CN111942348A - Brake redundancy backup system and brake method suitable for automatic driving - Google Patents
Brake redundancy backup system and brake method suitable for automatic driving Download PDFInfo
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- CN111942348A CN111942348A CN202010635462.6A CN202010635462A CN111942348A CN 111942348 A CN111942348 A CN 111942348A CN 202010635462 A CN202010635462 A CN 202010635462A CN 111942348 A CN111942348 A CN 111942348A
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- electronic booster
- backup unit
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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
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/402—Back-up
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The application relates to a brake redundancy backup system and a brake method suitable for automatic driving.A data acquisition sensor group is connected with an integrated electronic booster and a brake backup unit and is used for acquiring vehicle running state data; the automatic driving auxiliary subsystem is connected with the integrated electronic booster and the brake backup unit through an automobile bus and is used for generating a brake instruction according to the vehicle running state data; the integrated electronic booster is connected with the four wheels and the two electronic parking actuators, and is used for responding to a braking instruction and braking; the brake backup unit is connected with the four wheels and the two electronic parking actuators and used for responding to a braking command and braking when the integrated electronic booster is in failure. The method and the device can solve the problem that in the related technology, only the backup aiming at one aspect of electric power boosting voltage build-up, ABS, electronic parking and the like is researched, and the systematic integration and high redundancy backup scheme of each functional module is not researched.
Description
Technical Field
The application relates to the technical field of braking of an automatic driving automobile, in particular to a braking redundancy backup system and a braking method suitable for automatic driving.
Background
Automotive autopilot technology has been developed for decades to date. The trend toward practical use was shown in the beginning of the 21 st century. The automatic driving means that a vehicle-mounted sensing system senses the road environment, automatically plans a driving route and controls a vehicle to reach a preset target.
The realization of automatic driving benefits from the development of a brake-by-wire technology, the brake-by-wire has the advantages of high response speed, high precision and the like, and the brake-by-wire is gradually applied to an advanced driving auxiliary system instead of the traditional vacuum boosting, but potential faults and failures after the brake-by-wire is introduced can cause potential safety hazards to a brake system, the safety and reliability of the brake system are ensured to put forward higher requirements on a system scheme, and the development of a redundant backup system for fault-tolerant design is the most effective method for avoiding system failures by increasing software and hardware backups of an electronic control unit.
At present, a brake-by-wire system scheme combining an Electronic booster and an Electronic Stability Control (ESC) has been applied to various vehicle types, so that a pure electric vehicle can conveniently realize brake energy recovery.
However, the above scheme does not back up the ESC, when the ESC fails, the Brake system cannot adjust the pressure of the Brake cylinder, and if EPB (Electrical park Brake) control software is integrated into the ESC, emergency service braking and Parking braking may also fail correspondingly when the ESC fails, which may easily cause a safety accident of braking the entire vehicle.
The existing methods mostly focus on research on backup of one aspect of electric power boosting pressure build-up, ABS (antilock brake system), electronic parking and the like, and further research needs to be performed on aspects of systematic integration of functional modules of an automatic driving brake system, high redundancy backup schemes and the like.
Disclosure of Invention
The embodiment of the application provides a brake redundancy backup system and a brake method suitable for automatic driving, and aims to solve the problems that in the related art, only the backup on one aspect of electric power boosting pressure build, ABS, electronic parking and the like is researched, and systematic integration and high redundancy backup schemes of all functional modules are not researched.
