CN108556832A - A kind of smart electronics power-assisted braking arrangement and its working method - Google Patents
A kind of smart electronics power-assisted braking arrangement and its working method Download PDFInfo
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- CN108556832A CN108556832A CN201810307515.4A CN201810307515A CN108556832A CN 108556832 A CN108556832 A CN 108556832A CN 201810307515 A CN201810307515 A CN 201810307515A CN 108556832 A CN108556832 A CN 108556832A
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- master cylinder
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/746—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive and mechanical transmission of the braking action
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Braking Systems And Boosters (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of smart electronics power-assisted braking arrangement and its working methods, including master cylinder component, electronics power-assisted device assembly and brake pedal component, wherein electronics power-assisted device assembly includes electronic control unit, motor, driving gear, driven gear, planet roller screw mechanism etc..The device electronic control unit acquires the pressure signal of master cylinder, the displacement signal and speed signal of brake pedal and the wheel speed signal of wheel, calculates electric current of the output to motor.Motor torque is converted into the thrust of leading screw translation after driving gear, driven gear and planet roller screw mechanism slow down and increase square, and the thrust for being applied directly to leading screw through brake pedal with driver is superimposed, and master cylinder push rod and master cylinder piston is pushed to generate brake pressure.And electronic control unit enters different power brake patterns according to fault self-diagnosis result, ensures ride safety of automobile.Structure of the invention is compact, reliable operation, and braking is steady, is suitble to apply in numerous vehicles.
Description
Technical field
The present invention relates to field of automobile brake more particularly to a kind of smart electronics power-assisted braking arrangement and its working methods.
Background technology
In recent years, the application of electric vehicle and hybrid vehicle was more and more extensive, when they do not have engine or place
When electric-only mode engine does not work, traditional vacuum brake assistor just loses vacuum source, automobile brake ability by
Limitation is arrived.In addition, vacuum booster is easy to happen leakage, brake efficiency is caused to reduce, failure self-adjusting ability is weak, automobile system
Dynamic safety is difficult to be guaranteed, and vacuum pump is constantly in working condition when running car, and energy consumption is high.Therefore it needs to propose a kind of
Intelligence, applicability is wide, and brake efficiency is high, energy saving and high braking safety power assisting device.
Automobile power brake technical research at present has very much, and the ibooster products that wherein Bosch companies develop exist
Many vehicle extensive uses, such product are turned the torque of motor output using the transmission of the two-stage of turbine and worm and rack-and-pinion
The power-assisted of master cylinder push rod is turned to, gear efficiency is relatively low, and space needed for structure is big.A kind of pure electricity that Wang Wenjiang is proposed
Motor-car power-assisted braking arrangement and braking method（Patent No. CN201710112898.5）, by with steering common power
Source separates a branch from steering high-pressure oil pump and turns in liquid to braking system, reduces energy expenditure, and brake fluid
Pressure height and pressure stability, improve the manipulation portability of braking system, ensure that the reliability of braking system.But the power-assisted
Device structure arrangement is complicated, since brake pressure source is in steering, will have a direct impact on system when steering system malfunctions
Dynamic system, driving safety are affected.Zhejiang Li Banghexin intelligent braking systems limited liability company devises a kind of electronics system
Dynamic booster（Patent No. CN201610963311.7）, which drives servo link using motor, using thread lead screw
The output for brake activation system that the drive motion of the rotation of motor is converted into translation by the combination with flat-toothed belt is transported
It is dynamic, cost is efficiently reduced, driving torque increases, and thread lead screw carries self-locking function, in the process for keeping brake force
In, even if motor powers off, thread lead screw can determine to live, and continue to keep braking.But the device cannot be in real time according to the need of automobile
Regulating brake force is wanted, it is intelligent poor, and failure self-regulated ability is weak, and stopping power is unstable.Miao Huibin devises a kind of braking
Power assisting device and its braking method（Patent No. CN201710136939.4）, which is omitted vacuum pump, using motor conduct
Brake boost source, the braking information of brake pedal is acquired by sensor, and conveys electric signal to electronic control unit, electronic control unit root
Power-assisted signal is generated according to braking information, and power-assisted signal is sent to motor, by transmission device with power brake executing agency
It braking, not depending on vacuum source, shorten braking distance, improve safety, indicating brake action is big, length of holding time, energy saving,
Securely and reliably.But the device does not explicitly point out the specific kind of drive of transmission device, and only acquires the braking information of pedal
The judgement of on-position can be made not accurate enough, the adjusting underaction of on-position.
