CN106740772A - The braking method of wheel of vehicle, apparatus and system - Google Patents
The braking method of wheel of vehicle, apparatus and system Download PDFInfo
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- CN106740772A CN106740772A CN201710078297.7A CN201710078297A CN106740772A CN 106740772 A CN106740772 A CN 106740772A CN 201710078297 A CN201710078297 A CN 201710078297A CN 106740772 A CN106740772 A CN 106740772A
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- wheel
- brake
- vehicle
- electronic
- braked
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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
- 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
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The present invention relates to a kind of braking method of wheel of vehicle, apparatus and system.Methods described includes step：Automated driving system sends the first brake request to vehicle electronic stability system and the first electronic brake system；The vehicle electronic stability system is braked according to first brake request to wheel；First electronic brake system monitors the result that the vehicle electronic stability system is braked according to first brake request to wheel；If the vehicle electronic stability system braking failure, first electronic brake system sends the second brake request according to first brake request to the vehicle electronic stability system；The vehicle electronic stability system is braked to the wheel again according to second brake request.The present invention no longer needs manually to control EPB switches to be braked, it is achieved that the real-time of emergency brake, has been effectively ensured the safety of service brake, makes the robustness of service brake preferable.
Description
Technical field
The present invention relates to electronic control technology field, more particularly to a kind of braking method of wheel of vehicle, a kind of wheel of vehicle
Brake apparatus and a kind of brakes of wheel of vehicle.
Background technology
Hyundai Motor is more and more extensive for the utilization of Mechanical course electronization.To replace conventional whip parking brake
As a example by EPB (Electrical Park Brake, electronic brake system), the electronic brake system is used as standby system
Dynamic system, it is ensured that vehicle steadily halt on 30% slope.The other electronic brake system is automatically obtained to be vulcanized
Repay, if i.e. vehicle parking after forcing to move, rear brake disc can produce gap because of temperature drop with friction plate, now motor
Meeting automatic, drives clamp nut to carry out compensation temperature and declines the gap for producing, it is ensured that reliable parking effect.
In conventional art, in Vehicular automatic driving field, such as damped condition in driving conditions, automated driving system is automatic
Identification request, sending brake request to ESP (Electronic Stability Program, vehicle electronic stability system) is carried out
Braking.But when wheel speed signal failure, brake piping rupture that ESP occurs or ESP motor are damaged, can cause car
On-position exit, influence brake safe, now need driver control manually EPB switch carry out emergency brake.But
Due to needing artificial control EPB switches to be braked, so operationally there is hysteresis quality, the generation of accident can be caused or added
Weight, it is impossible to the safety of service brake is effectively ensured.
The content of the invention
Based on this, it is necessary to regarding to the issue above, there is provided a kind of braking method of wheel of vehicle, apparatus and system, can
The safety of service brake is effectively ensured.
A kind of braking method of wheel of vehicle, including step：
Automated driving system sends the first brake request to vehicle electronic stability system and the first electronic brake system；
The vehicle electronic stability system is braked according to first brake request to wheel；
First electronic brake system monitors the vehicle electronic stability system according to first brake request
The result braked to wheel；
If the vehicle electronic stability system braking failure, first electronic brake system is according to the described first system
Dynamic request sends the second brake request to the vehicle electronic stability system；
The vehicle electronic stability system is braked to the wheel again according to second brake request.
A kind of brake apparatus of wheel of vehicle, including：
Brake request receiver module, the first brake request for receiving automated driving system transmission, the automatic Pilot
System is additionally operable to send first brake request to vehicle electronic stability system；
Braking result monitoring module, for monitoring the vehicle electronic stability system according to first brake request to car
The result that wheel is braked；
Brake request sending module, for when the vehicle electronic stability system brakes failure, according to the described first system
Dynamic request sends the second brake request to the vehicle electronic stability system, so that the vehicle electronic stability system is according to
Second brake request is braked to the wheel again.
A kind of brakes of wheel of vehicle, including automated driving system, vehicle electronic stability system and the first electronics
Parking braking system；
Automated driving system sends the first brake request to vehicle electronic stability system and the first electronic brake system；
Vehicle electronic stability system is braked according to first brake request to wheel；
First electronic brake system monitors the vehicle electronic stability system according to first brake request to car
The result that wheel is braked, when the vehicle electronic stability system brakes failure, according to first brake request to described
Vehicle electronic stability system sends the second brake request；
The vehicle electronic stability system is braked to wheel again always according to second brake request.
The braking method of above-mentioned wheel of vehicle, apparatus and system, if meeting damped condition, automatic Pilot system when driving
System sends brake request, vehicle electronic stability system elder generation to the first electronic brake system and vehicle electronic stability system simultaneously
Wheel is braked according to the brake request that automated driving system sends, when failure is braked, the first electronic brake system
The brake request united to vehicle electronic stability system forwarding reception, vehicle electronic stability system is further according to the first electronic brake
The brake request that system sends is braked to wheel.Because when vehicle electronic stability system brakes failure, the first electronics is stayed
Brake request is transmitted to vehicle electronic stability system by car brakes automatically, it is no longer necessary to which artificial control EPB switches are made
It is dynamic, it is achieved that the real-time of emergency brake, has been effectively ensured the safety of service brake, make the robustness of service brake compared with
It is good.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the braking method of the wheel of vehicle of an embodiment；
Fig. 2 is the schematic diagram of second electronic brake system set up of a specific embodiment；
Fig. 3 is the schematic diagram of the wheel speed sensors set up of a specific embodiment；
Fig. 4 is the structural representation of the brake apparatus of the wheel of vehicle of an embodiment；
Fig. 5 is the structural representation of the brake apparatus of the wheel of vehicle of another embodiment；
Fig. 6 is the structural representation of the brake apparatus of the wheel of vehicle of another embodiment；
Fig. 7 is the structural representation of the brake apparatus of the wheel of vehicle of another embodiment；
Fig. 8 is the structural representation of the brakes of the wheel of vehicle of an embodiment；
Fig. 9 is the structural representation of the brakes of the wheel of vehicle of another embodiment.