In a first aspect, a brake redundancy backup system suitable for automatic driving is provided, which comprises a data acquisition sensor group, an integrated electronic booster, a brake backup unit and an automatic driving auxiliary subsystem;
the data acquisition sensor group is connected with the integrated electronic booster and the brake backup unit and is used for acquiring vehicle running state data;
the automatic driving auxiliary subsystem is connected with the integrated electronic booster and the brake backup unit through an automobile bus and is used for generating a brake instruction according to the vehicle running state data;
the integrated electronic booster comprises an electronic booster body, an ESC module and a main electronic parking controller, wherein the ESC module and the main electronic parking controller are integrated on the electronic booster body, the integrated electronic booster is connected with two front wheels and two rear wheels through a hydraulic brake pipe and is connected with two electronic parking actuators respectively assembled on the two rear wheels through a main power supply circuit, and the integrated electronic booster is used for responding to the braking instruction and braking;
the braking backup unit is internally integrated with a backup ESC module, an active pressurization module and a slave electronic parking controller, is connected with two front wheels and two rear wheels through hydraulic braking pipes and is connected with two electronic parking actuators through a slave power supply circuit, and is used for responding to the braking instruction and braking when the integrated electronic booster breaks down.
In some embodiments, the hydraulic brake pipe comprises:
a first hydraulic brake pipe connecting the integrated electronic booster and the brake backup unit;
a second hydraulic brake pipe connecting the brake backup unit with the two front wheels and the two rear wheels; wherein the content of the first and second substances,
the integrated electronic booster is connected with the two front wheels and the two rear wheels through the first hydraulic brake pipe and the second hydraulic brake pipe.
In some embodiments, the brake backup unit is further configured to monitor an operating state of the integrated electronic booster, and when the integrated electronic booster fails, the brake backup unit receives an alarm signal sent by the integrated electronic booster;
the integrated electronic booster is also used for monitoring the running state of the brake backup unit, and when the brake backup unit breaks down, the integrated electronic booster receives the alarm signal sent by the brake backup unit.
In some embodiments, there are two data acquisition sensor groups, which are respectively a master data acquisition sensor group and a slave data acquisition sensor group, the master data acquisition sensor group is connected to the integrated electronic booster, and the slave data acquisition sensor group is connected to the brake backup unit.
In some embodiments, the brake redundancy backup system further comprises a master power source connected to the integrated electronic booster and master data collection sensor set and a slave power source connected to the brake backup unit and slave data collection sensor set.
In a second aspect, there is provided a braking method for braking a vehicle using the brake redundancy backup system suitable for autonomous driving as described above, comprising the steps of:
the data acquisition sensor group acquires vehicle running state data;
the automatic driving auxiliary subsystem acquires the running states of the integrated electronic booster and the brake backup unit, generates a brake instruction according to the vehicle running state data and sends the brake instruction to the automobile bus;
when the integrated electronic booster is normal, the integrated electronic booster responds to the braking instruction to brake the vehicle;
when the integrated electronic booster is in fault and the brake backup unit is normal, the brake backup unit responds to the brake command to brake the vehicle.
In some embodiments, the automatic driving assistance subsystem acquires the operating state of the integrated electronic booster and brake backup unit, and specifically includes the following steps:
the integrated electronic booster carries out periodic self-checking and sends the running state obtained by the self-checking to the automobile bus;
the brake backup unit carries out periodic self-checking and sends the running state obtained by the self-checking to the automobile bus;
the autopilot assist subsystem obtains an operating state from the vehicle bus.
In some embodiments, if at least one of the electronic booster body, the ESC module and the main electronic parking controller fails, the operation state of the integrated electronic booster is a failure;
and if at least one of the backup ESC module, the active pressurization module and the slave electronic parking controller fails, the running state of the brake backup unit is a failure.
In some embodiments, when the integrated electronic booster fails and the brake backup unit is normal, or when the brake backup unit fails and the integrated electronic booster is normal,
also comprises the following steps:
the automatic driving auxiliary subsystem gives an alarm and limits the speed of the vehicle.
In some embodiments, the method further comprises the steps of:
and when the integrated electronic booster and the brake backup unit both have faults, the automatic driving auxiliary subsystem gives an alarm and controls the opening degree of an accelerator of the vehicle to be 0.