To sum up, there are complicated, the inflexible disadvantages of braking method for automobile brake boosting device in the prior art.
Invention content
The present invention provides a kind of smart electronics power-assisted braking arrangement and its working method, be capable of providing it is a kind of it is compact-sized,
Brake boost is reliable, the flexible brake apparatus of braking method, is suitble to apply in orthodox car and new-energy automobile.
In order to achieve the above objectives, the present invention adopts the following technical scheme that：
A kind of smart electronics power-assisted braking arrangement, including：Master cylinder component, electronics power-assisted device assembly and brake pedal component.
Electronics power-assisted component includes：Electronic control unit, motor, output shaft, driving gear, driven gear, planetary roller
Screw mechanism.The output shaft of motor drives driving gear, driving gear to drive driven gear.
Driven gear inner ring and ring gear rigid connection, ring gear inside and planet roller screw mechanism engagement.
Planet roller screw mechanism includes ring gear, gear roller and leading screw, and ring gear is formed with multiple gear rollers
Planetary gear train engages, and the planetary gear train of multiple gear roller compositions is engaged with leading screw, and the rotation of gear roller is converted into leading screw
Translation.Leading screw one end connects brake pedal component, and the other end connects master cylinder.
Further, master cylinder component includes lubricating cup, master cylinder, master cylinder piston, master cylinder push rod and pressure sensor.
Lead screw, master cylinder push rod, master cylinder piston and master cylinder are sequentially connected, and master cylinder also installs lubricating cup and pressure sensor, pressure
Force snesor is used to acquire the pressure signal in master cylinder.
Further, brake pedal component includes：Brake pedal, pedal travel sensor and angular-rate sensor.Lead screw
It is connected with brake pedal, pedal travel sensor and angular-rate sensor is installed, for acquiring brake pedal on brake pedal
Displacement signal and speed signal.
A kind of working method of smart electronics power-assisted braking arrangement, flow chart is as shown in Fig. 2, comprise the steps of：
S1, electronic control unit acquire the pressure signal in master cylinder by pressure sensor, pass through pedal travel sensor
The displacement signal and speed signal that brake pedal is acquired with angular-rate sensor, the wheel of each wheel is acquired by wheel speed sensors
Fast signal.
S2, electronic control unit carry out self-diagnosis of trouble according to pressure signal, displacement signal, speed signal, wheel speed signal
It is disconnected.
S31, fault self-diagnosis result show fault-free, until S311；
According to displacement signal and speed signal, identification operator brake is intended to and calculates master cylinder for S311, electronic control unit
Pressure theory value；
S312, electronic control unit calculate motor according to pressure signal, the pressure signal theoretical value of master cylinder, wheel speed signal
Input current, input current reaches motor；
S313, electronic control unit send rotating speed and the torque of instruction control motor, and motor driving planet roller bearing screw body carries
It is compensated for braking；Through output shaft driving driving gear rotation, driving gear engages motor with driven gear, drive driven gear and
Ring gear rotates.Ring gear drives gear roller rotation, and be equivalent to the leading screw of planetary reduction gear sun gear circumferencial direction not
Rotation can regard fixed as, therefore the torque of motor is exported after planet roller screw mechanism slows down and increases square by gear roller.By
It is engaged with leading screw in the planetary gear train of multiple gear rollers composition, it can be by the translation for being converted into leading screw of gear roller, i.e.,
8 output torque of gear roller is converted into the thrust of leading screw, and being applied directly to leading screw thrust through brake pedal with driver is superimposed, and pushes away
Dynamic master cylinder push rod and master cylinder piston, generate brake pressure.
