CN106740772B - Braking method, the apparatus and system of wheel of vehicle - Google Patents
Braking method, the apparatus and system of wheel of vehicle Download PDFInfo
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- CN106740772B CN106740772B CN201710078297.7A CN201710078297A CN106740772B CN 106740772 B CN106740772 B CN 106740772B CN 201710078297 A CN201710078297 A CN 201710078297A CN 106740772 B CN106740772 B CN 106740772B
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- braking
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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 methods of wheel of vehicle, apparatus and system.The method includes the steps: automated driving system sends the first brake request to vehicle electronic stability system and the first electronic brake system；The vehicle electronic stability system brakes wheel according to first brake request；First electronic brake system monitors the result that the vehicle electronic stability system brakes wheel according to first brake request；If the vehicle electronic stability system braking failure, first electronic brake system send the second brake request to the vehicle electronic stability system according to first brake request；The vehicle electronic stability system again brakes the wheel according to second brake request.The present invention no longer needs manual control EPB switch to brake, it is achieved that the real-time of emergency brake, has been effectively ensured the safety of service brake, keeps the robustness of service brake preferable.
Description
Technical field
The present invention relates to electronic control technology fields, braking method, a kind of wheel of vehicle more particularly to a kind of wheel of vehicle
Brake apparatus and a kind of braking system of wheel of vehicle.
Background technique
Hyundai Motor is more and more extensive for the utilization of Mechanical course electronization.To replace conventional whip parking brake
For EPB (Electrical Park Brake, electronic brake system), the electronic brake system is as spare system
Dynamic system, it is ensured that vehicle steadily halt on 30% slope.In addition the electronic brake system is realized automatically and is vulcanized
It repays, i.e., if vehicle parking after pressure is dynamic, rear brake disc can generate gap because of temperature decline and friction plate, at this time motor
It can start automatically, driving clamp nut comes the gap that compensation temperature decline generates, and guarantees reliable parking effect.
In traditional technology, in Vehicular automatic driving field, such as damped condition in driving conditions, automated driving system is automatic
Identification request sends brake request to ESP (Electronic Stability Program, vehicle electronic stability system) and carries out
Braking.However when the wheel speed signal failure, brake piping rupture or ESP motor that ESP occurs damage, vehicle will lead to
On-position exit, influence brake safe, need at this time driver manually control EPB switch carry out emergency brake.But
Due to needing manual control EPB switch to be braked, so operationally there is hysteresis quality, will lead to the generation of accident or adding
Weight, can not be effectively ensured the safety of service brake.
Summary of the invention
Based on this, it is necessary in view of the above-mentioned problems, a kind of braking method of wheel of vehicle, apparatus and system are provided, it can
The safety of service brake is effectively ensured.
A kind of braking method of wheel of vehicle, comprising steps of
Automated driving system sends the first brake request to vehicle electronic stability system and the first electronic brake system；
The vehicle electronic stability system brakes wheel according to first brake request；
First electronic brake system monitors the vehicle electronic stability system according to first brake request
The result that wheel is braked；
If the vehicle electronic stability system braking failure, first electronic brake system is according to first system
Dynamic request sends the second brake request to the vehicle electronic stability system；
The vehicle electronic stability system again brakes the wheel according to second brake request.
A kind of brake apparatus of wheel of vehicle, comprising:
Brake request receiving module, for receiving the first brake request of automated driving system transmission, the automatic Pilot
System is also used to send first brake request to vehicle electronic stability system；
Result monitoring module is braked, for monitoring the vehicle electronic stability system according to first brake request to vehicle
Take turns the result braked；
Brake request sending module, for being made according to described first when the vehicle electronic stability system brakes failure
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 again brakes the wheel.
A kind of braking system 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 brakes wheel according to first brake request；
First electronic brake system monitors the vehicle electronic stability system according to first brake request to vehicle
Take turns it is being braked as a result, 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 again brakes wheel also according to second brake request.
Braking method, the apparatus and system of above-mentioned wheel of vehicle, if meeting damped condition, automatic Pilot system when driving
System sends brake request to the first electronic brake system and vehicle electronic stability system simultaneously, and vehicle electronic stability system is first
Wheel is braked according to the brake request that automated driving system is sent, when braking failure, the first electronic brake system
It unites and forwards received brake request to vehicle electronic stability system, vehicle electronic stability system is further according to the first electronic brake
The brake request that system is sent brakes wheel.Since when vehicle electronic stability system brakes failure, the first electronics is stayed
Brake request is transmitted to vehicle electronic stability system automatically by vehicle braking system, it is no longer necessary to which manual control EPB switch is 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.