Specific embodiment
It is below in conjunction with the accompanying drawings and preferably real further to illustrate the effect of the technological means taken of the invention and acquirement
Example is applied, to technical scheme, clear and complete description is carried out.
As shown in figure 1, a kind of braking method of wheel of vehicle, including step：
S110, automated driving system send first and brake to vehicle electronic stability system and the first electronic brake system
Request；
S120, the vehicle electronic stability system are braked according to first brake request to wheel；
S130, first electronic brake system monitor the vehicle electronic stability system according to the described first braking
The result that request is braked to wheel；
If the braking failure of S140, the vehicle electronic stability system, first electronic brake system is according to
First brake request sends the second brake request to the vehicle electronic stability system；
S150, the vehicle electronic stability system are braked to the wheel again according to second brake request.
The braking method of above-mentioned wheel of vehicle is operated in EPB1 (the first electronic brake system), steady in vehicle electric
When determining Braking system failure, brake request is transmitted to vehicle electronic stability system by electronic brake system automatically, is no longer needed
Very important person's industry control EPB switches are braked, it is achieved that the real-time of emergency brake, has been effectively ensured the peace of service brake
Entirely.In order to be better understood from the method, the specific embodiment to each step is described in detail below.
In step s 110, automated driving system is existing system in the prior art, including decision-making module etc., decision model
Block is used to send brake request to ESP, and ESP is braked according to the brake request to wheel, realizes the stopping of vehicle.EPB1 is
Emergency brake system, it is also possible to realize the stopping of vehicle.But need the manually operated EPB of user to realize driving in the conventional technology
Braking, due to manually-operated retardance, security is not high.Therefore, in order to realize the real-time of service brake, driving a vehicle
Such as damped condition in journey, the decision-making module of automated driving system sends brake request to ESP and EPB1 simultaneously.
In step S120 and step S130, in order to determine when brake request is sent to ESP by EPB1, it is right that EPB1 needs
The result of ESP brakings is monitored.The brake request that ESP is sent according to the decision-making module of automated driving system is to wheel system
It is dynamic, the result of braking is then sent to EPB1, or EPB1 actively obtains the result of braking to ESP.
In step S140 and step S150, if ESP please according to the braking that the decision-making module of automated driving system sends
Successful execution is asked to brake, then EPB1 need not forward brake request to ESP.If ESP is according to the decision model of automated driving system
The brake request that block sends performs braking failure, then the brake request that automated driving system sends is transmitted to ESP, ESP by EPB1
Braking is re-executed after the brake request for receiving EPB1 forwardings.Because EPB1 automatically forwards brake request when failure is braked
To ESP, it is not necessary to which the manually operated EPB of driver carries out brake hard, therefore in the absence of operational delay, driving system is realized
Dynamic security.
In conventional art, after ESP braking failures, EPB1 is only capable of braking two trailing wheels as spare braking device,
On brake efficiency, its braking deceleration and braking distance have very big deficiency, play brake efficiency still limited, it is impossible to protect
Card completes parking action under emergency work condition.So the efficiency in order to improve EPB service brakes, there is provided the braking suitable with ESP
Efficiency, the present invention is also provided with the EPB2 of redundancy, and the EPB2 of redundancy is used to brake the remaining wheel of vehicle.For example,
In one embodiment, the wheel associated with first electronic brake system is the trailing wheel of vehicle；With second electronics
The vehicle residue wheel of parking braking system association is the front-wheel of vehicle, i.e., original EPB1 is used for after two of vehicle
Wheel is braked, then the EPB2 of redundancy is then used to brake two front-wheels of vehicle.If ESP still cannot respond to, this is superfluous
Remaining EPB2 and original EPB1 voluntarily coordinates to be braked, and realizes the braking of all wheels of vehicle, there is provided suitable with ESP
Brake efficiency, for vehicle stability systems provide redundant safety design, ensures active safety during driving, for driver provides more
Many, more reliable safety assurance.
The EPB2 of redundancy and original EPB1 voluntarily coordinate to realize that the braking of all wheels of vehicle has various implementations, under
Face describes in detail with reference to three embodiments.
In one embodiment, first electronic brake system according to first brake request to the vehicle
Electric stabilizing system is sent after the second brake request, can also include step：
S160, first electronic brake system monitor the vehicle electronic stability system according to the described second braking
The result that request is braked to wheel；
After brake request is sent to ESP by EPB1, the brake request that ESP is sent according to EPB1 is again to wheel system
It is dynamic, realize that vehicle is braked to determine whether EPB1 needs to coordinate with the EPB2 of redundancy, EPB1 needs to enter the result of ESP brakings
Row monitoring.The result of braking can be actively sent to EPB1 by ESP, or EPB1 actively obtains the result of braking to ESP.
If S170, the vehicle electronic stability system braking failure, first electronic brake system are obtained and institute
The first wheel speed signal of the wheel of the first electronic brake system association is stated, and from default second electronic brake system
Obtain the second wheel speed signal of vehicle residue wheel；
First electronic brake system is used to brake the wheel that it is connected, and the second electronic brake system is used
Braked in remaining wheel connected to it.The wheel speed sensors installed on each wheel are adopted to the wheel speed signal of wheel
Collection, the first electronic brake system receives its wheel speed signal for connecting wheel that wheel speed sensors are gathered, second by rigid line
Electronic brake system receives its wheel speed signal for connecting wheel that wheel speed sensors are gathered by rigid line.