The beneficial effect that technical scheme that this application provided brought includes:
the embodiment of the application provides a brake redundancy backup System and a brake method suitable for automatic driving, an integrated electronic booster integrates an ESC module on one hand, and can realize ESC functions such as ABS (antilock brake System), TCS (Traction Control System), VDC (vehicle dynamic Control System) and the like according to vehicle running state data, and on the other hand, the integrated electronic booster integrates a main electronic parking controller, and when the integrated electronic booster is normal, the integrated electronic booster performs driving braking and parking braking according to a brake instruction.
Meanwhile, the braking backup unit integrates the backup ESC module, the active pressurization module and the slave electronic parking controller, when the integrated electronic booster breaks down, hydraulic driving braking is carried out through the active pressurization module according to a braking instruction, braking pressure adjustment is realized through the backup ESC module, wheels are prevented from being locked, meanwhile, transverse stable control is realized, vehicle braking safety is guaranteed, and parking braking is carried out through the slave electronic parking controller.
The method adopts a mode of combining the integrated electronic booster and the brake backup unit, and on one hand, the fault-tolerant function of the system brake redundancy backup is realized, the brake control under emergency is ensured, and the safe and reliable requirements of high-grade automatic driving are met; on the other hand, the purpose of backing up four-wheel service braking and two-wheel parking braking of the integrated electronic booster is realized by using the brake backup unit, so that the backup braking deceleration is not reduced, and the braking performance is not reduced. Meanwhile, the auxiliary electronic parking controller is combined, and when the main electronic parking controller fails, the vehicle can still meet the 20-degree gradient parking requirement.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a brake redundancy backup system suitable for autonomous driving according to an embodiment of the present disclosure;
FIG. 2 is a flow chart of a braking method provided by an embodiment of the present application;
fig. 3 is a flowchart illustrating braking by the integrated electronic booster according to an embodiment of the present disclosure.
In the figure: 1. an integrated electronic booster; 2. a brake backup unit; 3. an automatic driving assistance subsystem; 4. an automotive bus; 5. a main power supply circuit; 6. a slave supply circuit; 7. an electronic parking actuator; 8. a master data acquisition sensor group; 9. collecting a sensor group from the data; 10. a main power supply; 11. a slave power supply; 12. a hydraulic brake pipe; 121. a first hydraulic brake pipe; 122. a second hydraulic brake pipe; 13. and (7) communication lines.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The embodiment of the application provides a brake redundancy backup system suitable for automatic driving, which can solve the problem that in the related art, only the backup aiming at one aspect of electric power boosting pressure build, ABS, electronic parking and the like is researched, and the systematic integration and high redundancy backup scheme of each functional module is not researched.
Referring to fig. 1, a brake redundancy backup system suitable for automatic driving includes a data acquisition sensor group, an integrated electronic booster 1, a brake backup unit 2, and an automatic driving assistance subsystem 3; wherein the content of the first and second substances,
the data acquisition sensor group is connected with the integrated electronic booster 1 and the brake backup unit 2 and is used for acquiring vehicle running state data;
the automatic driving auxiliary subsystem 3 is connected with the integrated electronic booster 1 and the brake backup unit 2 through an automobile bus 4 and is used for generating a brake instruction according to the vehicle running state data;
the integrated electronic booster 1 comprises an electronic booster body, an ESC module and a main electronic parking controller which are integrated on the electronic booster body, the integrated electronic booster 1 is connected with two front wheels and two rear wheels through a hydraulic brake pipe 12 and is connected with electronic parking actuators 7 respectively arranged on the two rear wheels through a main power supply circuit 5, and the integrated electronic booster 1 is used for responding to a braking instruction and braking;
the braking backup unit 2 is internally integrated with a backup ESC module, an active boosting module and a slave electronic parking controller, the braking backup unit 2 is connected with two front wheels and two rear wheels through a hydraulic braking pipe 12 and is connected with two electronic parking actuators 7 through a slave power supply circuit 6, and the braking backup unit 2 is used for responding to a braking instruction and braking when the integrated electronic booster 1 fails.
