CN109229081A - Electronic parking system and electronic parking redundancy brake control method - Google Patents
Electronic parking system and electronic parking redundancy brake control method Download PDFInfo
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- CN109229081A CN109229081A CN201811245620.6A CN201811245620A CN109229081A CN 109229081 A CN109229081 A CN 109229081A CN 201811245620 A CN201811245620 A CN 201811245620A CN 109229081 A CN109229081 A CN 109229081A
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- Prior art keywords
- electronic parking
- control unit
- brake
- redundancy
- automatic pilot
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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
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/08—Brake-action initiating means for personal initiation hand actuated
- B60T7/085—Brake-action initiating means for personal initiation hand actuated by electrical means, e.g. travel, force sensors
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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
-
- 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
- B60T8/58—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 responsive to speed and another condition or to plural speed conditions
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The present invention provides a kind of electronic parking system and electronic parking redundancy brake control method comprising: controller is inside integrated with the electronic parking control unit and automatic Pilot control unit of autonomous working；Two electric parking brakes are separately positioned on two front-wheels of vehicle；Four wheel speed sensors are respectively placed on two front-wheels and two rear-wheels of vehicle；Electronic parking control unit is connected by connection with electronic parking switch, the electric parking brake and the wheel speed sensors；The automatic Pilot control unit is connected with radar controller, the camera controller signal on vehicle；In automatic driving mode, the work of automatic Pilot control unit, electronic parking control unit, electric parking brake and wheel speed sensors are used as redundancy backup braking system.The present invention makes electronic parking control system have the requirement of automatic Pilot redundancy braking backup completely, it can be achieved that the redundancy under automatic driving mode is braked.
Description
Technical field
The present invention relates to a kind of automatic driving technical fields, stay more particularly to a kind of electronic parking system and electronics
Vehicle redundancy brake control method.
Background technique
Electronic parking EPB (Electrical Parking Brake) is the skill that parking braking is realized by electronic control
Art.In the use of current orthodox car, electronic parking system mainly uses two kinds of structure types: drag-line electronic parking and card
Clamp integrated type electrical parking.The electronic parking system of two kinds of structure type, by realizing parking to rear-wheel independent brake.Electronics
Parking is only worked in parking, and service brake is not actively engaged in.
Electronic parking simplifies the operation of driver instead of traditional mechanical parking brake, and the cloth for saving console empties
Between, while there is many advantages, such as automatic release dynamics pull-up and additional function, the use popularity rate in traditional vehicle is more next
Higher, future will occupy most shares.
Automatic driving technology is developed so far the history of existing many decades.It is showed at the beginning of 21 century close to functionization
Trend.Automatic Pilot is exactly to pass through vehicle-mounted sensor-based system perception road environment, and automatic planning travelling line simultaneously controls vehicle arrival
Predeterminated target.Automatic Pilot also proposed new requirement to traditional braking system, and braking system must simultaneously have two sets not
With braking component realize active brake function.First set main brake part must can satisfy service brake response efficiency and
The requirement of reliability.Second set of redundancy backup braking component can carry out rapidly actively row after the failure of first set active parts
Vehicle braking.To reach the requirement of the minimum deceleration of laws and regulations requirement simultaneously.
The automatic Pilot braking system scheme of mainstream at present mainly replaces traditional vacuum to help using electro-hydraulic brake system
Power device realizes the function of first set main brake.Electro-hydraulic brake system is driven by brushless motor, according to the control of ECU, to realize system
Dynamic function.When needing active brake, only needs ECU to issue brake signal to brushless motor, required braking deceleration can be realized.
Second set of redundancy backup braking generallys use independent electronic stability control ESC (Electronic Stability Control)
It realizes.When first set main brake fails, the motor in ESC can realize backup braking to the clamp pressurization at 4 wheel ends.
In automatic Pilot, realize that the ESC technology of redundancy backup braking by supplier's monopolies such as BoschZFCont i, becomes certainly
The bottleneck of main research and development automatic Pilot.