As shown in Fig. 2 increasing EPB2 newly on the basis of original EPB1, EPB1 is used for two trailing wheel systems to vehicle
Dynamic, newly-increased EPB2 is connected with the execution structure of two brakings of front-wheel, and two front-wheels to vehicle are braked.Each wheel
The wheel speed sensors of upper installation are used to be acquired the wheel speed signal of wheel, after EPB1 receives two of wheel speed sensors collection
The wheel speed signal of wheel, EPB2 receives two wheel speed signals of front-wheel of wheel speed sensors collection.
S180, first electronic brake system according to first wheel speed signal and second wheel speed signal,
Second cunning of the first slip rate and vehicle the residue wheel of the wheel that acquisition is associated with first electronic brake system
Shifting rate, and send second slip rate to second electronic brake system；
After first electronic brake system obtains the wheel speed signal of each wheel, can be by the ECU of EPB1
(Electronic Control Unit, electronic control unit) calculates the slip rate of each wheel, in order to realize preferably braking
Effect, as a preferred embodiment, it is necessary to calculate the slip rate of all wheels of vehicle, and to the second electronic parking system
Dynamic system sends the second slip rate of vehicle residue wheel.
The slip rate that first electronic brake system obtains each wheel has various implementations, for example, in a reality
Can include in applying example, the step of the wheel speed signal according to each wheel obtains the slip rate of each wheel：
S1801, the speed of operation that vehicle is obtained according to the wheel speed signal of all wheels；
ECU can calculate the speed of operation of vehicle according to existing computational methods.For example, with the flat of four wheel speed signals
Average is defined, and calculates the speed of vehicle, or is defined by the peak of four wheel speed signals, calculates the speed of vehicle, or
Person is defined by the median of four wheel speed signals, calculates speed of vehicle etc..
S1802, the wheel velocity that each wheel is obtained according to the wheel speed signal of each wheel；
Wheel speed sensors are used for measuring vehicle wheel rotational speed, and the wheel speed signal according to each wheel obtains the wheel speed of each wheel
Degree can be realized according to existing mode in the prior art.
S1803, the wheel velocity according to each wheel and the speed of operation obtain the slip rate of each wheel；
Wheel slip s can be calculated according to below equation：
In formula, VSpeedIt is the speed of operation of vehicle, VWheel rolling speedIt is the wheel velocity of each wheel.
S190, first electronic brake system are according to first slip rate pair and the first electronic parking system
The wheel of dynamic system relationship is braked, and second electronic brake system is remaining to vehicle according to second slip rate
Wheel is braked；
After obtaining the slip rate of each wheel, slip rate pair of first electronic brake system according to its wheel for connecting
The wheel of its connection is braked, and the slip rate of remaining wheel is sent to the second electronic parking system, drives the second electronics to stay
The remaining wheel that car system is connected to it is braked.Slip rate according to wheel can use existing to the mode of wheel braking
Existing mode in technology.Because the first electronic brake system and the second electronic parking system realize all wheels of vehicle
Braking, so brake efficiency is suitable with ESP, realize the safety arrestment of vehicle.
As shown in Fig. 2 after EPB1 obtains four slip rates of wheel, being entered to two trailing wheels according to two slip rates of trailing wheel
Row braking, and brake signal is sent to EPB2, the brake signal includes two slip rates of front-wheel.EPB2 is before receiving two
After the slip rate of wheel, two front-wheels are braked according to two slip rates of front-wheel, i.e., according to actual condition, controlled respectively left
The brake force of front-wheel, off-front wheel.The clamping force that the slip rate i.e. according to wheel adjusts wheel braking clamp is braked to wheel,
Stop vehicle.
In another embodiment, first electronic brake system according to first brake request to the car
Electric stabilizing system is sent after the second brake request, can also include step：
S160, first electronic brake system monitor the vehicle electronic stability system according to the described second braking
The result that request is braked to wheel；
After brake request is sent to ESP by EPB1, the brake request that ESP is sent according to EPB1 is again to wheel system
It is dynamic, realize that vehicle is braked to determine whether EPB1 needs to coordinate with the EPB2 of redundancy, EPB1 needs to enter the result of ESP brakings
Row monitoring.The result of braking can be actively sent to EPB1 by ESP, or EPB1 actively obtains the result of braking to ESP.
If S170, the vehicle electronic stability system braking failure, first electronic brake system are obtained and institute
The first wheel speed signal of the wheel of the first electronic brake system association is stated, is sent out to default second electronic brake system
Send first wheel speed signal；
First electronic brake system is used to brake the wheel that it is connected, and the second electronic brake system is used
Braked in remaining wheel.The wheel speed sensors installed on each wheel are acquired to the wheel speed signal of wheel, and first
Electronic brake system receives the wheel speed signal of its wheel for connecting that wheel speed sensors are gathered by rigid line, and the second electronics is stayed
Car brakes receives the wheel speed signal of its wheel for connecting that wheel speed sensors are gathered by rigid line.First electronic brake
The wheel speed signal that system connects wheel is sent to the second electronic brake system.
S180, second electronic brake system are remained according to first wheel speed signal and the vehicle for itself obtaining
Second wheel speed signal of remaining wheel obtain the wheel associated with first electronic brake system the first slip rate and
Second slip rate of vehicle residue wheel, and send first slip rate to first electronic brake system；
The ECU that second electronic brake system passes through itself, each is calculated using existing mode in the prior art
The slip rate of wheel, after obtaining the slip rate of each wheel, the second electronic brake system is also needed to the first electronic parking
System sends the slip rate that the first electronic parking system connects wheel.