The car bus 4 may be a CAN bus or a Flexray bus.
The braking backup unit 2 is designed in a redundant mode, and integrates a backup ESC module, an active boosting module and a slave electronic parking controller.
The integrated ESC module of integrated form electronic booster 1, the electronic booster body can save space with ESC module integration behind same part, improves the machine storehouse and arranges. Meanwhile, the ESC active pressurization is realized by the electronic booster body, and the coordination control logic and strategy between the ESC active pressurization and the electronic booster body can be simplified.
In this embodiment, the integrated electronic booster 1 controls four-wheel service braking through the hydraulic brake pipe 12, and controls two-wheel parking braking through the main power supply circuit 5, and the brake backup unit 2 performs backup of four-wheel service braking and two-wheel parking braking on the integrated electronic booster 1, so that the backup brake deceleration is not reduced, and the brake performance is not reduced. Meanwhile, the auxiliary electronic parking controller is combined, and when the main electronic parking controller fails, the vehicle can still meet the 20-degree gradient parking requirement.
The braking instruction is a service braking instruction or a parking braking instruction.
Referring to fig. 1, in this embodiment, when the integrated electronic booster 1 is normal, the integrated electronic booster 1 responds to a braking instruction, if the braking instruction is a service braking instruction, the electronic booster body is pressurized, four-wheel service braking is performed through the hydraulic brake pipe 12, and if the braking instruction is a parking braking instruction, the main electronic parking controller supplies power through the two main power supply circuits 5 to control the two electronic parking actuators 7 to clamp tightly, so as to perform two-wheel parking braking.
When the integrated electronic booster 1 is in failure and the braking backup unit 2 is normal, the braking backup unit 2 responds to a braking instruction, if the braking instruction is a service braking instruction, the active boosting module builds pressure, four-wheel service braking is performed through the hydraulic brake pipe 12, and if the braking instruction is a parking braking instruction, the slave electronic parking controller supplies power through the two slave power supply circuits 6 to control the two electronic parking actuators 7 to clamp tightly to perform two-wheel parking braking.
In the drawings, fr (front right) indicates a front right wheel, fl (front left) indicates a front left wheel, rr (real right) indicates a rear right wheel, and rl (real left) indicates a rear left wheel.
Referring to fig. 1, in some preferred embodiments, the hydraulic brake pipe 12 includes a first hydraulic brake pipe 121 and a second hydraulic brake pipe 122, the first hydraulic brake pipe 121 connects the integrated electronic booster 1 and the brake backup unit 2, the second hydraulic brake pipe 122 connects the brake backup unit 2 with two front wheels and two rear wheels, and the integrated electronic booster 1 is connected with the two front wheels and the two rear wheels through the first hydraulic brake pipe 121 and the second hydraulic brake pipe 122.
During service braking, when the integrated electronic booster 1 is normal, the brake backup unit 2 does not work and does not participate in pressure build-up, and after the integrated electronic booster 1 builds pressure, the two front wheels and the two rear wheels are controlled through the first hydraulic brake pipe 121 and the second hydraulic brake pipe 122 so as to realize four-wheel service braking; when the integrated electronic booster 1 fails, the valve on the first hydraulic brake pipe 121 is closed, the brake backup unit 2 builds pressure, and the two front wheels and the two rear wheels are controlled through the second hydraulic brake pipe 122, so as to realize four-wheel service braking.
In some preferred embodiments, the integrated electronic booster 1 and the brake backup unit 2 monitor the operating status of each other, and when the operating status of one of the two is a fault, the faulty one generates an alarm signal to the other, specifically, the brake backup unit 2 is further configured to monitor the operating status of the integrated electronic booster 1, and when the integrated electronic booster 1 is faulty, the brake backup unit 2 receives the alarm signal sent by the integrated electronic booster 1; the integrated electronic booster 1 is also used for monitoring the operation state of the brake backup unit 2, and when the brake backup unit 2 fails, the integrated electronic booster 1 receives the alarm signal sent by the brake backup unit 2.