Detailed description of the invention
Fig. 1 is the flow diagram of the braking method of the wheel of vehicle of an embodiment；
Fig. 2 is the schematic diagram for the second electronic brake system of a specific embodiment added；
Fig. 3 is the schematic diagram for the wheel speed sensors of a specific embodiment added；
Fig. 4 is the structural schematic diagram of the brake apparatus of the wheel of vehicle of an embodiment；
Fig. 5 is the structural schematic diagram of the brake apparatus of the wheel of vehicle of another embodiment；
Fig. 6 is the structural schematic diagram of the brake apparatus of the wheel of vehicle of another embodiment；
Fig. 7 is the structural schematic diagram of the brake apparatus of the wheel of vehicle of another embodiment；
Fig. 8 is the structural schematic diagram of the braking system of the wheel of vehicle of an embodiment；
Fig. 9 is the structural schematic diagram of the braking system of the wheel of vehicle of another embodiment.
Specific embodiment
It is with reference to the accompanying drawing and preferably real for the effect for further illustrating technological means adopted by the present invention and acquirement
Example is applied, to technical solution of the present invention, carries out clear and complete description.
As shown in Figure 1, a kind of braking method of wheel of vehicle, comprising steps of
S110, automated driving system send the first braking to vehicle electronic stability system and the first electronic brake system
Request；
S120, the vehicle electronic stability system brake wheel according to first brake request；
S130, first electronic brake system monitor the vehicle electronic stability system according to first braking
Request the result 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 again brake the wheel according to second brake request.
The braking method of above-mentioned wheel of vehicle operates 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 automatically by electronic brake system, is no longer needed
Manual control EPB switch is wanted to be braked, it is achieved that the real-time of emergency brake, has been effectively ensured the peace of service brake
Entirely.In order to better understand this method, the specific embodiment of 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 brakes wheel according to the brake request, realizes the stopping of vehicle.EPB1 is
The stopping of vehicle also may be implemented in emergency brake system.But it needs user that EPB is manually operated in the conventional technology and realizes driving
Braking, due to manually-operated retardance, safety is not high.Therefore, it in order to realize the real-time of service brake, was driving a vehicle
Such as damped condition in journey, the decision-making module of automated driving system is simultaneously to ESP and EPB1 transmission brake request.
In step S120 and step S130, in order to determine when brake request is sent to ESP by EPB1, EPB1 needs pair
The result of ESP braking 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 the result that EPB1 or EPB1 actively obtains braking to ESP.
In step S140 and step S150, if ESP is asked according to the braking that the decision-making module of automated driving system is sent
Successful execution is asked to brake, then EPB1 does not need to forward brake request to ESP.If ESP is according to the decision model of automated driving system
The brake request that block is sent executes braking failure, then the brake request that automated driving system is sent is transmitted to ESP, ESP by EPB1
Braking is re-executed after receiving the brake request of EPB1 forwarding.Since EPB1 automatically forwards brake request when braking failure
It to ESP, does not need driver and EPB progress emergency braking is manually operated, therefore operational delay is not present, realize driving system
Dynamic safety.
In traditional technology, after ESP braking failure, EPB1 is only capable of braking two rear-wheels as spare braking device,
On brake efficiency, braking deceleration and braking distance have very big deficiency, and performance brake efficiency is still limited, Wu Fabao
Card completes parking movement under emergency work condition.So being provided and the comparable braking of ESP to improve the efficiency of EPB service brake
Efficiency, the present invention are also provided with the EPB2 of redundancy, and the EPB2 of redundancy is for braking the remaining wheel of vehicle.For example,
It is the rear-wheel of vehicle with the associated wheel of the first electronic brake system in one embodiment；With second electronics
The associated vehicle residue wheel of parking braking system is the front-wheel of vehicle, i.e., after two used for vehicles of original EPB1
Wheel is braked, then the EPB2 of redundancy then braked by two front-wheels used for vehicles.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, provides comparable with ESP
Brake efficiency provides redundant safety design for vehicle stability systems, ensures active safety when driving, provide more for driver
More, more reliable safety assurance.
The EPB2 of redundancy and original EPB1 voluntarily coordinate to realize the braking of all wheels of vehicle there are many implementation, under
Face combines three embodiments to describe in detail.
In one embodiment, first electronic brake system is according to first brake request to the vehicle
Electric stabilizing system send the second brake request after, can with comprising steps of
S160, first electronic brake system monitor the vehicle electronic stability system according to second braking
Request the result 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 vehicle braking to determine whether EPB1 needs to cooperate with the EPB2 of redundancy, the result that EPB1 needs to brake ESP into
Row monitoring.The result active transmission of braking can actively be obtained the result of braking by ESP to EPB1 or EPB1 to ESP.
If the braking failure of S170, the vehicle electronic stability system, first electronic brake system obtains and institute
State the first wheel speed signal of the associated wheel of the first electronic brake system, and from preset second electronic brake system
Obtain the second wheel speed signal of vehicle residue wheel；
First electronic brake system for braking to the wheel that it is connected, use by the second electronic brake system
It is braked in remaining wheel connected to it.The wheel speed sensors installed on each wheel adopt the wheel speed signal of wheel
Collection, its wheel speed signal for connecting wheel that the first electronic brake system is acquired by rigid line reception wheel speed sensors, second
Electronic brake system receives its wheel speed signal for connecting wheel of wheel speed sensors acquisition by rigid line.