S32, there are failures for fault self-diagnosis result display pressure sensor, until S321；
S321, electronic control unit calculate vehicle deceleration theoretical value according to displacement signal and speed signal；
S322, electronic control unit calculate the input current of motor according to wheel speed signal and vehicle deceleration theoretical value；
S323, electronic control unit send rotating speed and the torque of instruction control motor, and motor driving planet roller bearing screw body carries
It is compensated for braking, the thrust of leading screw is exported through output shaft, driving gear, driven gear and planet roller screw mechanism, with driving
Member is applied directly to the superposition of leading screw thrust through brake pedal, pushes master cylinder push rod and master cylinder piston, generates brake pressure.
There are failures for S33, fault self-diagnosis result display pedal travel sensor or angular-rate sensor, until S331；
The data estimation system that S331, electronic control unit are acquired according to the pedal travel sensor or angular-rate sensor of non-faulting
The pressure theory value of dynamic master cylinder；
S332, electronic control unit calculate motor according to pressure signal, the pressure signal theoretical value of master cylinder, wheel speed signal
Input current；
S333, electronic control unit send rotating speed and the torque of instruction control motor；Motor driving planet roller bearing screw body carries
It is compensated for braking, the thrust of leading screw is exported through output shaft, driving gear, driven gear and planet roller screw mechanism, with driving
Member is applied directly to the superposition of leading screw thrust through brake pedal, pushes master cylinder push rod and master cylinder piston, generates brake pressure.
S34, fault self-diagnosis result show that other failures, electronic control unit cut off motor power, are stopped.
The beneficial effects of the invention are as follows：
The electronics power-assisted device assembly of the present invention uses two-stage transmission, increases rotation ratio, compared with common speed reducer, is generating
Under identical brake force, the size of speed reducer, and the ring gear of level-one driven gear and planet roller screw mechanism are reduced
Rigid connection, further reduces the radial dimension of speed reducer so that electronics booster modular construction is compact;Further, this hair
The working method of bright described device uses the thinking of fault-tolerant processing, though sensor fault when, system still can be effectively provided
Dynamic power-assisted, brake force is reliable and braking method is flexible;To sum up, structure of the invention is compact, and brake boost is reliable, and the side of braking
Method is flexible, can be widely used in conventional fuel oil car and new-energy automobile.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the structural schematic diagram of smart electronics power-assisted braking arrangement in embodiment；
Fig. 2 is the flow chart of working method in embodiment.
Wherein, 1- lubricating cups, 2- master cylinders, 3- master cylinder pistons, 4- master cylinder push rods, 5- return springs, 6- planetary roller silks
Thick stick mechanism, 7- ring gears, 8- gear rollers, 9- driven gears, 10- leading screws, 11- brake pedals, 12- pressure sensors, 13- electricity
Sub-control unit, 14- motors, 15- output shafts, 16- driving gears, 17- electronics booster shells, 18- pedal travel sensor,
19- angular-rate sensors.
Specific implementation mode
To make those skilled in the art more fully understand technical scheme of the present invention, With reference to embodiment to this
Invention is described in further detail.
The embodiment of the present invention provides a kind of smart electronics power-assisted braking arrangement, as shown in Figure 1, including：Master cylinder component,
Electronics power-assisted device assembly and brake pedal component, and be sequentially connected.
Master cylinder component includes：Lubricating cup 1, master cylinder 2, master cylinder piston 3, master cylinder push rod 4 and pressure sensor 12.Silk
Bar 10, master cylinder push rod 4, master cylinder piston 3 and master cylinder 2 are sequentially connected, and master cylinder 2 also installs lubricating cup 1 and pressure sensing
Device 12.
Electronics power-assisted component includes：Electronic control unit 13, motor 14, output shaft 15, driving gear 16, shell 17, from
Moving gear 9, planet roller screw mechanism 6, return spring 5.Lead screw 10 is inserted into shell 17, runs through planet roller screw mechanism 6, and
The other end of master cylinder push rod 4 connects, and installs return spring 5 below the handle of master cylinder push rod 4, the other end of return spring 5 and outer
Shell 17 connects, and is used for return master cylinder push rod 4, lead screw 10 is pushed, to reset brake pedal 11.