Generally, the integrated electronic booster 1 and the brake backup unit 2 are connected by a signal or a communication line 13 for monitoring, and when the monitoring is performed, a heartbeat signal is periodically transmitted to each other, and when one of the two does not receive the heartbeat signal of the other within a preset number of cycles, the fault of the other can be judged.
In some preferred embodiments, referring to fig. 1, two data acquisition sensor groups are provided, which are a main data acquisition sensor group 8 and a slave data acquisition sensor group 9, the main data acquisition sensor group 8 is connected to the integrated electronic booster 1, the vehicle operation state data acquired by the main data acquisition sensor group 8 is sent to the integrated electronic booster 1, and the integrated electronic booster 1 sends the vehicle operation state data to the automatic driving assistance subsystem 3 through the automobile bus 4 after performing operation processing on the vehicle operation state data; the slave data acquisition sensor group 9 is connected with the brake backup unit 2, the vehicle running state data acquired from the data acquisition sensor group 9 is sent to the brake backup unit 2, and the brake backup unit 2 sends the vehicle running state data to the automatic driving assistance subsystem 3 through the automobile bus 4 after the vehicle running state data is subjected to operation processing.
In some preferred embodiments, the main data collection sensor group 8 includes a wheel speed sensor, a brake pressure sensor, a YAW-G sensor, and a steering wheel angle sensor. The slave data acquisition sensor group 9 includes a wheel speed sensor, a brake pressure sensor, and a YAW-G sensor.
In some preferred embodiments, referring to fig. 1, the brake redundancy backup system further includes a master power supply 10 and a slave power supply 11, the master power supply 10 is connected to the integrated electronic booster 1 and the master data acquisition sensor group 8, the master power supply 10 supplies power to the integrated electronic booster 1 and the master data acquisition sensor group 8, the slave power supply 11 is connected to the brake backup unit 2 and the slave data acquisition sensor group 9, and the slave power supply 11 supplies power to the brake backup unit 2 and the slave data acquisition sensor group 9.
Referring to fig. 2, the present application further provides a braking method for braking a vehicle using the brake redundancy backup system suitable for automatic driving, which includes the following steps:
s1: the data acquisition sensor group acquires vehicle running state data; the vehicle running state data comprises vehicle speed, acceleration and the like;
s2: the automatic driving auxiliary subsystem 3 acquires the running states of the integrated electronic booster 1 and the brake backup unit 2, and the automatic driving auxiliary subsystem 3 generates a brake instruction according to the vehicle running state data and sends the brake instruction to the automobile bus 4;
s3: judging whether the integrated electronic booster 1 is normal or not, if so, switching to S5, and otherwise, switching to S4;
s4: judging whether the brake backup unit 2 is normal, if so, switching to S6, otherwise, switching to S7;
s5: the integrated electronic booster 1 responds to a braking instruction to brake the vehicle;
s6: the brake backup unit 2 brakes the vehicle in response to the brake command.
S7: the automatic driving assistance subsystem 3 gives an alarm and controls the accelerator opening of the vehicle to 0 so that the vehicle cannot accelerate.
In some preferred embodiments, referring to fig. 3, step S5 specifically includes the following steps:
s51: the integrated electronic booster 1 acquires a braking instruction from the automobile bus 4 and analyzes the braking instruction;
s52: judging the type of the braking instruction; if the braking instruction is a service braking instruction, the process goes to S53, and if the braking instruction is a parking braking instruction, the process goes to S54;
s53: the integrated electronic booster 1 builds pressure to brake the vehicle;
s54: the integrated electronic booster 1 supplies current to the main electronic parking actuator to perform parking braking on the vehicle.
The specific implementation logic of step S6 is similar to that of step S5, and is not described herein again.
