CN112606812A - Electronic braking method and device - Google Patents
Electronic braking method and device Download PDFInfo
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- CN112606812A CN112606812A CN202011460478.4A CN202011460478A CN112606812A CN 112606812 A CN112606812 A CN 112606812A CN 202011460478 A CN202011460478 A CN 202011460478A CN 112606812 A CN112606812 A CN 112606812A
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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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- Regulating Braking Force (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The invention discloses an electronic braking method and device, which relate to the technical field of electric automobiles and specifically comprise the following steps: monitoring the states of a main braking system and an auxiliary braking system and receiving a braking request; if the main brake system and the auxiliary brake system are normal, analyzing the brake request through the main brake system, and sending an analysis result to the auxiliary brake system so that the auxiliary brake system performs brake control on the brake device according to the analysis result; if the main brake system is monitored to be abnormal, analyzing the brake request through the auxiliary brake system, and carrying out brake control on the brake device based on the analysis result; and if the auxiliary brake system is monitored to be abnormal, analyzing the brake request through the main brake system, and carrying out brake control on the brake device based on the analysis result. The technical problems that the service life of a brake system is short and the braking process is unsafe in the prior art are effectively solved.
Description
Technical Field
The invention relates to the technical field of electric automobiles, in particular to an electronic braking method and device.
Background
The AEB (automatic Braking system) monitors the safety distance of an obstacle in front of the running of an automobile in real time through equipment such as a radar and a camera, compares the measured distance with an alarm distance and a safety distance by using a data analysis module, carries out alarm prompt when the distance is less than the alarm distance, and starts the AEB system to actively send a Braking request to the Braking system of the automobile to automatically brake the automobile even if a driver does not have time to step on a brake pedal when the distance is less than the safety distance, so that the driving and the driving are protected for safe traveling.
Generally, when a braking signal is sent by the AEB, an Electronic Stability Controller (ESC) serves as an actuator to pressurize four brake cylinders, and a braking torque is generated to decelerate and stop the vehicle. However, the service life of the ESC is limited, which is generally only hundreds of hours, and if the ESC is used as an active brake actuator for a long time, the service life of the ESC is greatly affected, and if the service life of the ESC is prolonged, the structure of the internal valve body of the ESC needs to be upgraded, so that the corresponding cost is greatly increased, and huge cost pressure is brought to a host factory.
Disclosure of Invention
The embodiment of the invention provides an electronic braking method and device, solves the technical problems of short service life of a braking system and unsafe braking process in the prior art, and achieves the technical effects of prolonging the service life of the braking system and improving the safety of the braking process.
In a first aspect, the present invention provides an electronic braking method according to an embodiment of the present invention, including: monitoring the states of a main braking system and an auxiliary braking system and receiving a braking request; if the main brake system and the auxiliary brake system are normal, analyzing the brake request through the main brake system, and sending an analysis result to the auxiliary brake system so that the auxiliary brake system performs brake control on a brake device according to the analysis result; if the main brake system is monitored to be abnormal, the brake request is analyzed through the auxiliary brake system, and the brake device is controlled to brake based on the analysis result; and if the auxiliary braking system is monitored to be abnormal, analyzing the braking request through the main braking system, and carrying out braking control on the braking device based on the analysis result.
Preferably, the braking request contains braking intensity information including: the analyzing the braking request through the main braking system and sending an analysis result to the auxiliary braking system so that the auxiliary braking system performs braking control on a braking device according to the analysis result comprises the following steps: the main braking system receives the analysis result and identifies the braking strength information from the analysis result through the auxiliary braking system; initiating a braking command matched with the braking strength information to the braking device through the auxiliary braking system so as to perform braking control on the braking device; the analyzing the braking request through the auxiliary braking system and performing braking control on the braking device based on the analysis result comprises: analyzing the braking request through the auxiliary braking system, and identifying the braking intensity information from an analysis result; initiating a braking command matched with the braking strength information to the braking device through the auxiliary braking system so as to perform braking control on the braking device; the analyzing the braking request through the main braking system and controlling the braking of the braking device based on the analysis result comprises the following steps: analyzing the braking request through the main braking system, and identifying the braking intensity information from an analysis result; and initiating a braking command matched with the braking strength information to the braking device through the main braking system so as to perform braking control on the braking device.
Preferably, the initiating, by the auxiliary braking system, a braking command to the braking device matching the braking intensity information includes: if the braking intensity information meets a preset mild braking intensity condition, controlling a motor to execute the braking command through the auxiliary braking system; if the brake intensity information meets a preset moderate brake intensity condition, controlling the motor and the hydraulic pressure through the auxiliary brake system and executing the brake command at the same time; and if the brake intensity information meets a preset severe brake intensity condition, controlling the hydraulic pressure to execute the brake command through the auxiliary brake system.