As shown in Fig. 2, increasing EPB2, EPB1 two rear-wheel systems used for vehicles newly on the basis of original EPB1
Dynamic, newly-increased EPB2 is connect with the execution structure of the braking of two front-wheels, is braked to two front-wheels of vehicle.Each wheel
The wheel speed sensors of upper installation are for being acquired the wheel speed signal of wheel, after EPB1 receives two of wheel speed sensors acquisition
The wheel speed signal of wheel, EPB2 receive the wheel speed signal of two front-wheels of wheel speed sensors acquisition.
S180, first electronic brake system according to first wheel speed signal and second wheel speed signal,
It obtains and is slided with the second of the first slip rate of the associated wheel of the first electronic brake system and vehicle residue wheel
Shifting rate, and second slip rate is sent to second electronic brake system；
After first electronic brake system obtains the wheel speed signal of each wheel, the ECU of EPB1 can be passed through
(Electronic Control Unit, electronic control unit) calculates the slip rate of each wheel, in order to realize better braking
Effect needs to calculate the slip rate of all wheels of vehicle as a preferred embodiment, and to the second electronic parking system
Dynamic system sends the second slip rate of vehicle residue wheel.
First electronic brake system obtains the slip rate of each wheel, and there are many implementations, for example, in a reality
The step of applying in example, obtaining the slip rate of each wheel according to the wheel speed signal of each wheel may include:
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 calculation method.For example, with the flat of four wheel speed signals
Subject to mean value, the speed of vehicle is calculated, or is subject to the peaks of four wheel speed signals, calculates the speed of vehicle, or
Person is subject to the medians of four wheel speed signals, calculates the speed etc. of vehicle.
S1802, the wheel velocity that each wheel is obtained according to the wheel speed signal of each wheel；
Wheel speed sensors are used to measure vehicle wheel rotational speed, and the wheel speed of each wheel is obtained according to the wheel speed signal of each wheel
Degree can be realized according to existing mode in the prior art.
S1803, the slip rate that each wheel is obtained according to the wheel velocity and the speed of operation of each wheel；
Wheel slip s can be calculated according to the following formula:
In formula, VSpeedFor the speed of operation of vehicle, VWheel rolling speedFor 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 according to second slip rate to vehicle residue
Wheel is braked；
After the slip rate for obtaining each wheel, the first electronic brake system according to its connection wheel slip rate pair
Its wheel connected is braked, and the slip rate of remaining wheel is sent to the second electronic parking system, and the second electronics of driving is stayed
The remaining wheel that vehicle system connects it is braked.It can be used according to mode of the slip rate of wheel to wheel braking existing
Existing mode in technology.Since the first electronic brake system and the second electronic parking system realize all wheels of vehicle
Braking realize the safety arrestment of vehicle so brake efficiency is suitable with ESP.
As shown in Fig. 2, EPB1 obtain four wheels slip rate after, according to the slip rate of two rear-wheels to two rear-wheels into
Row braking, and brake signal is sent to EPB2, which includes the slip rate of two front-wheels.EPB2 is before receiving two
After the slip rate of wheel, two front-wheels are braked according to the slip rate of two front-wheels, i.e., according to actual condition, control is left respectively
The brake force of front-wheel, off-front wheel.The clamping force that wheel braking clamp are adjusted according to the slip rate of wheel is braked to wheel,
Stop vehicle.
In another embodiment, first electronic brake system is according to first brake request to the vehicle
After electric stabilizing system sends the second brake request, can with comprising steps of
S160, first electronic brake system monitor the vehicle electronic stability system according to second braking
Request the result 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 vehicle braking to determine whether EPB1 needs to cooperate with the EPB2 of redundancy, the result that EPB1 needs to brake ESP into
Row monitoring.The result active transmission of braking can actively be obtained the result of braking by ESP to EPB1 or EPB1 to ESP.
If the braking failure of S170, the vehicle electronic stability system, first electronic brake system obtains and institute
The first wheel speed signal for stating the associated wheel of the first electronic brake system is sent out to preset second electronic brake system
Send first wheel speed signal；
First electronic brake system for braking to the wheel that it is connected, use by the second electronic brake system
It is braked in remaining wheel.The wheel speed sensors installed on each wheel are acquired the wheel speed signal of wheel, and first
Electronic brake system receives the wheel speed signal of the wheel of its connection of wheel speed sensors acquisition by rigid line, and the second electronics is stayed
Vehicle braking system receives the wheel speed signal of the wheel of its connection of wheel speed sensors acquisition 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 surplus according to first wheel speed signal and the vehicle itself obtained
Second wheel speed signal of remaining wheel obtain with the first slip rate of the associated wheel of the first electronic brake system and
Second slip rate of vehicle residue wheel, and first slip rate is sent to first electronic brake system；
Second electronic brake system by itself ECU, use in the prior art existing mode calculate it is each
The slip rate of wheel, after the slip rate for obtaining each wheel, the second electronic brake system is also needed to the first electronic parking
System sends the slip rate of the first electronic parking system connection 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 according to second slip rate to vehicle residue
Wheel is braked；
First electronic parking system brakes the wheel that it is connected, and the second electronic brake system is according to its connection
The slip rate remaining wheel that it is connected of remaining wheel brake.According to the slip rate of wheel to the mode of wheel braking
It can be using existing mode in the prior art.Since the first electronic brake system and the second electronic parking system realize
The braking of all wheels of vehicle realizes the safety arrestment of vehicle so brake efficiency is suitable with ESP.