S190, first electronic brake system are according to first slip rate pair and the first electronic parking system
The wheel of dynamic system relationship is braked, and second electronic brake system is remaining to vehicle according to second slip rate
Wheel is braked；
First electronic parking system is braked to the wheel that it is connected, and the second electronic brake system is connected according to it
The remaining wheel that is connected to it of slip rate of remaining wheel brake.The mode of slip rate according to wheel to wheel braking
Can be using existing mode in the prior art.Because the first electronic brake system and the second electronic parking system are realized
The braking of all wheels of vehicle, so brake efficiency is suitable with ESP, realizes the safety arrestment of vehicle.
As shown in Fig. 2 increasing EPB2 newly on the basis of original EPB1, EPB1 is used for two trailing wheel systems to vehicle
Dynamic, newly-increased EPB2 is connected with the execution structure of two brakings of front-wheel, and two front-wheels to vehicle are braked.Each wheel
The wheel speed sensors of upper installation are used to be acquired the wheel speed signal of wheel, after EPB1 receives two of wheel speed sensors collection
The wheel speed signal of wheel, EPB2 receives two wheel speed signals of front-wheel of wheel speed sensors collection.EPB1 is by two wheel speeds of trailing wheel
Signal is sent to EPB2, and EPB2 obtains four slip rates of wheel according to four wheel speed signals of wheel, according to two front-wheels
Slip rate is braked to two front-wheels, and sends brake signal to EPB1, and the brake signal includes two slip rates of trailing wheel.
EPB1 is braked, i.e. basis according to two slip rates of trailing wheel after two slip rates of trailing wheel are received to two trailing wheels
Actual condition, controls left rear wheel, the brake force of off hind wheel respectively.
In another embodiment, first electronic brake system according to first brake request to the car
Electric stabilizing system is sent after the second brake request, can also include step：
S160, first electronic brake system monitor the vehicle electronic stability system according to the described second braking
The result that request is braked to wheel；
After brake request is sent to ESP by EPB1, the brake request that ESP is sent according to EPB1 is again to wheel system
It is dynamic, realize that vehicle is braked to determine whether EPB1 needs to coordinate with the EPB2 of redundancy, EPB1 needs to enter the result of ESP brakings
Row monitoring.The result of braking can be actively sent to EPB1 by ESP, or EPB1 actively obtains the result of braking to ESP.
If S170, the vehicle electronic stability system braking failure, first electronic brake system pair with it is described
The wheel of the first electronic brake system association is braked, and sends the 3rd to default second electronic brake system
Brake request, second electronic brake system is braked according to the 3rd brake request to vehicle residue wheel；
If ESP is braked again failing, EPB1 is directly braked to the wheel that it is associated, and please to EPB2 transmission brakings
Ask, EPB2 is braked according to the brake request for receiving to the wheel that it is connected.By EPB1 and EPB2 realize vehicle institute
There is the braking of wheel, so brake efficiency is suitable with ESP, realize the safety arrestment of vehicle.
One wheel speed sensors is only installed in conventional art on each wheel, when any wheel speed sensors fail, ESP
With EPB decelerations and performance failure, cause to lose control of one's vehicle, therefore in order to keep ESP and EPB decelerations and performance, one
In individual embodiment, at least two wheel speed sensors are separately installed with each wheel of the vehicle.The wheel that each wheel is installed
The number of fast sensor can determine according to actual needs.For example, being respectively mounted 1 wheel speed sensing of redundancy on each wheel
Two wheel speed sensors etc. are respectively arranged with device, i.e. each wheel.Wheel one of wheel speed sensors fail when, EPB or
Person ESP can receive the wheel speed signal of the wheel speed sensors of another normal work in the wheel by rigid line, so as to keep ESP
With EPB decelerations and performance.
When multiple wheel speed sensors are installed on a wheel, multiple wheel speed sensors can work simultaneously, EPB or
ESP receives the wheel speed signal of the wheel of multiple wheel speed sensors collections simultaneously, but when being braked only with the wheel
The wheel speed signal of upper wheel speed sensors collection, specific set-up mode can be realized according to existing mode in the prior art.
When multiple wheel speed sensors are installed on a wheel, it is also possible to which only one wheel speed sensors work, other wheel speeds are passed
Sensor is standby, when EPB or ESP does not receive the wheel speed signal of the wheel, starts another wheel speed sensing of wheel installation
Device, the wheel speed signal of the wheel is obtained by the wheel speed sensors for starting.
As shown in figure 3, being the schematic diagram of wheel speed sensors specific embodiment set up.Pacify respectively in the front and back wheel of vehicle
Filling a wheel speed sensors for redundancy, i.e. each wheel includes two wheel speed sensors.Under normal circumstances, wherein the one of wheel
Individual wheel speed sensors provide the wheel speed signal of the wheel, but when the wheel speed sensors fail, by another wheel of the wheel
Fast sensor provides the wheel speed signal of the wheel, so as to keep ESP and EPB decelerations and performance.
Based on same inventive concept, the present invention also provides a kind of brake apparatus of wheel of vehicle, below in conjunction with the accompanying drawings to this
The specific embodiment of invention brake apparatus is described in detail.
As shown in figure 4, a kind of brake apparatus of wheel of vehicle, including：
Brake request receiver module 110, the first brake request for receiving automated driving system transmission is described to drive automatically
The system of sailing is additionally operable to send first brake request to vehicle electronic stability system；
Braking result monitoring module 120, for monitoring the vehicle electronic stability system according to first brake request
The result braked to wheel；
Brake request sending module 130, for when the vehicle electronic stability system brakes failure, according to described first
Brake request sends the second brake request to the vehicle electronic stability system, so that the vehicle electronic stability system is according to institute
The second brake request is stated again to brake the wheel.
The brake apparatus of above-mentioned wheel of vehicle is operated in EPB1, when vehicle electronic stability system brakes failure, electronics
Brake request is transmitted to vehicle electronic stability system by parking braking system automatically, it is no longer necessary to which artificial control EPB switches are carried out
Braking, it is achieved that the real-time of emergency brake, has been effectively ensured the safety of service brake.In order to be better understood from the dress
Put, the function to the modules of device is described in detail below.