Preferably, the initiating, by the main brake system, a braking command matching with the braking intensity information to the braking device to perform braking control on the braking device includes: if the braking intensity information meets a preset mild braking intensity condition, controlling the motor to execute the braking command through the main braking system; if the brake intensity information meets a preset moderate brake intensity condition, controlling the motor and the hydraulic pressure to simultaneously execute the brake command through the main brake system; and if the brake intensity information meets a preset severe brake intensity condition, controlling the hydraulic pressure to execute the brake command through the main brake system.
Preferably, the monitoring of the status of the primary and auxiliary braking systems comprises: and establishing information interaction connection between the main braking system and the auxiliary braking system, and monitoring the states of the main braking system and the auxiliary braking system through the information interaction connection.
Preferably, if the abnormality of the main brake system is monitored, the method further includes: the main control module of the main brake system sends the abnormal information of the main brake system to the auxiliary brake system through the information interactive connection, and the abnormal information of the main brake system is recorded and uploaded through the auxiliary brake system until the abnormality of the main brake system is eliminated; if the auxiliary braking system is monitored to be abnormal, the method further comprises the following steps: and the main control module of the auxiliary brake system sends the abnormal information of the auxiliary brake system to the main brake system through the information interactive connection, and the main brake system records and uploads the abnormal information of the auxiliary brake system until the abnormality of the auxiliary brake system is eliminated.
Preferably, the light braking intensity condition is that the braking intensity information is within a first preset intensity range; the medium braking intensity condition is that the braking intensity information is in a second preset intensity range, and the upper limit value of the first preset intensity range is smaller than or equal to the lower limit value of the second preset intensity range; the heavy braking intensity condition is that the braking intensity information is within a third preset intensity range, and the upper limit value of the second preset intensity range is smaller than or equal to the lower limit value of the third preset intensity range.
Preferably, the method is applied to braking of a vehicle, and the braking strength information is calculated by an advanced driving assistance system based on the running parameters of the vehicle; or directly acquiring the braking strength information through an acceleration sensor; the driver assistance system initiates the braking request based on the braking intensity information.
In a second aspect, the present invention provides an electronic brake device according to an embodiment of the present invention, including: the first control unit analyzes the braking request through the main braking system and sends an analysis result to the auxiliary braking system if the main braking system and the auxiliary braking system are monitored to be normal, so that the auxiliary braking system performs braking control on a braking device according to the analysis result; the second control unit analyzes the braking request through the auxiliary braking system if the main braking system is monitored to be abnormal, and performs braking control on the braking device based on the analysis result; and the third control unit analyzes the braking request through the main braking system if the auxiliary braking system is monitored to be abnormal, and performs braking control on the braking device based on the analysis result.
In a third aspect, the present invention provides an electronic brake device, including: a memory, a processor and code stored on the memory and executable on the processor, the processor implementing the method of any of the embodiments of the first aspect when executing the code.
One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:
the embodiment of the invention discloses an electronic braking device, which comprises a main braking system, an auxiliary braking system, a brake control system and a brake control system, wherein the main braking system and the auxiliary braking system are monitored for states and receive braking requests; if the main brake system and the auxiliary brake system are normal, analyzing the brake request through the main brake system, and sending an analysis result to the auxiliary brake system so that the auxiliary brake system performs brake control on the brake device according to the analysis result; if the main brake system is monitored to be abnormal, analyzing the brake request through the auxiliary brake system, and carrying out brake control on the brake device based on the analysis result; and if the auxiliary brake system is monitored to be abnormal, analyzing the brake request through the main brake system, and carrying out brake control on the brake device based on the analysis result. Firstly, both a main braking system and an auxiliary braking system can obtain braking requests at the same time, then the main braking system analyzes the control requests and controls the auxiliary braking system, and the auxiliary braking system controls a braking device to brake according to the analysis result; if the auxiliary braking system is abnormal, the main braking system analyzes the braking request and directly controls the braking device to brake; in addition, when the main braking system is abnormal, the auxiliary braking system directly analyzes the braking request and controls the braking device to brake; in the usual use process, the service life of the main brake system can be prolonged by analyzing the brake request through the main brake system and controlling the auxiliary brake system instead of directly controlling the brake device, and even if the main brake system fails, the brake can be realized by the mode that the auxiliary brake system intervenes to directly analyze the brake request, so that the service life of the main brake system is prolonged, and meanwhile, the safety of the brake process can be ensured.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, 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 some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a diagram of a control system implementing an electronic braking method in an embodiment of the invention;
FIG. 2 is a flow chart of an electric braking method according to an embodiment of the present invention;
FIG. 3 is a diagram of a dual redundancy architecture for implementing an electronic braking method in an embodiment of the present invention;
FIG. 4 is a functional block diagram of an electric brake apparatus according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electric brake device in an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides an electronic braking method and device, and aims to solve the technical problems that a braking system in the prior art is short in service life and unsafe in braking process.