In some preferred embodiments, the automatic driving assistance subsystem 3 acquires the operation states of the integrated electronic booster 1 and the brake backup unit 2, and specifically includes the following steps: the integrated electronic booster 1 carries out periodic self-detection and sends the running state obtained by the self-detection to the automobile bus 4; the brake backup unit 2 carries out periodic self-checking and sends the running state obtained by the self-checking to the automobile bus 4; the autopilot assistance subsystem 3 receives operating states from the vehicle bus 4.
In some preferred embodiments, if at least one of the electronic booster body, the ESC module and the main electronic parking controller fails, the operation state of the integrated electronic booster 1 is a failure;
if at least one of the backup ESC module, the active boosting module and the slave electronic parking controller fails, the operation state of the brake backup unit 2 is a failure.
In some preferred embodiments, when the integrated electronic booster 1 fails and the brake backup unit 2 is normal, or when the brake backup unit 2 fails and the integrated electronic booster 1 is normal, the method further comprises the following steps: the automatic driving auxiliary subsystem 3 gives an alarm and limits the speed of the vehicle.
The principle of the application is as follows:
the application provides a redundant backup System of braking, integrated ESC module on the one hand of integrated form electronic booster 1 can realize ESC complete function such as ABS (antilock brake System), TCS (Traction Control System), VDC (vehicle dynamic Control System) according to vehicle running state data, on the other hand integrated main electronic parking controller, when being normal, carry out service braking and parking braking by integrated form electronic booster 1 according to the brake instruction.
Meanwhile, the braking backup unit 2 integrates a backup ESC module, an active pressurization module and a slave electronic parking controller, when the integrated electronic booster 1 breaks down, hydraulic driving braking is carried out through the active pressurization module according to a braking instruction, braking pressure regulation is realized through the backup ESC module, wheels are prevented from being locked, meanwhile, transverse stable control is realized, vehicle braking safety is guaranteed, and parking braking is carried out through the slave electronic parking controller.
The method adopts a mode of combining the integrated electronic booster 1 and the brake backup unit 2, and on one hand, the fault-tolerant function of the system brake redundancy backup is realized, the brake control under emergency is ensured, and the safe and reliable requirements of high-grade automatic driving are met; on the other hand, the purpose of backing up four-wheel service braking and two-wheel parking braking of the integrated electronic booster 1 is realized by using the brake backup unit 2, so that the backup braking deceleration is not reduced, and the braking performance is not reduced. Meanwhile, the auxiliary electronic parking controller is combined, and when the main electronic parking controller fails, the vehicle can still meet the 20-degree gradient parking requirement.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A brake redundancy backup system adapted for autonomous driving, characterized by: the system comprises a data acquisition sensor group, an integrated electronic booster (1), a brake backup unit (2) and an automatic driving auxiliary subsystem (3);
the data acquisition sensor group is connected with the integrated electronic booster (1) and the brake backup unit (2) and is used for acquiring vehicle running state data;
the automatic driving auxiliary subsystem (3) is connected with the integrated electronic booster (1) and the brake backup unit (2) through an automobile bus (4) and is used for generating a brake instruction according to the vehicle running state data;
the integrated electronic booster (1) comprises an electronic booster body, an ESC module and a main electronic parking controller, wherein the ESC module and the main electronic parking controller are integrated on the electronic booster body, the integrated electronic booster (1) is connected with two front wheels and two rear wheels through a hydraulic brake pipe (12) and is connected with two electronic parking actuators (7) respectively assembled on the two rear wheels through a main power supply circuit (5), and the integrated electronic booster (1) is used for responding to a braking instruction and braking;
the brake backup unit (2) is internally integrated with a backup ESC module, an active pressurization module and a slave electronic parking controller, the brake backup unit (2) is connected with two front wheels and two rear wheels through a hydraulic brake pipe (12) and is connected with two electronic parking actuators (7) through a slave power supply circuit (6), and the brake backup unit (2) is used for responding to a brake instruction and braking when the integrated electronic booster (1) breaks down.