The output shaft 15 of motor 14 drives driving gear 16, driving gear 16 to drive driven gear 9.9 inner ring of driven gear
It is rigidly connected with ring gear 7,7 inside of ring gear and planet roller screw mechanism 6 engage.Planet roller screw mechanism 6 includes interior
Gear ring 7, gear roller 8 and leading screw 10, ring gear 7 are engaged with the planetary gear train that multiple gear rollers 8 form, multiple gear rollers
The planetary gear train of 8 compositions is engaged with leading screw 10, by the translation for being converted into leading screw 10 of gear roller 8.10 one end of leading screw connects
Brake pedal component is connect, the other end connects master cylinder 2.
Brake pedal component includes：Brake pedal 11, pedal travel sensor 18 and angular-rate sensor 19,10 He of lead screw
Brake pedal 11 connects, installation pedal travel sensor 18 and angular-rate sensor 19 on brake pedal 11.
When driver steps on skidding, brake pedal 11 pushes lead screw 10, lead screw 10 and then promotion master cylinder push rod 4.
Pedal travel sensor 18 and angular-rate sensor 19 acquire the kinematic parameter of brake pedal 11, and electronic control unit 13 combines fortune
Dynamic parameter and the pressure parameter of master cylinder 2 and the wheel speed of automobile, calculate the brake boost value required supplementation with, to control
Motor 14 processed carries out braking force compensating.Motor 14 drives planet roller screw mechanism 6, and braking force compensating is driven by two-stage to be applied
Onto active push rod 4.After the completion of braking, the return under the elastic force of return spring 5 of master cylinder push rod 4, to push brake pedal 11
It resets.
The present invention also provides a kind of working methods of smart electronics power-assisted braking arrangement, comprise the steps of：
S1, when driver's brake pedal 11, electronic control unit 13 pass through pressure sensor 12 acquire master cylinder 2 in
Pressure signal, pass through displacement signal and speed that pedal travel sensor 18 and angular-rate sensor 19 acquire brake pedal 11
Signal acquires the wheel speed signal of each wheel by wheel speed sensors.
S2, electronic control unit 13 carry out self-diagnosis of trouble according to pressure signal, displacement signal, speed signal, wheel speed signal
It is disconnected.
S31, fault self-diagnosis result show fault-free, until S311；
According to displacement signal and speed signal, identification operator brake is intended to and calculates braking master for S311, electronic control unit 13
The pressure theory value of cylinder 2；
S312, electronic control unit 13 calculate electricity according to pressure signal, the pressure signal theoretical value of master cylinder 2, wheel speed signal
The input current of machine 14；
S313, electronic control unit 13 send the rotating speed of instruction control motor 14 and torque, motor 14 drive planet roller bearing lead screw
Mechanism 6 provides braking compensation.Motor 14 drives driving gear 16 to rotate through output shaft 15, and driving gear 16 is nibbled with driven gear 9
It closes, driven gear 9 and ring gear 7 is driven to rotate.Ring gear 7 drives gear roller 8 to rotate, and is equivalent to the planetary reduction gear sun
The leading screw 10 of wheel does not rotate in circumferencial direction can regard fixed as, therefore the torque of motor 14 subtracts through planet roller screw mechanism 6
Speed is exported after increasing square by gear roller 8.It, can be by gear since the planetary gear train that multiple gear rollers 8 form is engaged with leading screw 10
The translation for being converted into leading screw 10 of roller 8, i.e. 8 output torque of gear roller are converted into the thrust of leading screw 10, with driver
It is applied directly to the superposition of 10 thrust of leading screw through brake pedal 11, master cylinder push rod 4 and master cylinder piston 3 is pushed, generates brake pressure.