In order to solve the technical problems, the embodiment of the invention has the following general idea:
firstly, both a main braking system and an auxiliary braking system can obtain braking requests at the same time, then the main braking system analyzes the control requests and controls the auxiliary braking system, and the auxiliary braking system controls a braking device to brake according to the analysis result; if the auxiliary braking system is abnormal, the main braking system analyzes the braking request and directly controls the braking device to brake; when the main brake system is abnormal, the auxiliary brake system directly analyzes the brake request and controls the brake device to brake.
Through the technical scheme, in the normal use process, the main brake system analyzes the brake request and controls the auxiliary brake system instead of directly controlling the brake device, so that the service life of the main brake system can be prolonged, even if the main brake system fails due to failure, the brake can be realized by directly analyzing the brake request through the intervention of the auxiliary system, and the technical effects of prolonging the service life of the brake system and improving the safety of the brake process are further realized.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
First, it is stated that the term "and/or" appearing herein is merely one type of associative relationship that describes an associated object, meaning that three types of relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Referring to fig. 1, a control system of an electronic braking method provided for an embodiment of this specification includes a main braking system 10, an auxiliary braking system 20, and a braking device 30, where the main braking system 10 analyzes a braking request and controls the auxiliary braking system 20, so that the auxiliary braking system 20 controls the braking device 30 to brake, the auxiliary braking system 20 is used to control the braking device 30 to brake, and when the main braking system 10 is abnormal, the auxiliary braking system 20 can directly analyze the braking request and control the braking device 30 and an object controlled by the main braking system 10, and when the auxiliary braking system 20 is abnormal, the main braking system 10 can directly analyze the braking request and directly control the braking device 30 to brake, so as to improve the service life of the braking system and the safety of a braking process.
In a first aspect, an embodiment of the present invention provides an electronic braking method, as shown in fig. 2, which may be applied to braking of a vehicle, in particular, an electric vehicle. Of course, the brake device can also be used for other equipment needing braking, such as a brake device of a ferris wheel, a brake device of an elevator, a rotary cutter and the like. If the method is applied to Brake control of an automobile, the main Brake System is specifically an ESC on the automobile, and the auxiliary Brake System is specifically an EBS (Electronically Controlled Brake System) on the automobile, where the ESC is a main Brake System and the EBS is an auxiliary Brake System of the auxiliary ESC, and both of them can coordinate allocation of electric motors and hydraulic brakes.
As shown in fig. 2, the electronic braking method includes the steps of:
step S201: the status of the primary and auxiliary braking systems is monitored and braking requests are received.
In the specific implementation process, information interaction connection is established between the main brake system and the auxiliary brake system in advance, and the states of the main brake system and the auxiliary brake system are monitored through the information interaction connection.
Specifically, taking the electronic control of the automobile as an example, the ADAS (Advanced Driver Assistance System, Advanced driving Assistance System) may send a braking request when the vehicle starts the automatic driving mode, and the braking request, the power supply, the wake-up signal IG (Ignition), the information of the entire vehicle, and the like, are respectively sent to the ESC and the EBS through the communication of the ADAS through a Controller Area Network (CAN) bus of the entire vehicle, and a private Network is established between the ESC and the EBS, so that the two sets of systems of the ESC and the EBS CAN mutually diagnose and feed back information to the other side through the private Network of the handshake protocol, thereby performing information interaction and determining the state of the other side.
In an optional implementation mode, the braking request comprises braking strength information, and the braking strength information is obtained through calculation by the advanced driving assistance system based on the running parameters of the vehicle; or directly acquiring braking strength information through an acceleration sensor; and receiving a braking request initiated by the advanced driving assistance system based on the braking intensity information.
For example, referring to fig. 3, ADAS calculates braking strength information based on vehicle driving parameters, such as a current vehicle speed, a vehicle mass from an obstacle, and the like, and then sends a braking request carrying the braking strength information; or directly acquiring the braking intensity information through the acceleration sensor and then sending a braking request of the braking intensity information.
In an optional embodiment, an independent main control module (Spring + Spring mvc + MyBatis, SSM) is arranged in each of the main braking system and the auxiliary braking system, and the main control module and the auxiliary braking system can calculate and analyze vehicle information at the same time, verify data of each other under a dynamic braking condition, and respectively and independently control the motor and the hydraulic braking. Specifically, the EBS verifies the vehicle information of the ESC fed back by the main control module of the ESC, and the ESC verifies the vehicle information of the EBS fed back by the main control module of the EBS, thereby determining the state of the other party.
Step S202: if the main brake system and the auxiliary brake system are normal, the main brake system analyzes the brake request and sends the analysis result to the auxiliary brake system, so that the auxiliary brake system performs brake control on the brake device according to the analysis result.