As shown in Fig. 2, increasing EPB2, EPB1 two rear-wheel systems used for vehicles newly on the basis of original EPB1
Dynamic, newly-increased EPB2 is connect with the execution structure of the braking of two front-wheels, is braked to two front-wheels of vehicle.Each wheel
The wheel speed sensors of upper installation are for being acquired the wheel speed signal of wheel, after EPB1 receives two of wheel speed sensors acquisition
The wheel speed signal of wheel, EPB2 receive the wheel speed signal of two front-wheels of wheel speed sensors acquisition.EPB1 is by the wheel speed of two rear-wheels
Signal is sent to EPB2, and EPB2 obtains the slip rate of four wheels according to the wheel speed signal of four wheels, according to two front-wheels
Slip rate brakes two front-wheels, and sends brake signal to EPB1, which includes the slip rate of two rear-wheels.
EPB1 brakes two rear-wheels after the slip rate for receiving two rear-wheels, according to the slip rate of two rear-wheels, i.e. basis
Actual condition controls the brake force of left rear wheel, off hind wheel respectively.
In another embodiment, first electronic brake system is according to first brake request to the vehicle
After electric stabilizing system sends the second brake request, can with comprising steps of
S160, first electronic brake system monitor the vehicle electronic stability system according to second braking
Request the result 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 vehicle braking to determine whether EPB1 needs to cooperate with the EPB2 of redundancy, the result that EPB1 needs to brake ESP into
Row monitoring.The result active transmission of braking can actively be obtained the result of braking by ESP to EPB1 or EPB1 to ESP.
If S170, the vehicle electronic stability system braking failure, first electronic brake system pair with it is described
The associated wheel of first electronic brake system is braked, and sends third to preset second electronic brake system
Brake request, second electronic brake system brake vehicle residue wheel according to the third brake request；
Fail if ESP is braked again, EPB1 directly brakes associated wheel, and sends braking to EPB2 and ask
It asks, EPB2 brakes the wheel that it is connected according to the brake request received.Since EPB1 and EPB2 realize vehicle institute
There is the braking of wheel, so brake efficiency is suitable with ESP, realizes the safety arrestment of vehicle.
One wheel speed sensors is only installed on each wheel in traditional technology, in the failure of any wheel speed sensors, ESP
With EPB deceleration and performance failure, cause to lose control of one's vehicle, therefore in order to keep ESP and EPB deceleration and performance, one
In a embodiment, at least two wheel speed sensors are separately installed on each wheel of the vehicle.The wheel of each wheel installation
The number of fast sensor can be determine according to actual needs.For example, being respectively mounted the wheel speed sensing of 1 redundancy on each wheel
Device is respectively arranged with two wheel speed sensors etc. on that is, each wheel.Wheel one of wheel speed sensors failure when, EPB or
Person ESP can receive the wheel speed signal for the wheel speed sensors that another in the wheel works normally by rigid line, to keep ESP
With EPB deceleration and performance.
When installing multiple wheel speed sensors on a wheel, multiple wheel speed sensors can be worked at the same time, EPB or
ESP receives the wheel speed signal of the wheel of multiple wheel speed sensors acquisitions simultaneously, but when being braked only with the wheel
The wheel speed signal of upper wheel speed sensors acquisition, specific set-up mode can be realized according to existing mode in the prior art.
When installing multiple wheel speed sensors on a wheel, can also only have a wheel speed sensors job, other wheel speeds pass
Sensor is spare, when EPB or ESP do not receive the wheel speed signal of the wheel, starts another wheel speed sensing of wheel installation
Device obtains the wheel speed signal of the wheel by the wheel speed sensors of starting.
As shown in figure 3, for the schematic diagram for the wheel speed sensors specific embodiment added.Pacify respectively in the front and back wheel of vehicle
The wheel speed sensors of a redundancy are filled, i.e., each wheel includes two wheel speed sensors.Under normal circumstances, wherein the one of wheel
A wheel speed sensors provide the wheel speed signal of the wheel, but when wheel speed sensors failure, by another wheel of the wheel
Fast sensor provides the wheel speed signal of the wheel, to keep ESP and EPB deceleration and performance.