Therefore, it is necessary to a kind of electronic parking systems for meeting automatic Pilot requirement and redundancy backup braking can be achieved.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of electronic parking system and electronics
Parking redundancy brake control method, for solve in the prior art automatic Pilot parking system complexity can not integrated redundancy braking it is standby
The problem of part.
In order to achieve the above objects and other related objects, the present invention provides a kind of electronic parking system comprising:
Controller, the electronic parking control unit and automatic Pilot control unit, electronics for being inside integrated with autonomous working are stayed
It is connected between vehicle control unit and automatic Pilot control unit by intermediate interactive unit；
Two electric parking brakes are separately positioned on two front-wheels of vehicle；
Four wheel speed sensors are respectively placed on two front-wheels and two rear-wheels of vehicle；
The electronic parking control unit by connection with electronic parking switch, the electric parking brake and institute
Wheel speed sensors are stated to be connected；The automatic Pilot control unit and the radar controller on vehicle, camera controller signal phase
Even；
In automatic driving mode, the work of automatic Pilot control unit, electronic parking control unit, electric parking brake
It is used with wheel speed sensors as redundancy backup braking system.
Preferably, there are two independent processing chip, each processing chip is equipped with the electronic parking control unit tool
Bottom module and application layer module.
Preferably, there are two independent processing chip, each processing chip is equipped with the automatic Pilot control unit tool
Bottom module and application layer module.
The present invention provides a kind of electronic parking redundancy brake control method, and the electronic parking redundancy brake control method is adopted
With electronic parking system as described above, when driver switched by the electronic parking it is defeated to the electronic parking control unit
Entering operation signal, the electronic parking control unit issues braking to the electric parking brake after judging and executes signal,
Realize normal parking braking；When entering automatic driving mode, the automatic Pilot control unit work, when the main brake of vehicle
When disabler or automatic Pilot control unit fail, the automatic Pilot control unit is stayed by intermediate interactive unit to electronics
Vehicle control unit issues redundancy brake request, and electronic parking control unit exports redundancy brake force to the electric parking brake
It is required that realizing redundancy braking.
Preferably, electronic parking control unit data that four wheel speed sensors are passed based on the received are counted
Wheel slip rate is calculated, and then exports the size of redundancy brake force to the electric parking brake.
Preferably, when as redundancy backup braking system, the electronic parking control unit monitors that front-wheel is embraced
When dead, then output order requires the electric parking brake to carry out simulation abs braking operation.
As described above, electronic parking system and electronic parking redundancy brake control method of the invention, have beneficial below
Effect: so that it is can provide bigger braking moment to the front-wheel of vehicle using installing electric parking brake, reaching and driving automatically
Sail enough brake force needed for redundancy backup；Automatic Pilot control unit and electronic parking control unit are integrated in controller,
Reduce the amount controller on vehicle, improves the flexibility of arrangement；Receive four wheel speed sensors letters in controller simultaneously
Number, it is ensured that in automatic Pilot redundancy backup, the stability of vehicle is taken into account, is accomplished safe and reliable.The present invention stays electronics
Vehicle control has the requirement of automatic Pilot redundancy braking backup, it can be achieved that redundancy system under automatic driving mode completely
It is dynamic.
Detailed description of the invention
Fig. 1 is shown as electronic parking system schematic of the invention.
Fig. 2 is shown as controller block diagram of the invention.
Component label instructions
1 front-wheel
2 rear-wheels
3 controllers
31 electronic parking control units
311 bottom modules
312 application layer modules
32 automatic Pilot control units
321 application layer modules
322 bottom modules
33 intermediate interactive units
4 wheel speed sensors
5 vehicle power supplys
6 electronic parkings switch
7 electric parking brakes
8 entire car controllers
9 gearbox controllers
10 engine controllers
11 gear controllers
12 electronic stability controls
13 radar controllers
14 camera controllers
15 ignition switches
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily.