Automated driving system is existing system in the prior art, and including decision-making module etc., decision-making module is used to be sent out to ESP
Send brake request, ESP to be braked to wheel according to the brake request, realize the stopping of vehicle.EPB1 is emergency brake system,
The deceleration of vehicle can also be realized.But need the manually operated EPB of user to realize the braking of driving in the conventional technology, due to people
The retardance of work operation, security is not high.Therefore, in order to realize the real-time of service brake, when driving such as braking
Operating mode, the decision-making module of automated driving system sends brake request to the brake request receiver module 110 of ESP and EPB1 simultaneously.
In order to determine when brake request is sent to ESP by EPB1, braking result monitoring module 120 needs to brake ESP
Result be monitored.ESP is braked according to the brake request that the decision-making module of automated driving system sends to wheel, then
The result of braking is sent to the braking result monitoring module 120 of EPB1, or EPB1 braking result monitoring module 120 actively
The result of braking is obtained to ESP.
If the brake request that ESP sends according to the decision-making module of automated driving system performs braking failure, braking please
Ask sending module 130 that the brake request that automated driving system sends is transmitted into ESP, the braking that ESP receives EPB1 forwardings please
Braking is re-executed after asking.Brake request is transmitted to ESP because EPB is automatic when failure is braked, it is not necessary to which driver is manual
Operation EPB carries out brake hard, therefore in the absence of operational delay, realizes the security of service brake.
In conventional art, after ESP braking failures, EPB1 is only capable of braking two trailing wheels as spare braking device,
On brake efficiency, its braking deceleration and braking distance have very big deficiency, play brake efficiency still limited, it is impossible to protect
Card completes parking action under emergency work condition.So the efficiency in order to improve EPB service brakes, there is provided the braking suitable with ESP
Efficiency, the present invention is also provided with the EPB2 of redundancy, and the EPB2 of redundancy is for vehicle, remaining vehicle to be braked.For example,
In one embodiment, the wheel associated with first electronic brake system is the trailing wheel of vehicle；With second electronics
The vehicle residue wheel of parking braking system association is the front-wheel of vehicle, i.e., original EPB1 is used for after two of vehicle
Wheel is braked, then the EPB2 of redundancy is then used to brake two front-wheels of vehicle.If ESP still cannot respond to, this is superfluous
Remaining EPB2 and original EPB1 voluntarily coordinates to be braked, and realizes the braking of all wheels of vehicle, there is provided suitable with ESP
Brake efficiency, for vehicle stability systems provide redundant safety design, ensures active safety during driving, for driver provides more
Many, more reliable safety assurance.
The EPB2 of redundancy and original EPB1 voluntarily coordinate to realize that the braking of all wheels of vehicle has various implementations, under
Face describes in detail with reference to two embodiments.
In one embodiment, as shown in figure 5, the first electronic brake system also includes being sent with the brake request
The first connected brake module 140 of module, first brake module 140 includes：
Monitoring unit 1401, enters according to second brake request for monitoring the vehicle electronic stability system to wheel
The result of row braking；
Wheel speed signal acquiring unit 1402, for the vehicle electronic stability system brake failure when, obtain with it is described
First wheel speed signal of the wheel of the first electronic brake system association, and obtained from default second electronic brake system
Second wheel speed signal of the remaining wheel of pick-up；
Slip rate obtaining unit 1403, for according to first wheel speed signal and second wheel speed signal, obtain with
First slip rate of the wheel of the first electronic brake system association and the second slip rate of vehicle residue wheel；Root
The slip rate for obtaining each wheel according to the wheel speed signal of each wheel can be realized according to existing mode in the prior art；
Brake unit 1404, for what is associated with first electronic brake system according to first slip rate pair
Wheel is braked, and second slip rate is sent to second electronic brake system, so that second electronics is stayed
Car brakes is braked according to second slip rate to vehicle residue wheel.
In another embodiment, as shown in fig. 6, the brake apparatus of wheel of vehicle also includes being sent with the brake request
The second connected brake module 150 of module, second brake module 150 includes：
Monitoring unit 1501, enters according to second brake request for monitoring the vehicle electronic stability system to wheel
The result of row braking；
Wheel speed signal transmitting element 1502, for the vehicle electronic stability system brake failure when, obtain with it is described
First wheel speed signal of the wheel of the first electronic brake system association, sends to default second electronic brake system
First wheel speed signal, so that second electronic brake system is according to first wheel speed signal and itself obtains
The second wheel speed signal of vehicle residue wheel obtain the first of wheel associate with first electronic brake system and slide
Second slip rate of shifting rate and vehicle residue wheel, and slided according to described second by second electronic brake system
Shifting rate is braked to vehicle residue wheel；
Brake unit 1503, for receiving first slip rate that second electronic brake system sends, root
The wheel associated with first electronic brake system according to first slip rate pair is braked.
In another embodiment, as shown in fig. 7, the brake apparatus of wheel of vehicle also includes being sent with the brake request
The 3rd connected brake module 160 of module, the 3rd brake module 160 includes：
Monitoring unit 1601, enters according to second brake request for monitoring the vehicle electronic stability system to wheel
The result of row braking；
Brake unit 1602, for when the vehicle electronic stability system brakes failure, pair being stayed with first electronics
The wheel of car brakes association is braked, and sends the 3rd brake request to default second electronic brake system,
So that second electronic brake system is braked according to the 3rd brake request to vehicle residue wheel.
When any wheel speed sensors fail, in order to keep ESP and EPB decelerations and performance, in one embodiment,
At least two wheel speed sensors are separately installed with each wheel of the vehicle.Each wheel install wheel speed sensors
Number can determine according to actual needs.When one of wheel speed sensors of wheel fail, EPB or ESP can be by hard
Line receives the wheel speed signal of the wheel speed sensors of another normal work in the wheel, thus keep ESP and EPB decelerations and
Performance.