If the main brake system and the auxiliary brake system are normal, the main brake system and the auxiliary brake system can receive the brake request, but the main brake system analyzes the received brake request to obtain an analysis result; receiving an analytic result analyzed by the main brake system through the auxiliary brake system, and performing step A1: the auxiliary braking system identifies the braking intensity information from the analysis result, and initiates a braking command matched with the braking intensity information to the braking device through the auxiliary braking system so as to perform braking control on the braking device, and at the moment, the auxiliary braking system only serves as a monitor and an actuator and does not perform command analysis.
In the specific implementation process of the step A1, according to different brake intensity information, the brake command is correspondingly different, so that the motor back-drag brake and the hydraulic friction brake are coordinated and distributed according to the brake intensity required by the vehicle; and further can recover the frictional braking energy of the vehicle to the maximum extent. Specifically, there are the following three cases:
firstly, if the braking intensity information meets the preset mild braking intensity condition, controlling a motor to execute a braking command through an auxiliary braking system; specifically, the mild braking strength condition may be that the braking strength information is within a first preset strength range.
Of course, other mild braking intensity conditions may be set according to actual requirements, such as the braking intensity information being equal to the first preset value and lasting for a preset time.
And if the brake intensity information meets a preset moderate brake intensity condition, controlling the motor and the hydraulic pressure through the auxiliary brake system to simultaneously execute a brake command, wherein the moderate brake intensity condition can be that the brake intensity information is within a second preset intensity range.
And thirdly, if the brake intensity information meets the preset severe brake intensity condition, namely the brake intensity information is smaller than the third preset intensity range, controlling the hydraulic pressure to execute the brake command through the auxiliary brake system.
The braking strength information of the automobile is represented by Z, and in the concrete implementation, the first preset strength range is more than 0 and less than 0.3g, the second preset strength range is more than or equal to 0.3g and less than 0.7g, and the third preset strength range is more than or equal to 0.7g and less than or equal to Z. The first, second and third preset intensity range judgment parameter values are used as references, and adjustment is allowed in practice according to vehicle parameters and working condition information.
For the first case of step a1, for example, ADAS calculates the braking strength information to be 0.2g based on the driving parameters of the vehicle, and then sends a braking request to ESC, and ESC analyzes and sends the braking request to EBS for execution, at this time, EBS only serves as a monitor and an actuator, and does not analyze the braking strength information, EBS identifies the braking strength information to be 0.2g from the analysis result, and since 0.2g is less than 0.3g, the EBS controls the motor to execute the braking command, and energy in the braking process is recovered in the form of power generation by the generator.
For the second case of step a1, for example, ADAS calculates the braking strength information to be 0.4g based on the driving parameters of the vehicle, and then sends a braking request to ESC, and the ESC parses the braking request and sends it to EBS for execution, at this time, EBS only serves as a monitor and an actuator, and does not parse, EBS recognizes the braking strength information to be 0.4g from the parsing result, and since 0.4g is in the range of 0.3 g-0.7 g, the magnitude of the braking force of the motor and the hydraulic pressure is controlled by EBS in coordination so that they execute the braking command at the same time, the energy in the braking process is recovered to the maximum in the form of power generation of the generator, and the hydraulic brake pads appropriately perform friction braking on the brake disc.
For example in the third case of step a1, the ADAS calculates the braking strength information to be 0.8g based on the driving parameters of the vehicle, and then sends a braking request to the ESC, and the ESC parses the braking request and sends the braking request to the EBS for execution, at this time, the EBS only serves as a monitor and an actuator, and does not parse the braking strength information, and the EBS recognizes that the braking strength information is 0.8g from the parsing result, and since 0.8g is greater than 0.7g, the EBS only controls the hydraulic pressure to execute the braking command, and the brake disc is maximally friction-braked by the hydraulic brake pad.
And selecting an actuating mechanism through coordination control between the ESC and the EBS, and finally carrying out coordination distribution among motor braking, ESC braking and EBS braking. Because the service life of the EBS is far longer than that of the ESC, on the basis of not increasing the working times of the ESC, more friction braking energy can be recovered, and the safety of automatic driving is improved.
Step S203: and if the main brake system is monitored to be abnormal, analyzing the brake request through the auxiliary brake system, and carrying out brake control on the brake device based on the analysis result.
In the specific implementation process, if the main brake system is detected to be abnormal, the step a2 is executed: and the auxiliary braking system analyzes the braking request, identifies braking strength information from the analysis result, and initiates a braking command matched with the braking strength information to the braking device through the auxiliary braking system so as to perform braking control on the braking device.
Continuing to take the electronic braking of the automobile as an example, when the ESC has an abnormal condition, the EBS may directly analyze the braking request, and during the process that the EBS receives and analyzes the braking request, the braking strength information also has the three conditions in step a1, which refer to the foregoing specifically, and are not described herein again for brevity of the description.