Based on the same inventive concept, the present invention also provides a kind of brake apparatus of wheel of vehicle, with reference to the accompanying drawing 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, comprising:
Brake request receiving module 110, it is described to drive automatically for receiving the first brake request of automated driving system transmission
The system of sailing is also used to send first brake request to vehicle electronic stability system；
Result monitoring module 120 is braked, for monitoring the vehicle electronic stability system according to first brake request
The result that wheel is braked；
Brake request sending module 130 is used 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 operates in EPB1, when vehicle electronic stability system brakes failure, electronics
Brake request is transmitted to vehicle electronic stability system automatically by parking braking system, it is no longer necessary to which manual control EPB switch carries out
Braking, it is achieved that the real-time of emergency brake, has been effectively ensured the safety of service brake.In order to better understand the dress
It sets, the function of 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 send out to ESP
Brake request is sent, ESP brakes wheel according to the brake request, realizes the stopping of vehicle.EPB1 is emergency brake system,
Also the deceleration of vehicle may be implemented.But need user that the braking that EPB realizes driving is manually operated in the conventional technology, due to people
The retardance of work operation, safety be not high.Therefore, in order to realize the real-time of service brake, when driving such as braking
The decision-making module of operating condition, automated driving system sends brake request to the brake request receiving 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 brakes wheel according to the brake request that the decision-making module of automated driving system is sent, then
The result of braking is sent to 120 active of braking result monitoring module of the braking result monitoring module 120 or EPB1 of EPB1
The result of braking is obtained to ESP.
If ESP executes braking failure according to the brake request that the decision-making module of automated driving system is sent, braking is asked
Ask sending module 130 that the brake request that automated driving system is sent is transmitted to ESP, the braking that ESP receives EPB1 forwarding is asked
Braking is re-executed after asking.Since brake request is transmitted to ESP automatically when braking failure by EPB, it is manual driver is not needed
It operates EPB and carries out emergency braking, therefore operational delay is not present, realize the safety of service brake.
In traditional technology, after ESP braking failure, EPB1 is only capable of braking two rear-wheels as spare braking device,
On brake efficiency, braking deceleration and braking distance have very big deficiency, and performance brake efficiency is still limited, Wu Fabao
Card completes parking movement under emergency work condition.So being provided and the comparable braking of ESP to improve the efficiency of EPB service brake
Efficiency, the present invention are also provided with the EPB2 of redundancy, and the EPB2 of redundancy is for vehicle, remaining vehicle to be braked.For example,
It is the rear-wheel of vehicle with the associated wheel of the first electronic brake system in one embodiment；With second electronics
The associated vehicle residue wheel of parking braking system is the front-wheel of vehicle, i.e., after two used for vehicles of original EPB1
Wheel is braked, then the EPB2 of redundancy then braked by two front-wheels used for vehicles.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, provides comparable with ESP
Brake efficiency provides redundant safety design for vehicle stability systems, ensures active safety when driving, provide more for driver
More, more reliable safety assurance.
The EPB2 of redundancy and original EPB1 voluntarily coordinate to realize the braking of all wheels of vehicle there are many implementation, under
Face combines two embodiments to describe in detail.
In one embodiment, as shown in figure 5, the first electronic brake system further includes sending with the brake request
The first connected brake module 140 of module, first brake module 140 include:
Monitoring unit 1401, for monitor the vehicle electronic stability system according to second brake request to wheel into
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 associated wheel of the first electronic brake system, and obtained from preset 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 associated wheel of the first electronic brake system and the second slip rate of vehicle residue wheel；Root
It can be realized according to existing mode in the prior art according to the slip rate that the wheel speed signal of each wheel obtains each wheel；
Brake unit 1404, for associated according to first slip rate pair and first electronic brake system
Wheel is braked, and the second electronic brake system of Xiang Suoshu sends second slip rate, so that second electronics is stayed
Vehicle braking system brakes vehicle residue wheel according to second slip rate.
In another embodiment, as shown in fig. 6, the brake apparatus of wheel of vehicle further includes sending with the brake request
The second connected brake module 150 of module, second brake module 150 include:
Monitoring unit 1501, for monitor the vehicle electronic stability system according to second brake request to wheel into
The result of row braking；
Wheel speed signal transmission unit 1502, for the vehicle electronic stability system brake failure when, obtain with it is described
First wheel speed signal of the associated wheel of the first electronic brake system is sent to preset second electronic brake system
First wheel speed signal, so that second electronic brake system is according to first wheel speed signal and itself obtains
Vehicle residue wheel the second wheel speed signal obtain with it is the first of the associated wheel of the first electronic brake system sliding
Second slip rate of shifting rate and vehicle residue wheel, and it is sliding according to described second by second electronic brake system
Shifting rate brakes vehicle residue wheel；
Brake unit 1503, first slip rate sent for receiving second electronic brake system, root
It is braked according to first slip rate pair and the associated wheel of the first electronic brake system.
In another embodiment, as shown in fig. 7, the brake apparatus of wheel of vehicle further includes sending with the brake request
The connected third brake module 160 of module, the third brake module 160 include:
Monitoring unit 1601, for monitor the vehicle electronic stability system according to second brake request to wheel into
The result of row braking；
Brake unit 1602, for being stayed to first electronics when the vehicle electronic stability system brakes failure
The associated wheel of vehicle braking system is braked, and sends third brake request to preset second electronic brake system,
So that second electronic brake system brakes vehicle residue wheel according to the third brake request.