S32, there are failures for fault self-diagnosis result display pressure sensor, until S321；
S321, electronic control unit 13 calculate vehicle deceleration theoretical value according to displacement signal and speed signal；
S322, electronic control unit 13 calculate the input current of motor 14 according to wheel speed signal and vehicle deceleration theoretical value；
S323, electronic control unit 13 send the rotating speed of instruction control motor 14 and torque, motor 14 drive planet roller bearing lead screw
Mechanism 6 provides braking compensation, and leading screw is exported through output shaft 15, driving gear 16, driven gear 9 and planet roller screw mechanism 6
10 thrust is applied directly to 10 thrust of leading screw through brake pedal 11 with driver and is superimposed, and pushes master cylinder push rod 4 and master cylinder piston
3, generate brake pressure.
There are failures for S33, fault self-diagnosis result display pedal travel sensor 18 or angular-rate sensor 19, until
S331；
The data that S331, electronic control unit 13 are acquired according to the pedal sensor 18 or angular-rate sensor 19 of non-faulting, estimate
Calculate the pressure theory value of master cylinder 2；
S332, electronic control unit 13 calculate electricity according to pressure signal, the pressure signal theoretical value of master cylinder 2, wheel speed signal
The input current of machine 14；
S333, electronic control unit 13 send the rotating speed of instruction control motor 14 and torque, motor 14 drive planet roller bearing lead screw
Mechanism 6 provides braking compensation, and leading screw is exported through output shaft 15, driving gear 16, driven gear 9 and planet roller screw mechanism 6
10 thrust is applied directly to 10 thrust of leading screw through brake pedal 11 with driver and is superimposed, and pushes master cylinder push rod 4 and master cylinder piston
3, generate brake pressure.
S34, fault self-diagnosis result show that other failures, electronic control unit 13 cut off 14 power supply of motor, are stopped.
Planet roller screw mechanism 6 is in free movement state, will not increase the moving loads of leading screw 10.Driver's warp is only relied at this time
Brake pedal 11 is applied directly to 10 thrust of leading screw and pushes master cylinder push rod 4 and master cylinder piston 3, generates part brake pressure, ensures
Automotive safety.
The beneficial effects of the invention are as follows：
（1）It is compact-sized, it is easy to arrange：The present invention is driven using two-stage, is increased transmission ratio, can suitably be reduced the size of motor,
Level-one driven gear is rigidly connected with planet roller screw mechanism ring gear, and deceleration mechanism radial dimension is small, is easy to arrange；
（2）It is energy saving：Electronics power-assisted braking arrangement of the present invention does not need vacuum booster or electronics boost pump, is only provided in braking
Power-assisted, and can utmostly improve braking energy of electric automobiles organic efficiency；
（3）Reliability is high：The present invention can be ensured using fault-tolerance processing method can effectively provide brake boost when sensor fault,
Mechanical structure remains to provide brake force guarantee automotive safety when the system failures such as motor；
（4）It is widely used:Installable conventional fuel oil car of the invention and each new-energy automobile, can also be mounted on pilotless automobile
Realize autonomous braking function.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, all answer by the change or replacement that can be readily occurred in
It is included within the scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (4)
1. a kind of smart electronics power-assisted braking arrangement, which is characterized in that including master cylinder component, electronics power-assisted device assembly and system
Dynamic pedal assembly,
The electronics power-assisted component includes：Electronic control unit（13）, motor（14）, output shaft（15）, driving gear（16）, from
Moving gear（9）, planet roller screw mechanism（6）；
Motor（14）Output shaft（15）Drive driving gear（16）, driving gear（16）Drive driven gear（9）；
Driven gear（9）Inner ring and ring gear（7）Rigid connection, ring gear（7）Inside and planet roller screw mechanism（6）It nibbles
It closes；
Planet roller screw mechanism（6）Including ring gear（7）, gear roller（8）And leading screw（10）, ring gear（7）With multiple teeth
Take turns roller（8）The planetary gear train of composition engages, multiple gear rollers（8）The planetary gear train and leading screw of composition（10）Engagement, by tooth
Take turns roller（8）Rotation be converted into leading screw（10）Translation；
Leading screw（10）One end connects the brake pedal component, and the other end connects master cylinder（2）.