2. Brake redundancy backup system adapted for autonomous driving according to claim 1, characterized in that said hydraulic brake pipe (12) comprises:
a first hydraulic brake pipe (121) connecting the integrated electronic booster (1) and the brake backup unit (2);
a second hydraulic brake pipe (122) connecting the brake backup unit (2) with the two front wheels and the two rear wheels; wherein the content of the first and second substances,
the integrated electronic booster (1) is connected with the two front wheels and the two rear wheels through the first hydraulic brake pipe (121) and the second hydraulic brake pipe (122).
3. The brake redundancy backup system for autonomous driving of claim 1, wherein:
the brake backup unit (2) is also used for monitoring the running state of the integrated electronic booster (1), and when the integrated electronic booster (1) breaks down, the brake backup unit (2) receives an alarm signal sent by the integrated electronic booster (1);
the integrated electronic booster (1) is also used for monitoring the running state of the brake backup unit (2), and when the brake backup unit (2) breaks down, the integrated electronic booster (1) receives an alarm signal sent by the brake backup unit (2).
4. The brake redundancy backup system for autonomous driving of claim 1, wherein: the data acquisition sensor group is equipped with two, and is main data acquisition sensor group (8) and follow data acquisition sensor group (9) respectively, main data acquisition sensor group (8) with integrated form electron booster (1) links to each other, follow data acquisition sensor group (9) with braking backup unit (2) link to each other.
5. The brake redundancy backup system for autonomous driving of claim 4, wherein: the brake redundancy backup system further comprises a main power supply (10) and a secondary power supply (11), wherein the main power supply (10) is connected with the integrated electronic booster (1) and the main data acquisition sensor group (8), and the secondary power supply (11) is connected with the brake backup unit (2) and the secondary data acquisition sensor group (9).
6. A braking method for braking a vehicle using the brake redundancy backup system for autonomous driving according to claim 1, characterized by comprising the steps of:
the data acquisition sensor group acquires vehicle running state data;
the automatic driving auxiliary subsystem (3) acquires the running states of the integrated electronic booster (1) and the brake backup unit (2), and the automatic driving auxiliary subsystem (3) generates a brake instruction according to the vehicle running state data and sends the brake instruction to the automobile bus (4);
when the integrated electronic booster (1) is normal, the integrated electronic booster (1) responds to the braking instruction to brake the vehicle;
when the integrated electronic booster (1) is in fault and the brake backup unit (2) is normal, the brake backup unit (2) responds to the brake command to brake the vehicle.
7. A braking method according to claim 6, wherein the automatic driving assistance subsystem (3) acquires the operating state of the integrated electronic booster (1), the brake backup unit (2), in particular comprising the following steps:
the integrated electronic booster (1) carries out periodic self-detection and sends the running state obtained by the self-detection to the automobile bus (4);
the brake backup unit (2) carries out periodic self-checking and sends the running state obtained by the self-checking to the automobile bus (4);
the automatic driving assistance subsystem (3) acquires an operating state from the vehicle bus (4).
8. The braking method according to claim 6, characterized in that:
if at least one of the electronic booster body, the ESC module and the main electronic parking controller fails, the running state of the integrated electronic booster (1) is a fault;
if at least one of the backup ESC module, the active pressurization module and the slave electronic parking controller fails, the running state of the brake backup unit (2) is a failure.
9. The braking method according to claim 6, characterized in that: when the integrated electronic booster (1) fails and the brake backup unit (2) is normal, or when the brake backup unit (2) fails and the integrated electronic booster (1) is normal,
also comprises the following steps:
the automatic driving auxiliary subsystem (3) gives an alarm and limits the speed of the vehicle.