The present invention also provides a kind of brakes of wheel of vehicle, below in conjunction with the accompanying drawings to the braking of wheel of vehicle of the present invention
The specific embodiment of system is described in detail.
As shown in figure 8, a kind of brakes of wheel of vehicle, including automated driving system, vehicle electronic stability system ESP
And the first electronic brake system EPB1；
Automated driving system sends first and makes to vehicle electronic stability system ESP and the first electronic brake system EPB1
Dynamic request；
Vehicle electronic stability system ESP is braked according to first brake request to wheel；
First electronic brake system EPB1 monitors the vehicle electronic stability system ESP please according to the described first braking
The result braked to wheel is sought, when the vehicle electronic stability system ESP brakes failure, please according to the described first braking
Ask and send the second brake request to the vehicle electronic stability system ESP；
The vehicle electronic stability system ESP is braked to wheel again always according to second brake request.
As shown in figure 9, in one embodiment, the brakes of the wheel of vehicle also includes the second electronic brake
System EPB2.The first electronic brake system EPB1 is additionally operable to monitor the vehicle electronic stability system ESP according to institute
State the result that the second brake request is braked to wheel；The vehicle electronic stability system ESP brake failure when, obtain with
First wheel speed signal of the wheel of the first electronic brake system EPB1 association, and from default second electronic parking system
Dynamic system EPB2 obtains the second wheel speed signal of vehicle residue wheel；Believed according to first wheel speed signal and second wheel speed
Number, the first slip rate and vehicle the residue wheel of the wheel that acquisition is associated with the first electronic brake system EPB1
Second slip rate, and send second slip rate to the second electronic brake system EPB2；Slided according to described first
The wheel that shifting rate pair is associated with the first electronic brake system EPB1 is braked；
The second electronic brake system EPB2 is additionally operable to enter vehicle residue wheel according to second slip rate
Row braking.
As shown in figure 9, in another embodiment, the brakes of the wheel of vehicle also includes the second electronic parking system
Dynamic system EPB2.The first electronic brake system EPB1 be additionally operable to monitor the vehicle electronic stability system ESP according to
The result that second brake request is braked to wheel；When the vehicle electronic stability system ESP brakes failure, obtain
First wheel speed signal of the wheel associated with the first electronic brake system EPB1, to default second electronic parking system
Dynamic system EPB2 sends first wheel speed signal；
The second electronic brake system EPB2 is additionally operable to obtain the second wheel speed signal of vehicle residue wheel；According to
First wheel speed signal and second wheel speed signal, what acquisition was associated with the first electronic brake system EPB1
Second slip rate of the first slip rate and vehicle the residue wheel of wheel, sends out to the first electronic brake system EPB1
Send first slip rate；Vehicle residue wheel is braked according to second slip rate；
First electronic brake system is additionally operable to according to first slip rate pair and first electronic parking
The wheel of brakes EPB1 associations is braked.
As shown in figure 9, in another embodiment, the brakes of the wheel of vehicle also includes the second electronic parking system
Dynamic system EPB2.The first electronic brake system EPB1 be additionally operable to monitor the vehicle electronic stability system ESP according to
The result that second brake request is braked to wheel；The vehicle electronic stability system ESP brake failure when, pair with
The wheel of the first electronic brake system EPB1 associations is braked, and to default second electronic brake system
EPB2 sends the 3rd brake request.The second electronic brake system EPB2 is additionally operable to according to the 3rd brake request pair
Vehicle residue wheel is braked.
In one embodiment, the wheel for being associated with first electronic brake system is the trailing wheel of vehicle；With institute
The vehicle residue wheel for stating the association of the second electronic brake system is the front-wheel of vehicle.
When any wheel speed sensors fail, in order to keep ESP and EPB decelerations and performance, in one embodiment,
At least two wheel speed sensors are separately installed with each wheel of the vehicle.Each wheel install wheel speed sensors
Number can determine according to actual needs.When one of wheel speed sensors of wheel fail, EPB or ESP can be by hard
Line receives the wheel speed signal of the wheel speed sensors of another normal work in the wheel, thus keep ESP and EPB decelerations and
Performance.
The braking method of above-mentioned wheel of vehicle, apparatus and system, when vehicle electronic stability system brakes failure, electronics is stayed
Brake request is transmitted to vehicle electronic stability system by car brakes automatically, it is no longer necessary to which artificial control EPB switches are made
It is dynamic, it is achieved that the real-time of emergency brake, has been effectively ensured the safety of service brake, make the robustness of service brake compared with
It is good；The EPB2 of incremental redundancy, when ESP fails, EPB2 cooperates to provide the brake efficiency suitable with ESP with EPB1, can
Four-wheel anti-lock is realized, for vehicle stability systems provide redundant safety design, active safety during driving is ensured, is driver
More, more reliable safety assurance is provided；The wheel speed sensors of redundancy are installed on wheel, are sensed in one of wheel speed of wheel
When device loses wheel speed signal, wheel speed signal can be obtained by another wheel speed sensors of the wheel, it is to avoid lose wheel speed letter
Number operating mode under to lose control of one's vehicle, it is ensured that the security of driving.
One of ordinary skill in the art will appreciate that all or part of flow in realizing above-described embodiment method, can be
The hardware of correlation is instructed to complete by computer program, described program can be stored in a computer read/write memory medium
In, the program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses several embodiments of the invention, and its description is more specific and detailed, but simultaneously
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (13)
1. a kind of braking method of wheel of vehicle, it is characterised in that including step：
Automated driving system sends the first brake request to vehicle electronic stability system and the first electronic brake system；
The vehicle electronic stability system is braked according to first brake request to wheel；
First electronic brake system monitors the vehicle electronic stability system according to first brake request to car
The result that wheel is braked；
If the vehicle electronic stability system braking failure, first electronic brake system please according to the described first braking
Ask and send the second brake request to the vehicle electronic stability system；
The vehicle electronic stability system is braked to the wheel again according to second brake request.