Fig. 1 is please referred to Fig. 2.It should be clear that structure, ratio, size etc. depicted in this specification institute attached drawing, only to
Cooperate the revealed content of specification, so that those skilled in the art understands and reads, being not intended to limit the invention can be real
The qualifications applied, therefore do not have technical essential meaning, the tune of the modification of any structure, the change of proportionate relationship or size
It is whole, in the case where not influencing the effect of present invention can be generated and the purpose that can reach, it should all still fall in disclosed skill
In the range of art content can cover.Meanwhile in this specification it is cited as "upper", "lower", "left", "right", " centre " and
The term of " one " etc. is merely convenient to being illustrated for narration, rather than to limit the scope of the invention, relativeness
It is altered or modified, under the content of no substantial changes in technology, when being also considered as the enforceable scope of the present invention.
As shown in Figure 1, the present invention provides a kind of electronic parking system comprising:
Controller 3 is inside integrated with the electronic parking control unit 31 and automatic Pilot control unit 32 of autonomous working, sees
Shown in Fig. 2, it is connected between electronic parking control unit 31 and automatic Pilot control unit 32 by intermediate interactive unit 33；
Two electric parking brakes 7 are separately positioned on two front-wheels 1 of vehicle；Electronic parking system in the present embodiment
Dynamic device is clamp integrated form brake；
The wheel speed sensors 4 of four detection faster rotating wheels, are respectively placed in two front-wheels 1 and two rear-wheels 2 of vehicle
On；
The electronic parking control unit 31 by connection and electronic parking switch 6, the electric parking brake 7 and
The wheel speed sensors 4 are connected；The automatic Pilot control unit 32 is controlled with radar controller 13, the camera on vehicle
14 signal of device is connected；
In automatic driving mode, automatic Pilot control unit 32 works, electronic parking control unit 31, electronic parking system
Dynamic device 7 and wheel speed sensors 4 are used as redundancy backup braking system.
Electric parking brake 7 is mounted on front-wheel by the present invention, can provide 1.5 times or more of brake force relative to rear-wheel,
Electric parking brake 7 can be made to be used as a reliable automatic Pilot redundancy backup braking component, provided safe and reliable superfluous
Remaining braking ability.Traditional parking braking can be achieved in the present invention, only needs 6 input operation signal of driver's electron parking switch,
Controller 3 is by comprehensive descision, and the electric parking brake on front-wheel issues braking and executes signal, to generate parking braking
Torque.When entering automatic driving mode, once there is first set main brake disabler, automatic Pilot control unit 32 can be to
Electronic parking control unit 31 issues redundancy brake request, electric parking brake hair of the electronic parking control unit on front-wheel
Required braking force out realizes redundancy braking；The present invention integrates automatic Pilot control unit 32 and electronic parking control unit 31
Above controller 3 is formed in the same ECU, when appearance failure backup needs, saves the delay of CAN signal interaction, it can
With quick response, security performance is improved.
Preferably to integrate above controller 3, controller 3 is that multicore controls chip in the present embodiment, with vehicle power supply 5
It is connected, is powered by vehicle power supply 5.Electronic parking control unit 31 and automatic Pilot control unit 32 are integrated into controller 3, directly
It connects and saves independent auto-pilot controller module in orthodox car, can realize automatic Pilot control independently of each other simultaneously
Backup functionality is braked in loss of redundancy when electronic brake and automatic Pilot；When improving the security level and response of signal interaction
Between.
Controller 3 is four nuclear control chips in the present embodiment, and as shown in Figure 2, wherein electronic parking control unit 31 has
Two independent processing chips, each processing chip are equipped with bottom module 312 and application layer module 311；Automatic Pilot control
For the tool of unit 32 there are two independent processing chip, each processing chip is equipped with bottom module 322 and application layer module 321.Electricity
Sub- parking control unit 31 and automatic Pilot control unit 32 are mutually encapsulated into control assembly, base between two control units
Work independently in respective processing chip, by intermediate interactive unit 33 carry out signal interaction, by Bootloader into
Row software writes with a brush dipped in Chinese ink update.The failure of any one of two control units, will not influence the work of another control unit.Automatically it drives
After sailing the failure of control unit 32, electronic parking control unit 31 can be intervened as redundancy backup.
