circuit corresponding to the main service brake unit 1, the backup service brake unit 5 can control the solenoid valve backup coil 6 through the backup coil high-side switch 7 and the backup coil low-side switch 8 to make the solenoid valve 9 keep working.

When the main service brake unit 1 can work normally, the main coil high-side switch 3 and the main coil low-side switch 4 driven by the corresponding solenoid valve are powered and driven through the main service brake unit 1 .

When the main coil 2 of the solenoid valve corresponding to the main service brake unit 1, the high-side switch 3 of the main coil for driving, the low-side switch 4 of the main coil or other circuits and devices in the main service brake unit 1 fail, the corresponding electromagnetic The valve 9 can be powered and driven by the electromagnetic valve backup coil 6 corresponding to the backup service brake unit 5 , the backup coil high side switch 7 and the backup coil low side switch 8 for driving.

vice versa.

The main service brake unit 1 is redundant to the main coil 2 of the solenoid valve, and the power supply and drive circuit of the backup service brake unit 5 to the solenoid valve backup coil 6 are redundant. The drive unit 2 affects the drive function of the solenoid valve 9 due to a single point of failure in the electric control circuit and the solenoid valve drive circuit. This can ensure that under any single-point failure mode of the electrical system of the electronic control unit of the service brake, the service brake function of the vehicle in automatic driving will not be affected, which improves the safety of the service brake.

In the above technical solution, when the main service brake unit 1 is in normal operation, the main service brake unit 1 drives the main coil 2 of the solenoid valve to control the corresponding braking function.

When the main service brake unit 1 and the solenoid valve main coil 2 drive related circuits fail, the solenoid valve driving function will be switched to the backup service brake unit 5, and the solenoid valve backup coil 6 will be driven to continue to control the solenoid valve 9 to perform corresponding brakes. move function.

The fault states of the main coil high side switch 3 , the main coil low side switch 4 and the solenoid valve main coil 2 are diagnosed through the main service brake unit 1 . The diagnostic function of the solenoid valve coil and the drive circuit is regularly inspected. When the main service brake unit 1 falsely reports that the solenoid valve main coil 2 and the drive circuit are faulty due to external interference or other reasons, it will switch to the current ignition cycle. The backup service brake unit 5 controls the electromagnetic valve backup coil 6 to execute the action of the electromagnetic valve 9;

When the new ignition starts, the main service brake unit 1 will diagnose the main coil 2 of the solenoid valve and the drive circuit without failure, and the main service brake unit 1 will control the drive circuit of the main coil 2 of the solenoid valve to work, and record the main coil 2 of the solenoid valve. Driver-related historical fault codes.

The present invention has been exemplarily described above in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited by the above methods, as long as various insubstantial improvements are adopted in the method concept and technical solutions of the present invention, or there is no improvement Directly applying the conception and technical solutions of the present invention to other occasions falls within the protection scope of the present invention.

Claims

The vehicle brake system with redundant control function includes a main service brake unit (1) and a backup service brake unit (5) which are independent of each other, and is characterized in that the vehicle brake system is provided with a solenoid valve ( 9), the solenoid valve (9) controls the actuator of the vehicle braking system; the solenoid valve (9) is provided with a solenoid valve main coil (2) controlled by the main service brake unit (1) ) and the solenoid valve backup coil (6) controlled by the backup service brake unit (5).
The vehicle brake system with redundant control function according to claim 1, characterized in that, the main solenoid valve coil (2) and the solenoid valve backup coil (6) are two independent solenoid valve coils.
The vehicle brake system with redundant control function according to claim 1, characterized in that the main coil (2) of the solenoid valve and the backup coil (6) of the solenoid valve are the same solenoid valve coil.
The vehicle brake system with redundant control function according to any one of claims 1-3, characterized in that: the two ends of the main coil (2) of the solenoid valve are respectively connected by the high-side switch (3) of the main coil Connect with main coil low side switch (4) and main service brake unit (1).
The vehicle braking system with redundant control function according to claim 4, characterized in that: the main service braking unit (1) is connected to the main power supply (10).
The vehicle brake system with redundant control function according to claim 4, characterized in that: said main coil high-side switch (3) and main coil low-side switch (4) are equipped with a diagnostic circuit, and through The main service brake unit (1) diagnoses the fault status of the main coil high side switch (3), the main coil low side switch (4) and the solenoid valve main coil (2).
The vehicle brake system with redundant control function according to any one of claims 1-3, characterized in that: the two ends of the backup coil (6) of the electromagnetic valve are respectively connected by the backup coil high-side switch (7) It is connected with the backup coil low side switch (8) and the backup service brake unit (5).
The vehicle braking system with redundant control function according to claim 7, characterized in that: the backup service braking unit (5) is connected to the backup power supply (11).
The vehicle brake system with redundant control function according to claim 7, characterized in that: the backup coil high-side switch (7) and the backup coil low-side switch (8) are both provided with a diagnostic circuit, and through The backup service brake unit (5) diagnoses the fault states of the backup coil high side switch (7), the backup coil low side switch (8) and the solenoid valve backup coil (6).
The vehicle braking system with redundant control function according to any one of claims 1-3, characterized in that: the main service braking unit (1) and the backup service braking unit (5) are The communication circuits exchange their working state information with each other.
The control method of the vehicle brake system with redundant control function according to any one of claims 1 to 10, characterized in that:

The solenoid valve (9) is in normal working condition, controlled by the main coil high-side switch (3) and the main coil low-side switch (4) connected to the main service brake unit (1) to control the solenoid valve main coil (2 ), and then control the solenoid valve (9) to work;

When any single-point failure occurs in the main service brake unit (1) of the solenoid valve (2) and the high and low side drive circuits, the main service brake unit (1) will diagnose the fault and turn off the main service brake unit (1), and notify the backup service brake unit (5) through the communication circuit; at this time, the backup service brake unit (5) is connected to the backup service brake unit (5) The backup coil high-side switch (7) and the backup coil low-side switch (8) control the solenoid valve backup coil (6), and then control the solenoid valve (9) to continue working.
The control method according to claim 11, characterized in that:

Diagnose the fault state of the main coil high-side switch (3), the main coil low-side switch (4) and the solenoid valve main coil (2) through the main service brake unit (1). After the main service brake unit (1) falsely reports the failure of the solenoid valve main coil (2) or the high and low side drive circuit due to external interference or other reasons, it switches to the backup service brake unit (5) to control the solenoid valve in the current ignition cycle. The valve backup coil (6) executes the action of the solenoid valve (9);

After the new ignition starts, the main service brake unit (1) will diagnose the solenoid valve main coil (2) and the high and low side drive circuit without fault, and the main service brake unit (1) will control the solenoid valve main coil (2) to drive The circuit works, and records the historical fault codes related to the driving of the main coil (2) of the solenoid valve.