In the failure of any wheel speed sensors, in order to keep ESP and EPB deceleration and performance, in one embodiment,
At least two wheel speed sensors are separately installed on each wheel of the vehicle.Of the wheel speed sensors of each wheel installation
Number can be determine according to actual needs.In one of wheel speed sensors failure of wheel, EPB or ESP can be by hard
Line receives in the wheel wheel speed signal for the wheel speed sensors that another is worked normally, thus keep ESP and EPB deceleration and
Performance.
The present invention also provides a kind of braking systems of wheel of vehicle, with reference to the accompanying drawing 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 braking system of wheel of vehicle, including automated driving system, vehicle electronic stability system ESP
And the first electronic brake system EPB1；
Automated driving system sends the first system to vehicle electronic stability system ESP and the first electronic brake system EPB1
Dynamic request；
Vehicle electronic stability system ESP brakes wheel according to first brake request；
First electronic brake system EPB1 monitors the vehicle electronic stability system ESP and is asked according to first braking
Ask to wheel braked as a result, the vehicle electronic stability system ESP brake failure when, according to it is described first braking ask
It asks to the vehicle electronic stability system ESP and sends the second brake request；
The vehicle electronic stability system ESP again brakes wheel also according to second brake request.
As shown in figure 9, in one embodiment, the braking system of the wheel of vehicle further includes the second electronic brake
System EPB2.The first electronic brake system EPB1 is also used to monitor the vehicle electronic stability system ESP according to institute
State the result that the second brake request brakes wheel；The vehicle electronic stability system ESP brake failure when, obtain with
First wheel speed signal of the associated wheel of the first electronic brake system EPB1, and from preset 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 residue wheel of acquisition and the associated wheel of the first electronic brake system EPB1
Second slip rate, and second slip rate is sent to the second electronic brake system EPB2；It is sliding according to described first
Shifting rate pair is braked with the associated wheel of the first electronic brake system EPB1；
The second electronic brake system EPB2 be also used to according to second slip rate to vehicle residue wheel into
Row braking.
As shown in figure 9, in another embodiment, the braking system of the wheel of vehicle further includes the second electronic parking system
Dynamic system EPB2.The first electronic brake system EPB1 be also used to monitor the vehicle electronic stability system ESP according to
The result that second brake request brakes wheel；When the vehicle electronic stability system ESP brakes failure, obtain
With the first wheel speed signal of the associated wheel of the first electronic brake system EPB1, to preset second electronic parking system
Dynamic system EPB2 sends first wheel speed signal；
The second electronic brake system EPB2 is also used to obtain the second wheel speed signal of vehicle residue wheel；According to
First wheel speed signal and second wheel speed signal obtain associated with the first electronic brake system EPB1
First slip rate of wheel and the second slip rate of vehicle residue wheel, Xiang Suoshu the first electronic brake system EPB1 hair
Send first slip rate；Vehicle residue wheel is braked according to second slip rate；
First electronic brake system is also used to according to first slip rate pair and first electronic parking
The associated wheel of braking system EPB1 is braked.
As shown in figure 9, in another embodiment, the braking system of the wheel of vehicle further includes the second electronic parking system
Dynamic system EPB2.The first electronic brake system EPB1 be also used to monitor the vehicle electronic stability system ESP according to
The result that second brake request brakes wheel；The vehicle electronic stability system ESP brake failure when, to
The associated wheel of the first electronic brake system EPB1 is braked, and to preset second electronic brake system
EPB2 sends third brake request.The second electronic brake system EPB2 is also used to according to the third brake request pair
Vehicle residue wheel is braked.
It in one embodiment, is the rear-wheel of vehicle with the associated wheel of the first electronic brake system；With institute
State the front-wheel that the associated vehicle residue wheel of the second electronic brake system is vehicle.
In the failure of any wheel speed sensors, in order to keep ESP and EPB deceleration and performance, in one embodiment,
At least two wheel speed sensors are separately installed on each wheel of the vehicle.Of the wheel speed sensors of each wheel installation
Number can be determine according to actual needs.In one of wheel speed sensors failure of wheel, EPB or ESP can be by hard
Line receives in the wheel wheel speed signal for the wheel speed sensors that another is worked normally, thus keep ESP and EPB deceleration and
Performance.