10. The braking method according to claim 6, further comprising the steps of:
when the integrated electronic booster (1) and the brake backup unit (2) are in failure, the automatic driving auxiliary subsystem (3) gives an alarm and controls the opening of the accelerator of the vehicle to be 0.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010635462.6A CN111942348A (en) | 2020-07-03 | 2020-07-03 | Brake redundancy backup system and brake method suitable for automatic driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN112356817A (en) * | 2020-11-25 | 2021-02-12 | 吉林大学 | Unmanned automobile braking system with backup mode and control method thereof |
| CN112389455A (en) * | 2021-01-20 | 2021-02-23 | 国汽智控(北京)科技有限公司 | Method and system for protecting safe operation of automatic driving vehicle |
| CN112622845A (en) * | 2020-12-23 | 2021-04-09 | 万向钱潮股份有限公司 | Hot standby electronic parking brake system coordination control method |
| CN112677950A (en) * | 2021-01-12 | 2021-04-20 | 精诚工科汽车***有限公司 | Brake control method, device and system |
| CN114291054A (en) * | 2021-12-31 | 2022-04-08 | 广西汽车集团有限公司 | Service brake joint control system, service brake control method and vehicle |
| CN114348020A (en) * | 2021-12-22 | 2022-04-15 | 东风悦享科技有限公司 | 5G remote and automatic driving safety redundancy system and control method |
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| CN114954411A (en) * | 2022-03-25 | 2022-08-30 | 苏州海之博电子科技有限公司 | Electronic booster and EHPS or EPS safety redundancy control method |
| CN115042761A (en) * | 2022-07-08 | 2022-09-13 | 东风越野车有限公司 | Failure backup system for automobile braking |
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| CN112356817A (en) * | 2020-11-25 | 2021-02-12 | 吉林大学 | Unmanned automobile braking system with backup mode and control method thereof |
| CN112356817B (en) * | 2020-11-25 | 2021-07-23 | 吉林大学 | Unmanned automobile braking system with backup mode and control method thereof |
| CN112622845A (en) * | 2020-12-23 | 2021-04-09 | 万向钱潮股份有限公司 | Hot standby electronic parking brake system coordination control method |
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| CN114715102A (en) * | 2021-01-05 | 2022-07-08 | 广州汽车集团股份有限公司 | Vehicle redundant braking method and vehicle |
| CN112677950A (en) * | 2021-01-12 | 2021-04-20 | 精诚工科汽车***有限公司 | Brake control method, device and system |
| CN112389455A (en) * | 2021-01-20 | 2021-02-23 | 国汽智控(北京)科技有限公司 | Method and system for protecting safe operation of automatic driving vehicle |
| CN112389455B (en) * | 2021-01-20 | 2021-04-06 | 国汽智控(北京)科技有限公司 | Method and system for protecting safe operation of automatic driving vehicle |
| CN114348020A (en) * | 2021-12-22 | 2022-04-15 | 东风悦享科技有限公司 | 5G remote and automatic driving safety redundancy system and control method |
| CN114348020B (en) * | 2021-12-22 | 2023-09-19 | 东风悦享科技有限公司 | 5G remote and automatic driving safety redundancy system and control method |
| CN114291054A (en) * | 2021-12-31 | 2022-04-08 | 广西汽车集团有限公司 | Service brake joint control system, service brake control method and vehicle |
| CN114954411A (en) * | 2022-03-25 | 2022-08-30 | 苏州海之博电子科技有限公司 | Electronic booster and EHPS or EPS safety redundancy control method |
| CN115123160A (en) * | 2022-06-13 | 2022-09-30 | 燕山大学 | Line control actuating system and application thereof |
| CN115123160B (en) * | 2022-06-13 | 2024-04-19 | 燕山大学 | Linear control braking system and application thereof |
| CN115042761A (en) * | 2022-07-08 | 2022-09-13 | 东风越野车有限公司 | Failure backup system for automobile braking |
| CN115158277A (en) * | 2022-09-07 | 2022-10-11 | 万向钱潮股份公司 | Redundancy control method and redundancy control system for multi-brake system |
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