Above controller 3 by high-speed CAN bus not only with entire car controller 8, gearbox controller 9, gear controller
11, engine controller 10, ignition switch 15 and electronic stability control 12 carry out signal interaction, it is also necessary to automatic Pilot
Relevant radar controller 13 and camera controller 14 carry out CAN signal interaction, to support automatic Pilot control unit 32
The Function for Automatic Pilot of automatic driving control system is realized in control decision.
The present invention provides a kind of electronic parking redundancy brake control method, which uses
Electronic parking system as described above inputs operation letter when driver is switched by electronic parking to electronic parking control unit
Number, the electronic parking control unit issues braking to the electric parking brake after judging and executes signal, realizes normal
Parking braking；When entering automatic driving mode, the automatic Pilot control unit work, when the main brake disabler of vehicle
Or when the failure of automatic Pilot control unit, the automatic Pilot control unit is controlled by intermediate interactive unit to electronic parking single
Member issues redundancy brake request, and electronic parking control unit exports redundancy required braking force to the electric parking brake, real
Existing redundancy braking.
Traditional electronic parking system is only acted in parking, is expanded to the redundancy backup of automatic Pilot brake with
Afterwards, above controller 3 receives 4 signal of wheel speed sensors on four wheels simultaneously, judges the slip rate of wheel.Work as automatic Pilot
When failing occurs in first set main brake or automatic Pilot control unit fails, electronic parking control unit can take over drives automatically
Control system is sailed, is intervened electronic brake system as redundancy backup.Electronic parking control unit 31 based on the received four
The data that a wheel speed sensors 4 are passed export redundancy system to the electric parking brake 7 to calculate wheel slip rate
The size of power.
Control for brake can be carried out according to the slip rate of front-wheel in braking process, prevent wheel lock up, realize that safety can
The braking redundancy backup leaned on.When as redundancy backup braking system, the electronic parking control unit monitors that front-wheel occurs
When locking, then output order requires the electric parking brake to carry out simulation abs braking operation, by reducing release braking
Power, it is ensured that vehicle directional stability.
In conclusion electronic parking system and electronic parking redundancy brake control method of the invention, are stayed using by electronics
Vehicle brake is installed makes it can provide bigger braking moment to the front-wheel of vehicle, reaches needed for automatic Pilot redundancy backup
Enough brake force；It is integrated with automatic Pilot control unit and electronic parking control unit in controller, reduces the control on vehicle
Device quantity processed, improves the flexibility of arrangement；Receive four wheel speed sensors signals in controller simultaneously, it is ensured that automatic
When driving redundancy backup, the stability of vehicle is taken into account, is accomplished safe and reliable.The present invention has electronic parking control system completely
The requirement of automatic Pilot redundancy braking backup is, it can be achieved that the redundancy under automatic driving mode is braked.So effective gram of the present invention
It has taken various shortcoming in the prior art and has had high industrial utilization value.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (6)
1. a kind of electronic parking system characterized by comprising
Controller is inside integrated with the electronic parking control unit and automatic Pilot control unit of autonomous working, electronic parking control
It is connected between unit processed and automatic Pilot control unit by intermediate interactive unit；
Two electric parking brakes are separately positioned on two front-wheels of vehicle；
Four wheel speed sensors are respectively placed on two front-wheels and two rear-wheels of vehicle；
The electronic parking control unit passes through connection and electronic parking switch, the electric parking brake and the wheel speed
Sensor is connected；The automatic Pilot control unit is connected with radar controller, the camera controller signal on vehicle；
In automatic driving mode, the work of automatic Pilot control unit, electronic parking control unit, electric parking brake and wheel
Fast sensor is used as redundancy backup braking system.
2. electronic parking system according to claim 1, it is characterised in that: there are two the electronic parking control unit tools
Independent processing chip, each processing chip are equipped with bottom module and application layer module.
3. electronic parking system according to claim 1, it is characterised in that: there are two the automatic Pilot control unit tools
Independent processing chip, each processing chip are equipped with bottom module and application layer module.