Firstly, the ADAS calculates and obtains that the braking intensity information is 0.2g based on the running parameters of the vehicle, such as the current vehicle speed, the vehicle mass away from the obstacle and the like, then sends a braking request to the EBS, the EBS directly analyzes the braking request and identifies that the braking intensity information is 0.2g from the analysis result, and since 0.2g is less than 0.3g, the EBS controls the motor to execute a braking command, and the energy in the braking process is recovered in the form of power generation of the generator.
ADAS calculates and obtains brake intensity information of 0.4g based on the driving parameters of the vehicle, then sends a brake request to the EBS, the EBS directly analyzes the brake request and identifies the brake intensity information of 0.4g from the analysis result, and since 0.4g is in the range of 0.3 g-0.7 g, the magnitude of the braking force of the motor and the hydraulic pressure is coordinately controlled through the EBS so as to simultaneously execute the brake command, the energy in the braking process is maximally recovered in the form of power generation of the generator, and meanwhile, the hydraulic brake pad appropriately performs friction braking on a brake disc.
And thirdly, the ADAS calculates and obtains the brake intensity information of 0.8g based on the driving parameters of the vehicle, then sends a brake request to the EBS, the EBS directly analyzes the brake request and identifies the brake intensity information of 0.8g from the analysis result, and since 0.8g is greater than 0.7g, the EBS only controls the hydraulic pressure to execute the brake command, and the hydraulic brake pad maximally performs friction braking on the brake disc.
As an alternative embodiment, step a2 further includes: and the main control module of the main brake system sends the abnormal information of the main brake system to the auxiliary brake system through information interaction connection, and the abnormal information of the main brake system is recorded and uploaded through the auxiliary brake system until the abnormality of the main brake system is eliminated.
Taking the electronic braking of an automobile as an example, when an ESC is abnormal, a main Control module of the ESC sends own abnormal information to an EBS, for example, the ESC is not configured, a fault occurs inside the ESC, the ESC is abnormal in connection with a CAN, and the like, and the EBS records and uploads the abnormal information to a VCU (Vehicle Control Unit) of the whole automobile, and meanwhile, the EBS monitors the abnormal information of the ESC in real time until the abnormality is eliminated, and the EBS manages the ESC to directly analyze a braking request and perform coordinated Control on the execution of a motor and hydraulic braking.
Step S204: and if the auxiliary brake system is monitored to be abnormal, analyzing the brake request through the main brake system, and carrying out brake control on the brake device based on the analysis result.
In the specific implementation process, if the auxiliary braking system is detected to be abnormal, the step a3 is executed: the main braking system analyzes the braking request, identifies braking strength information from the analysis result, and initiates a braking command matched with the braking strength information to the braking device through the main braking system so as to perform braking control on the braking device; in the specific implementation process of step a3, the following three situations exist: firstly, if the braking intensity information meets a preset mild braking intensity condition, controlling a motor to execute a braking command through a main braking system; if the brake intensity information meets the preset moderate brake intensity condition, controlling a motor and hydraulic pressure through a main brake system and executing a brake command at the same time; and thirdly, if the brake intensity information meets the preset severe brake intensity condition, controlling the hydraulic pressure to execute a brake command through a main brake system. For details of the step A3, reference may be made to the above description of the step a1, and for brevity of the description, detailed descriptions thereof are omitted here.
Continuing to take the electronic braking of the automobile as an example, as for the first case in step a3, ADAS calculates the braking strength information to be 0.2g based on the driving parameters of the vehicle, and then sends a braking request to the ESC, the ESC analyzes the braking request and identifies the braking strength information to be 0.2g from the analysis result, and since 0.2g is less than 0.3g, the ESC controls the motor to execute the braking command, and the energy in the braking process is recovered in the form of power generation of the generator.
For the second case of step a3, for example, ADAS calculates the braking strength information to be 0.4g based on the driving parameters of the vehicle, and then sends a braking request to the ESC, the ESC analyzes the braking request and identifies the braking strength information to be 0.4g from the analysis result, since 0.4g is in the range of 0.3 g-0.7 g, the ESC coordinately controls the braking force of the motor and the hydraulic pressure so that they simultaneously execute a braking command, the energy in the braking process is maximally recovered in the form of power generation of the generator, and the hydraulic brake pad appropriately performs friction braking on the brake disc.
For example in the third case of step a3, ADAS calculates the braking strength information to be 0.8g based on the driving parameters of the vehicle, and then sends a braking request to the ESC, the ESC analyzes the braking request and identifies the braking strength information to be 0.8g from the analysis result, and since 0.8g is greater than 0.7g, the ESC controls only the hydraulic pressure to execute the braking command, and the hydraulic brake pad maximally performs friction braking on the brake disc.