2. the braking method of wheel of vehicle according to claim 1, it is characterised in that the first electronic brake system
System according to first brake request to the vehicle electronic stability system send the second brake request after, also including step：
First electronic brake system monitors the vehicle electronic stability system according to second brake request to car
The result that wheel is braked；
If the vehicle electronic stability system braking failure, first electronic brake system is obtained and first electronics
First wheel speed signal of the wheel of parking braking system association, and it is surplus to obtain vehicle from default second electronic brake system
Second wheel speed signal of remaining wheel；
First electronic brake system according to first wheel speed signal and second wheel speed signal, obtain with it is described
First slip rate of the wheel of the first electronic brake system association and the second slip rate of vehicle residue wheel, and to institute
State the second electronic brake system and send second slip rate；
First electronic brake system is closed according to first slip rate pair with first electronic brake system
The wheel of connection is braked, and second electronic brake system is carried out according to second slip rate to vehicle residue wheel
Braking.
3. the braking method of wheel of vehicle according to claim 1, it is characterised in that the first electronic brake system
System according to first brake request to the vehicle electronic stability system send the second brake request after, also including step：
First electronic brake system monitors the vehicle electronic stability system according to second brake request to car
The result that wheel is braked；
If the vehicle electronic stability system braking failure, first electronic brake system is obtained and first electronics
First wheel speed signal of the wheel of parking braking system association, described first is sent to default second electronic brake system
Wheel speed signal；
Second electronic brake system is according to the remaining wheel of vehicle of first wheel speed signal and itself acquisition
The first slip rate and vehicle that second wheel speed signal obtains the wheel associated with first electronic brake system are remaining
Second slip rate of wheel, and send first slip rate to first electronic brake system；
First electronic brake system is closed according to first slip rate pair with first electronic brake system
The wheel of connection is braked, and second electronic brake system is carried out according to second slip rate to vehicle residue wheel
Braking.
4. the braking method of wheel of vehicle according to claim 1, it is characterised in that the first electronic brake system
System according to first brake request to the vehicle electronic stability system send the second brake request after, also including step：
First electronic brake system monitors the vehicle electronic stability system according to second brake request to car
The result that wheel is braked；
If the vehicle electronic stability system braking failure, first electronic brake system pair is stayed with first electronics
The wheel of car brakes association is braked, and sends the 3rd brake request to default second electronic brake system,
Second electronic brake system is braked according to the 3rd brake request to vehicle residue wheel.
5. the braking method of the wheel of vehicle according to claim 2 to 4 any one, it is characterised in that with described first
The wheel of electronic brake system association is the trailing wheel of vehicle；
The vehicle residue wheel associated with second electronic brake system is the front-wheel of vehicle；
At least two wheel speed sensors are separately installed with each wheel of the vehicle.
6. a kind of brake apparatus of wheel of vehicle, it is characterised in that including：
Brake request receiver module, the first brake request for receiving automated driving system transmission, the automated driving system
It is additionally operable to send first brake request to vehicle electronic stability system；
Braking result monitoring module, enters according to first brake request for monitoring the vehicle electronic stability system to wheel
The result of row braking；
Brake request sending module, for when the vehicle electronic stability system brakes failure, being asked according to the described first braking
Ask and send the second brake request to the vehicle electronic stability system, so that the vehicle electronic stability system is according to described second
Brake request is braked to the wheel again.
7. the brake apparatus of wheel of vehicle according to claim 6, it is characterised in that also including being sent out with the brake request
The first brake module for sending module connected, first brake module includes：
Monitoring unit, for monitoring what the vehicle electronic stability system was braked according to second brake request to wheel
As a result；
Wheel speed signal acquiring unit, for when the vehicle electronic stability system brakes failure, obtaining and first electronics
First wheel speed signal of the wheel of parking braking system association, and it is surplus to obtain vehicle from default second electronic brake system
Second wheel speed signal of remaining wheel；
Slip rate obtaining unit, for according to first wheel speed signal and second wheel speed signal, obtaining and described first
First slip rate of the wheel of electronic brake system association and the second slip rate of vehicle residue wheel；
Brake unit, the wheel for being associated with first electronic brake system according to first slip rate pair is carried out
Braking, sends second slip rate, so that the second electronic brake system to second electronic brake system
System is braked according to second slip rate to vehicle residue wheel.
8. the brake apparatus of wheel of vehicle according to claim 6, it is characterised in that also including being sent out with the brake request
The second brake module for sending module connected, second brake module includes：
Monitoring unit, for monitoring what the vehicle electronic stability system was braked according to second brake request to wheel
As a result；
Wheel speed signal transmitting element, for when the vehicle electronic stability system brakes failure, obtaining and first electronics
First wheel speed signal of the wheel of parking braking system association, described first is sent to default second electronic brake system
Wheel speed signal, so that second electronic brake system is remained according to first wheel speed signal and the vehicle for itself obtaining
Second wheel speed signal of remaining wheel obtain the wheel associated with first electronic brake system the first slip rate and
Vehicle residue wheel the second slip rate, and by second electronic brake system according to second slip rate to car
Remaining wheel is braked；
Brake unit, for receiving first slip rate that second electronic brake system sends, according to described the
The wheel that one slip rate pair is associated with first electronic brake system is braked.