4. a kind of electronic parking redundancy brake control method, it is characterised in that: the electronic parking redundancy brake control method is adopted
With such as claim 1 to the described in any item electronic parking systems of claim 3, when driver is switched by the electronic parking
To the electronic parking control unit input operation signal, the electronic parking control unit is after judging to the electronic parking
Brake issues braking and executes signal, realizes normal parking braking；When entering automatic driving mode, the automatic Pilot control
Cell operation, when the main brake disabler of vehicle or the failure of automatic Pilot control unit, the automatic Pilot control unit
Redundancy brake request is issued to electronic parking control unit by intermediate interactive unit, electronic parking control unit is to the electronics
Parking brake exports redundancy required braking force, realizes redundancy braking.
5. electronic parking redundancy brake control method according to claim 4, it is characterised in that: the electronic parking control
The unit data that four wheel speed sensors are passed based on the received calculate wheel slip rate, and then to the electronic parking system
The size of dynamic device output redundancy brake force.
6. electronic parking redundancy brake control method according to claim 4, it is characterised in that: as redundancy backup system
When dynamic system, when the electronic parking control unit monitors that locking occurs in front-wheel, then output order requires the electronic parking
Brake carries out simulation abs braking operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811245620.6A CN109229081A (en) | 2018-10-24 | 2018-10-24 | Electronic parking system and electronic parking redundancy brake control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811245620.6A CN109229081A (en) | 2018-10-24 | 2018-10-24 | Electronic parking system and electronic parking redundancy brake control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109229081A true CN109229081A (en) | 2019-01-18 |
Family
ID=65081700
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811245620.6A Pending CN109229081A (en) | 2018-10-24 | 2018-10-24 | Electronic parking system and electronic parking redundancy brake control method |
Country Status (1)
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109878492A (en) * | 2019-04-08 | 2019-06-14 | 新石器慧通（北京）科技有限公司 | A kind of parking signal coordinates method and coordinates device |
| CN110203189A (en) * | 2019-05-05 | 2019-09-06 | 万向钱潮股份有限公司 | A kind of electrically driven (operated) commercial vehicle electronic parking system |
| CN110435569A (en) * | 2019-08-26 | 2019-11-12 | 爱驰汽车有限公司 | Automatic driving vehicle redundancy control system, method, equipment and storage medium |
| CN112061096A (en) * | 2020-09-02 | 2020-12-11 | 浙江吉利新能源商用车集团有限公司 | Brake-by-wire system and vehicle |
| CN112896128A (en) * | 2021-02-08 | 2021-06-04 | 一汽解放汽车有限公司 | Braking system |
| WO2021180036A1 (en) * | 2020-03-11 | 2021-09-16 | 中国第一汽车股份有限公司 | Parking redundancy control method, automatic driving system, and driving device |
| WO2021183369A1 (en) * | 2020-03-09 | 2021-09-16 | Bendix Commercial Vehicle Systems Llc | Method and parking brake apparatus for an autonomously drivable vehicle |
| CN113492810A (en) * | 2021-06-16 | 2021-10-12 | 武汉瑞立科德斯汽车电子有限责任公司 | Redundant brake control system suitable for electric automobile and control method thereof |
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| CN113753006A (en) * | 2020-06-01 | 2021-12-07 | 现代摩比斯株式会社 | Electro-hydraulic brake system |
| CN114312720A (en) * | 2021-11-30 | 2022-04-12 | 浙江亚太机电股份有限公司 | Hardware redundancy integrated electro-hydraulic brake line control system and method |
| CN114771433A (en) * | 2022-04-26 | 2022-07-22 | 上海伯镭智能科技有限公司 | Drive-by-wire system of unmanned mine car |
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| CN109878492B (en) * | 2019-04-08 | 2020-05-01 | 新石器慧通（北京）科技有限公司 | Method and device for coordinating parking signal |
| CN109878492A (en) * | 2019-04-08 | 2019-06-14 | 新石器慧通（北京）科技有限公司 | A kind of parking signal coordinates method and coordinates device |
| CN110203189A (en) * | 2019-05-05 | 2019-09-06 | 万向钱潮股份有限公司 | A kind of electrically driven (operated) commercial vehicle electronic parking system |
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