As an alternative embodiment, step a3 further includes: and the main control module of the auxiliary brake system sends the abnormal information of the auxiliary brake system to the main brake system through information interaction connection, and the main brake system records and uploads the abnormal information of the auxiliary brake system until the abnormality of the auxiliary brake system is eliminated.
Or taking the electronic brake of the automobile as an example, when the EBS is abnormal, the main control module of the EBS sends the abnormal information of the main control module to the ESC, for example, the EBS is not configured, the EBS has an internal fault, the EBS and the CAN are abnormally connected, and the ESC records and uploads the abnormal information to the VCU of the whole automobile, and simultaneously, the ESC monitors the abnormal information of the EBS in real time until the abnormality is eliminated, and the ESC CAN directly analyze the braking request and perform coordinated control on the execution of the motor and the hydraulic brake.
Through the steps S203-S204, when one side has a fault, the other side can take over the brake related instruction and independently complete signal analysis and execution, and simultaneously sends fault alarm information to the whole vehicle and monitors in real time until the fault is eliminated.
In a second aspect, based on the same inventive concept, an embodiment of the present invention provides an electric brake device for a braking process of an electric vehicle. Referring to fig. 4, an electronic braking device according to an embodiment of the present invention includes:
a detection unit 401 for monitoring the states of the main brake system and the auxiliary brake system and receiving a braking request;
the first control unit 402, if it is monitored that the main brake system and the auxiliary brake system are normal, analyzes the brake request through the main brake system, and sends the analysis result to the auxiliary brake system, so that the auxiliary brake system performs brake control on the brake device according to the analysis result;
a second control unit 403, if the main brake system is monitored to be abnormal, analyzing the brake request through the auxiliary brake system, and performing brake control on the brake device based on the analysis result;
and a third control unit 404, configured to, if it is detected that the auxiliary brake system is abnormal, analyze the braking request through the main brake system, and perform braking control on the brake device based on an analysis result.
In an alternative embodiment, the first control unit 402 includes:
the first identification subunit is used for receiving the analysis result by the main braking system and identifying the braking strength information from the analysis result by the auxiliary braking system;
and the first matching subunit initiates a braking command matched with the braking intensity information to the braking device through the auxiliary braking system so as to perform braking control on the braking device.
In an optional implementation manner, the first matching subunit is specifically configured to:
if the braking intensity information meets the preset mild braking intensity condition, controlling the motor to execute a braking command through the auxiliary braking system; if the brake strength information meets the preset moderate brake strength condition, controlling the motor and the hydraulic pressure through the auxiliary brake system and executing a brake command at the same time; and if the brake intensity information meets the preset severe brake intensity condition, controlling the hydraulic pressure to execute a brake command through the auxiliary brake system.
In an optional implementation, the second control unit 403 includes:
the second identification subunit analyzes the braking request through the auxiliary braking system and identifies braking strength information from an analysis result;
and the second matching subunit initiates a braking command matched with the braking intensity information to the braking device through the auxiliary braking system so as to perform braking control on the braking device.
In an optional implementation manner, the second matching subunit is specifically configured to:
if the braking intensity information meets the preset mild braking intensity condition, controlling the motor to execute a braking command through the auxiliary braking system; if the brake strength information meets the preset moderate brake strength condition, controlling the motor and the hydraulic pressure through the auxiliary brake system and executing a brake command at the same time; and if the brake intensity information meets the preset severe brake intensity condition, controlling the hydraulic pressure to execute a brake command through the auxiliary brake system.
In an alternative embodiment, the third control unit 404 includes:
the third identification subunit analyzes the braking request through the main braking system and identifies braking strength information from an analysis result;
and the third matching subunit initiates a braking command matched with the braking intensity information to the braking device through the main braking system so as to perform braking control on the braking device.
In an optional implementation manner, the third matching subunit is specifically configured to:
if the braking intensity information meets the preset mild braking intensity condition, controlling the motor to execute a braking command through the main braking system; if the brake strength information meets the preset moderate brake strength condition, controlling the motor and the hydraulic pressure through the main brake system to simultaneously execute a brake command; and if the brake intensity information meets the preset severe brake intensity condition, controlling the hydraulic pressure to execute a brake command through the main brake system.
In an optional implementation, the detection unit 401 includes:
and the monitoring subunit is used for establishing information interaction connection between the main braking system and the auxiliary braking system and monitoring the states of the main braking system and the auxiliary braking system through the information interaction connection.