Braking method, the apparatus and system of above-mentioned wheel of vehicle, when vehicle electronic stability system brakes failure, electronics is stayed
Brake request is transmitted to vehicle electronic stability system automatically by vehicle braking system, it is no longer necessary to which manual control EPB switch is 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, in ESP failure, EPB2 and EPB1 cooperate with provide with the comparable brake efficiency of ESP, can
It realizes four-wheel anti-lock, provides redundant safety design for vehicle stability systems, ensure active safety when driving, be driver
More, more reliable safety assurance is provided；The wheel speed sensors that redundancy is 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, avoid losing wheel speed letter
Number operating condition under to lose control of one's vehicle, guarantee driving safety.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a computer-readable storage medium
In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the 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, for simplicity of description, not to above-mentioned reality
It applies 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, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (13)
1. a kind of braking method of wheel of vehicle, which is characterized in that comprising steps of
Automated driving system sends the first brake request to vehicle electronic stability system and the first electronic brake system；
The vehicle electronic stability system brakes wheel according to first brake request；
First electronic brake system monitors the vehicle electronic stability system according to first brake request to vehicle
Take turns the result braked；
If the vehicle electronic stability system braking failure, first electronic brake system is asked according to first braking
It asks to the vehicle electronic stability system and sends the second brake request；
The vehicle electronic stability system again brakes the wheel according to second brake request；
If the vehicle electronic stability system braking failure, first electronic brake system pair are stayed with first electronics
The associated wheel of vehicle braking system is braked, and preset second electronic brake system is to vehicle residue wheel system
It is dynamic.
2. the braking method of wheel of vehicle according to claim 1, which is characterized in that first electronic brake system
After system sends the second brake request to the vehicle electronic stability system according to first brake request, further comprise the steps of:
First electronic brake system monitors the vehicle electronic stability system according to second brake request to vehicle
Take turns the result braked；
If the vehicle electronic stability system braking failure, first electronic brake system obtain and first electronics
First wheel speed signal of the associated wheel of parking braking system, and vehicle residue is obtained from second electronic brake system
Second wheel speed signal of 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 associated wheel of the first electronic brake system and the second slip rate of vehicle residue wheel, and to institute
It states the second electronic brake system and sends second slip rate；
First electronic brake system is closed according to first slip rate pair and first electronic brake system
The wheel of connection is braked, and second electronic brake system carries out vehicle residue wheel according to second slip rate
Braking.
3. the braking method of wheel of vehicle according to claim 1, which is characterized in that first electronic brake system
After system sends the second brake request to the vehicle electronic stability system according to first brake request, further comprise the steps of:
First electronic brake system monitors the vehicle electronic stability system according to second brake request to vehicle
Take turns the result braked；
If the vehicle electronic stability system braking failure, first electronic brake system obtain and first electronics
First wheel speed signal of the associated wheel of parking braking system, the second electronic brake system of Xiang Suoshu send the first round
Fast signal；
Second electronic brake system is according to first wheel speed signal and the vehicle residue wheel itself obtained
Second wheel speed signal obtains remaining with the first slip rate of the associated wheel of the first electronic brake system and vehicle
Second slip rate of wheel, and first slip rate is sent to first electronic brake system；
First electronic brake system is closed according to first slip rate pair and first electronic brake system
The wheel of connection is braked, and second electronic brake system carries out vehicle residue wheel according to second slip rate
Braking.
4. the braking method of wheel of vehicle according to claim 1, which is characterized in that first electronic brake system
After system sends the second brake request to the vehicle electronic stability system according to first brake request, further comprise the steps of:
First electronic brake system monitors the vehicle electronic stability system according to second brake request to vehicle
Take turns the result braked；
If the vehicle electronic stability system braking failure, first electronic brake system pair are stayed with first electronics
The associated wheel of vehicle braking system is braked, and sends third brake request, institute to second electronic brake system
It states the second electronic brake system and vehicle residue wheel is braked according to the third brake request.
5. according to the braking method of wheel of vehicle described in claim 2 to 4 any one, which is characterized in that
It is the rear-wheel of vehicle with the associated wheel of the first electronic brake system；
It is the front-wheel of vehicle with the associated vehicle residue wheel of second electronic brake system；
At least two wheel speed sensors are separately installed on each wheel of the vehicle.
6. a kind of brake apparatus of wheel of vehicle characterized by comprising
Brake request receiving module, for receiving the first brake request of automated driving system transmission, the automated driving system
It is also used to send first brake request to vehicle electronic stability system；
Brake result monitoring module, for monitor the vehicle electronic stability system according to first brake request to wheel into
The result of row braking；
Brake request sending module, for being asked according to first braking when the vehicle electronic stability system brakes failure
It asks to the vehicle electronic stability system and sends the second brake request, so that the vehicle electronic stability system is according to described second
Brake request again brakes the wheel；
Brake module, for being closed to the first electronic brake system when the vehicle electronic stability system brakes failure
The wheel of connection is braked, so that preset second electronic brake system brakes vehicle residue wheel.
7. the brake apparatus of wheel of vehicle according to claim 6, which is characterized in that the brake module includes the first system
Dynamic model block, first brake module include:
Monitoring unit is braked wheel according to second brake request for monitoring the vehicle electronic stability system
As a result；
Wheel speed signal acquiring unit, for obtaining and first electronics when the vehicle electronic stability system brakes failure
First wheel speed signal of the associated wheel of parking braking system, and vehicle residue is obtained from second electronic brake system
Second wheel speed signal of wheel；
Slip rate obtaining unit, for obtaining and described first according to first wheel speed signal and second wheel speed signal
First slip rate of the associated wheel of electronic brake system and the second slip rate of vehicle residue wheel；
Brake unit, for being carried out according to first slip rate pair and the associated wheel of first electronic brake system
Braking, the second electronic brake system of Xiang Suoshu sends second slip rate, so that second electronic brake system
System brakes vehicle residue wheel according to second slip rate.