2. the apparatus according to claim 1, which is characterized in that the master cylinder component includes lubricating cup（1）, master cylinder
（2）, master cylinder piston（3）, master cylinder push rod（4）And pressure sensor（12）,
Lead screw（10）, master cylinder push rod（4）, master cylinder piston（3）And master cylinder（2）It is sequentially connected, master cylinder（2）Also install
Lubricating cup（1）And pressure sensor（12）.
3. the apparatus according to claim 1, which is characterized in that the brake pedal component includes：Brake pedal（11）, step on
Plate stroke sensor（18）And angular-rate sensor（19）, lead screw（10）And brake pedal（11）Connection, brake pedal（11）On
Pedal travel sensor is installed（18）And angular-rate sensor（19）.
4. a kind of working method of smart electronics power-assisted braking arrangement, which is characterized in that comprise the steps of：
S1, electronic control unit（13）Pass through pressure sensor（12）Acquire master cylinder（2）Interior pressure signal, passes through pedal
Stroke sensor（18）And angular-rate sensor（19）Acquire brake pedal（11）Displacement signal and speed signal, pass through wheel speed
Sensor acquires the wheel speed signal of each wheel；
S2, electronic control unit（13）According to the pressure signal, displacement signal, speed signal, wheel speed signal, failure is carried out certainly
Diagnosis；
S31, fault self-diagnosis result show fault-free, until S311；
S311, electronic control unit（13）According to institute's displacement signal and speed signal, identification operator brake is intended to and calculates
Master cylinder（2）Pressure theory value；
S312, electronic control unit（13）According to the pressure signal, master cylinder（2）Pressure signal theoretical value, the wheel
Fast signal calculates motor（14）Input current；
S313, electronic control unit（13）Send instruction control motor（14）Rotating speed and torque；
S32, fault self-diagnosis result show pressure sensor（12）There are failures, until S321；
S321, electronic control unit（13）According to institute's displacement signal and speed signal, vehicle deceleration theoretical value is calculated；
S322, electronic control unit（13）According to the wheel speed signal and vehicle deceleration theoretical value, motor is calculated（14）It is defeated
Enter electric current；
S323, electronic control unit（13）Send instruction control motor（14）Rotating speed and torque；
S33, fault self-diagnosis result show pedal travel sensor（18）Or angular-rate sensor（19）There are failures, until
S331；
S331, electronic control unit（13）According to the pedal travel sensor of non-faulting（18）Or angular-rate sensor（19）Acquisition
Data estimation master cylinder（2）Pressure theory value；
S332, electronic control unit（13）According to the pressure signal, master cylinder（2）Pressure signal theoretical value, the wheel
Fast signal calculates motor（14）Input current；
S333, electronic control unit（13）Send instruction control motor（14）Rotating speed and torque；
S34, fault self-diagnosis result show other failures, electronic control unit（13）Cut off motor（14）Power supply is stopped.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109878478A (en) * | 2019-04-03 | 2019-06-14 | 湖南汽车工程职业学院 | A kind of intelligent automobile automatic braking control device and its control method |
| CN111216698A (en) * | 2020-01-09 | 2020-06-02 | 广东工业大学 | Foldable pedal suitable for intelligent vehicle manned-unmanned dual mode and control method |
| CN111361534A (en) * | 2020-02-25 | 2020-07-03 | 苏州挚途科技有限公司 | Method and device for controlling pressure of main cylinder |
| CN112829729A (en) * | 2021-02-09 | 2021-05-25 | 的卢技术有限公司 | Automobile brake adaptive pedal mode control system and control method |
| CN113787999A (en) * | 2021-09-17 | 2021-12-14 | 南京众控电子科技有限公司 | Automobile line control mechanical braking device with emergency braking function and control method |
| CN113844426A (en) * | 2021-10-26 | 2021-12-28 | 中国第一汽车股份有限公司 | Vehicle braking intention recognition method, vehicle braking device and vehicle |
| CN114407850A (en) * | 2021-11-14 | 2022-04-29 | 重庆交通大学 | Drive-by-wire brake device of unmanned automobile |
| CN114604220A (en) * | 2020-12-04 | 2022-06-10 | 比亚迪股份有限公司 | Automobile safety braking method, automobile braking system and automobile |
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