In an optional implementation, the monitoring subunit is specifically configured to: if the main braking system is monitored to be abnormal, the method further comprises the following steps: the main control module of the main brake system sends the abnormal information of the main brake system to the auxiliary brake system through information interaction connection, and the abnormal information of the main brake system is recorded and uploaded through the auxiliary brake system until the abnormality of the main brake system is eliminated; if the auxiliary braking system is monitored to be abnormal, the method further comprises the following steps: and the main control module of the auxiliary brake system sends the abnormal information of the auxiliary brake system to the main brake system through information interaction connection, and the main brake system records and uploads the abnormal information of the auxiliary brake system until the abnormality of the auxiliary brake system is eliminated.
In an optional embodiment, the apparatus further includes a condition storage subunit, configured to store the mild braking intensity condition as that the braking intensity information is within a first preset intensity range; the medium braking intensity condition is that the braking intensity information is in a second preset intensity range, and the upper limit value of the first preset intensity range is smaller than or equal to the lower limit value of the second preset intensity range; the heavy braking intensity condition is that the braking intensity information is in a third preset intensity range, and the upper limit value of the second preset intensity range is smaller than or equal to the lower limit value of the third preset intensity range.
In an optional embodiment, the device is also applied to braking of the vehicle, and braking strength information is calculated by an advanced driving assistance system based on the running parameters of the vehicle; or directly acquiring braking strength information through an acceleration sensor; the driver assistance system initiates a braking request based on the braking intensity information.
In a third aspect, based on the same inventive concept, embodiments of the present invention provide an electronic brake apparatus.
Referring to fig. 5, an electronic brake device according to an embodiment of the present invention includes: a memory 501, a processor 502, and code stored on the memory and executable on the processor 502, the processor 502 implementing any one of the foregoing test process control method embodiment(s) when executing the code.
Where in fig. 5 a bus architecture (represented by bus 500) is shown, bus 500 may include any number of interconnected buses and bridges, and bus 500 links together various circuits including one or more processors, represented by processor 502, and memory, represented by memory 501. The bus 500 may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface 506 provides an interface between the bus 500 and the receiver 503 and transmitter 504. The receiver 503 and the transmitter 504 may be the same element, i.e., a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 502 is responsible for managing the bus 500 and general processing, and the memory 501 may be used for storing data used by the processor 502 in performing operations.
The technical scheme in the embodiment of the invention at least has the following technical effects or advantages:
1. the service life of the main braking system can be prolonged by analyzing the braking request by the main braking system and controlling the auxiliary braking system instead of directly controlling the braking device, particularly when the invention is applied to an automobile, the working times of a pump valve body in an ESC (electronic stability control) are reduced, the service life of the ESC is effectively ensured on the basis of not upgrading the ESC, the service life of the ESC is influenced by frequent work of an internal pump valve due to the fact that the ESC is controlled by the ECU and the pump valve body performs actions, and even if the main braking system fails, braking can be realized by directly analyzing the braking request by the intervention of the auxiliary system, so that the technical effects of prolonging the service life of the braking system and improving the safety of the braking process are realized.
2. In the embodiment of the invention, the main braking system and the auxiliary braking system simultaneously acquire the braking request and carry out information interaction, and the electronic braking method realizes dual redundancy backup and greatly improves the safety level of automatic driving.
3. In the embodiment of the invention, when the braking strength information is analyzed, different braking logics are adopted according to different braking strength information, and particularly when the braking strength information is applied to an automobile, when the braking strength information meets the mild braking strength condition, all energy in the braking process is recovered; when the brake strength information meets the medium brake strength condition, recovering the energy in the brake process to the maximum extent, and effectively braking the vehicle by using hydraulic pressure; when the braking strength information meets the condition of severe braking strength, in order to ensure that higher braking deceleration is achieved in the shortest time and to reduce unstable factors in the braking process, only hydraulic braking is adopted, and on the premise of ensuring driving safety, energy in the braking process is recovered as reasonably as possible, so that the technical effect of improving the endurance mileage of the electric automobile on the premise of ensuring driving safety is realized.
4. In the embodiment of the invention, the main brake system and the auxiliary brake system can be mutually verified, when any one party is abnormal, the rest party can replace the failed party to work, and the abnormal information is monitored and uploaded all the time until the abnormal information is repaired, so that the abnormal object is intuitively told to a user or a maintenance person, the abnormal condition is timely processed, and the vehicle using safety and the vehicle maintenance convenience are improved.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the invention may take the form of a computer product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer instructions. These computer instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. An electronic braking method, comprising:
monitoring the states of a main braking system and an auxiliary braking system and receiving a braking request;
if the main brake system and the auxiliary brake system are normal, analyzing the brake request through the main brake system, and sending an analysis result to the auxiliary brake system so that the auxiliary brake system performs brake control on a brake device according to the analysis result;
if the main brake system is monitored to be abnormal, the brake request is analyzed through the auxiliary brake system, and the brake device is controlled to brake based on the analysis result;
and if the auxiliary braking system is monitored to be abnormal, analyzing the braking request through the main braking system, and carrying out braking control on the braking device based on the analysis result.