8. the brake apparatus of wheel of vehicle according to claim 6, which is characterized in that the brake module includes the second system
Dynamic model block, second brake module include:
Monitoring unit is braked wheel according to second brake request for monitoring the vehicle electronic stability system
As a result；
Wheel speed signal transmission unit, for obtaining and first electronics when the vehicle electronic stability system brakes failure
First wheel speed signal of the associated wheel of parking braking system, the second electronic brake system of Xiang Suoshu send the first round
Fast signal, so that second electronic brake system is remaining according to first wheel speed signal and the vehicle itself obtained
Second wheel speed signal of wheel obtains the first slip rate and vehicle with the associated wheel of the first electronic brake system
Second slip rate of remaining wheel, and by second electronic brake system according to second slip rate to vehicle
Remaining wheel is braked；
Brake unit, first slip rate sent for receiving second electronic brake system, according to described the
One slip rate pair is braked with the associated wheel of the first electronic brake system.
9. the brake apparatus of wheel of vehicle according to claim 6, which is characterized in that the brake module includes third system
Dynamic model block, the third brake module include:
Monitoring unit is braked wheel according to second brake request for monitoring the vehicle electronic stability system
As a result；
Brake unit, for the vehicle electronic stability system brake failure when, to first electronic brake system
Associated wheel of uniting is braked, and sends third brake request to second electronic brake system, so that described the
Two electronic brake systems brake vehicle residue wheel according to the third brake request.
10. a kind of braking system of wheel of vehicle, which is characterized 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 brakes wheel according to first brake request；
First electronic brake system monitor the vehicle electronic stability system according to first brake request to wheel into
Row braking as a result, 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 again brakes wheel also according to second brake request；
When the vehicle electronic stability system brakes failure, first electronic brake system is also used to described the
The associated wheel of one electronic brake system is braked, and preset second electronic brake system is used for vehicle residue
Wheel is braked.
11. the braking system of wheel of vehicle according to claim 10, which is characterized in that further include the second electronic parking system
Dynamic system；
First electronic brake system is also used to monitor the vehicle electronic stability system and is asked according to 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 associated wheel of vehicle braking system, and vehicle residue vehicle is obtained from second electronic brake system
Second wheel speed signal of wheel；According to first wheel speed signal and second wheel speed signal, acquisition is stayed with first electronics
First slip rate of the associated wheel of vehicle braking system and the second slip rate of vehicle residue wheel, and to second electronics
Parking braking system sends second slip rate；According to first slip rate pair and first electronic brake system
Associated wheel is braked；
Second electronic brake system is also used to brake vehicle residue wheel according to second slip rate.
12. the braking system of wheel of vehicle according to claim 10, which is characterized in that further include the second electronic parking system
Dynamic system；
First electronic brake system is also used to monitor the result that second brake request brakes wheel；?
When the vehicle electronic stability system braking failure, first with the associated wheel of the first electronic brake system is obtained
Wheel speed signal, the second electronic brake system of Xiang Suoshu send first wheel speed signal；
Second electronic brake system is also used to obtain the second wheel speed signal of vehicle residue wheel；According to described first
Wheel speed signal and second wheel speed signal are obtained and are slided with the first of the associated wheel of the first electronic brake system
Second slip rate of shifting rate and vehicle residue wheel, and first sliding is sent to first electronic brake system
Rate；Vehicle residue wheel is braked according to second slip rate；
First electronic brake system is also used to according to first slip rate pair and first electronic brake
The wheel of system relationship is braked.
13. the braking system of wheel of vehicle according to claim 10, which is characterized in that further include the second electronic parking system
Dynamic system；
First electronic brake system is also used to monitor the vehicle electronic stability system and is asked according to second braking
Seek the result braked to wheel；The vehicle electronic stability system brake failure when, to first electronic parking
The associated wheel of braking system is braked, and sends third brake request to second electronic brake system；
Second electronic brake system is also used to brake vehicle residue wheel according to the third brake request.
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106864447B (en) * | 2017-03-07 | 2019-05-10 | 广州汽车集团股份有限公司 | Braking control system, method and apparatus |
| CN109941244B (en) * | 2017-12-20 | 2020-12-11 | 广州汽车集团股份有限公司 | Electronic parking control method and device, readable storage medium and computer equipment |
| 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 |
| CN109204292B (en) * | 2018-11-11 | 2020-09-11 | 爱驰汽车有限公司 | Automobile tail flick 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 |
| CN111457931B (en) * | 2019-01-21 | 2021-09-24 | 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 |
| 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 |
| 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 |
| CN115158279B (en) * | 2022-09-07 | 2022-12-06 | 万向钱潮股份公司 | Electronic parking auxiliary control method and redundancy control system |
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