9. the brake apparatus of wheel of vehicle according to claim 6, it is characterised in that also including being sent out with the brake request
The 3rd brake module for sending module connected, the 3rd brake module includes：
Monitoring unit, for monitoring what the vehicle electronic stability system was braked according to second brake request to wheel
As a result；
Brake unit, for the vehicle electronic stability system brake failure when, pair with the first electronic brake system
The wheel for associating of uniting is braked, and sends the 3rd brake request to default second electronic brake system, so that described
Second electronic brake system is braked according to the 3rd brake request to vehicle residue wheel.
10. a kind of brakes of wheel of vehicle, it is characterised in that including automated driving system, vehicle electronic stability system with
And first electronic brake system；
Automated driving system sends the first brake request to vehicle electronic stability system and the first electronic brake system；
Vehicle electronic stability system is braked according to first brake request to wheel；
First electronic brake system monitors the vehicle electronic stability system wheel is entered according to first brake request
The result of row braking, when the vehicle electronic stability system brakes failure, according to first brake request to the vehicle
Electric stabilizing system sends the second brake request；
The vehicle electronic stability system is braked to wheel again always according to second brake request.
The brakes of 11. wheel of vehicle according to claim 10, it is characterised in that also including the second electronic parking system
Dynamic system；
First electronic brake system is additionally operable to monitor the vehicle electronic stability system please according to the described second braking
Seek the result braked to wheel；When the vehicle electronic stability system brakes failure, acquisition is stayed with first electronics
First wheel speed signal of the wheel of car brakes association, and it is remaining to obtain vehicle from default second electronic brake system
Second wheel speed signal of wheel；According to first wheel speed signal and second wheel speed signal, obtain and first electronics
First slip rate of the wheel of parking braking system association and the second slip rate of vehicle residue wheel, and to the described second electricity
Sub- parking braking system sends second slip rate；According to first slip rate pair and the first electronic brake system
The wheel for associating of uniting is braked；
Second electronic brake system is additionally operable to brake vehicle residue wheel according to second slip rate.
The brakes of 12. wheel of vehicle according to claim 10, it is characterised in that also including the second electronic parking system
Dynamic system；
First electronic brake system is additionally operable to the result that monitoring second brake request is braked to wheel；
During the vehicle electronic stability system braking failure, the first of the wheel that acquisition is associated with first electronic brake system
Wheel speed signal, first wheel speed signal is sent to default second electronic brake system；
Second electronic brake system is additionally operable to obtain the second wheel speed signal of vehicle residue wheel；According to described first
Wheel speed signal and second wheel speed signal, the first cunning of the wheel that acquisition is associated with first electronic brake system
Second slip rate of shifting rate and vehicle residue wheel, and send first sliding to first electronic brake system
Rate；Vehicle residue wheel is braked according to second slip rate；
First electronic brake system is additionally operable to according to first slip rate pair and first electronic brake
The wheel of system relationship is braked.
The brakes of 13. wheel of vehicle according to claim 10, it is characterised in that also including the second electronic parking system
Dynamic system；
First electronic brake system is additionally operable to monitor the vehicle electronic stability system please according to the described second braking
Seek the result braked to wheel；The vehicle electronic stability system brake failure when, pair with first electronic parking
The wheel of brakes association is braked, and sends the 3rd brake request to default second electronic brake system；
Second electronic brake system is additionally operable to brake vehicle residue wheel according to the 3rd brake request.
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| CN201710078297.7A CN106740772B (en) | 2017-02-14 | 2017-02-14 | Braking method, the apparatus and system of wheel of vehicle |
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| CN201710078297.7A CN106740772B (en) | 2017-02-14 | 2017-02-14 | Braking method, the apparatus and system of wheel of vehicle |
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| CN106864447A (en) * | 2017-03-07 | 2017-06-20 | 广州汽车集团股份有限公司 | Braking control system, method and apparatus |
| CN109204292A (en) * | 2018-11-11 | 2019-01-15 | 爱驰汽车有限公司 | Automobile whipping control method, system, equipment and storage medium |
| CN109466524A (en) * | 2018-12-28 | 2019-03-15 | 上汽通用五菱汽车股份有限公司 | Automobile multistage brake method, automobile and storage medium |
| WO2019119957A1 (en) * | 2017-12-20 | 2019-06-27 | 广州汽车集团股份有限公司 | Electrical parking control method and apparatus, readable storage medium, and computer device |
| CN110949343A (en) * | 2019-12-11 | 2020-04-03 | 宝能(广州)汽车研究院有限公司 | Unilateral parking control method and device |
| CN110962816A (en) * | 2018-09-28 | 2020-04-07 | 罗伯特·博世有限公司 | Parking brake system for vehicle and control method thereof |
| CN111457931A (en) * | 2019-01-21 | 2020-07-28 | 广州汽车集团股份有限公司 | Method, device, system and storage medium for controlling local path re-planning of autonomous vehicle |
| CN111959494A (en) * | 2020-08-20 | 2020-11-20 | 北京汽车研究总院有限公司 | Vehicle, automatic driving brake system and automatic driving brake method thereof |
| CN113022524A (en) * | 2019-12-24 | 2021-06-25 | 瀚德万安(上海)电控制动***有限公司 | Vehicle braking system and control method thereof |
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| CN113022524A (en) * | 2019-12-24 | 2021-06-25 | 瀚德万安(上海)电控制动***有限公司 | Vehicle braking system and control method thereof |
| CN113022524B (en) * | 2019-12-24 | 2022-08-16 | 瀚德万安(上海)电控制动***有限公司 | Vehicle braking system and control method thereof |
| CN111959494A (en) * | 2020-08-20 | 2020-11-20 | 北京汽车研究总院有限公司 | Vehicle, automatic driving brake system and automatic driving brake method thereof |
| CN115158279A (en) * | 2022-09-07 | 2022-10-11 | 万向钱潮股份公司 | Electronic parking auxiliary control method and redundancy control system |
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