2. The method of claim 1, wherein the braking request contains braking strength information, comprising:
the analyzing the braking request through the main braking system and sending an analysis result to the auxiliary braking system so that the auxiliary braking system performs braking control on a braking device according to the analysis result comprises the following steps:
the main braking system receives the analysis result and identifies the braking strength information from the analysis result through the auxiliary braking system;
initiating a braking command matched with the braking strength information to the braking device through the auxiliary braking system so as to perform braking control on the braking device;
the analyzing the braking request through the auxiliary braking system and performing braking control on the braking device based on the analysis result comprises:
analyzing the braking request through the auxiliary braking system, and identifying the braking intensity information from an analysis result;
initiating a braking command matched with the braking strength information to the braking device through the auxiliary braking system so as to perform braking control on the braking device;
the analyzing the braking request through the main braking system and controlling the braking of the braking device based on the analysis result comprises the following steps:
analyzing the braking request through the main braking system, and identifying the braking intensity information from an analysis result;
and initiating a braking command matched with the braking strength information to the braking device through the main braking system so as to perform braking control on the braking device.
3. The method of claim 2, wherein the initiating, by the auxiliary braking system, a braking command to the braking device that matches the braking intensity information comprises:
if the braking intensity information meets a preset mild braking intensity condition, controlling a motor to execute the braking command through the auxiliary braking system;
if the brake intensity information meets a preset moderate brake intensity condition, controlling the motor and the hydraulic pressure through the auxiliary brake system and executing the brake command at the same time;
and if the brake intensity information meets a preset severe brake intensity condition, controlling the hydraulic pressure to execute the brake command through the auxiliary brake system.
4. The method of claim 2, wherein the initiating, by the primary braking system, a braking command to the braking device matching the braking strength information to brake control the braking device comprises:
if the braking intensity information meets a preset mild braking intensity condition, controlling the motor to execute the braking command through the main braking system;
if the brake intensity information meets a preset moderate brake intensity condition, controlling the motor and the hydraulic pressure to simultaneously execute the brake command through the main brake system;
and if the brake intensity information meets a preset severe brake intensity condition, controlling the hydraulic pressure to execute the brake command through the main brake system.
5. The method of any one of claims 1-4, wherein monitoring the status of the primary and auxiliary braking systems comprises:
and establishing information interaction connection between the main braking system and the auxiliary braking system, and monitoring the states of the main braking system and the auxiliary braking system through the information interaction connection.
6. The method of claim 5,
if the main braking system is monitored to be abnormal, the method further comprises the following steps: the main control module of the main brake system sends the abnormal information of the main brake system to the auxiliary brake system through the information interactive connection, and the abnormal information of the main brake system is recorded and uploaded through the auxiliary brake system until the abnormality of the main brake system is eliminated;
if the auxiliary braking system is monitored to be abnormal, the method further comprises the following steps: and the main control module of the auxiliary brake system sends the abnormal information of the auxiliary brake system to the main brake system through the information interactive connection, and the main brake system records and uploads the abnormal information of the auxiliary brake system until the abnormality of the auxiliary brake system is eliminated.
7. The method of claim 3 or 4,
the mild braking intensity condition is that the braking intensity information is smaller than a first preset intensity range;
the medium braking intensity condition is that the braking intensity information is in a second preset intensity range, and the upper limit value of the first preset intensity range is smaller than or equal to the lower limit value of the second preset intensity range;
the heavy braking intensity condition is that the braking intensity information is within a third preset intensity range, and the upper limit value of the second preset intensity range is smaller than or equal to the lower limit value of the third preset intensity range.
8. The method according to claim 2, wherein the method is applied to braking of a vehicle, and the braking strength information is calculated by an advanced driving assistance system based on a driving parameter of the vehicle; or directly acquiring the braking strength information through an acceleration sensor;
the driver assistance system initiates the braking request based on the braking intensity information.
9. An electric brake apparatus, comprising:
the detection unit is used for monitoring the states of the main brake system and the auxiliary brake system and receiving a brake request;
the first control unit analyzes the braking request through the main braking system and sends an analysis result to the auxiliary braking system if the main braking system and the auxiliary braking system are monitored to be normal, so that the auxiliary braking system performs braking control on a braking device according to the analysis result;
the second control unit analyzes the braking request through the auxiliary braking system if the main braking system is monitored to be abnormal, and performs braking control on the braking device based on the analysis result;
and the third control unit analyzes the braking request through the main braking system if the auxiliary braking system is monitored to be abnormal, and performs braking control on the braking device based on the analysis result.
10. An electric brake apparatus comprising: memory, processor and code stored on the memory and executable on the processor, characterized in that the processor implements the method of any of claims 1-8 when executing the code.
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| CN202011460478.4A CN112606812A (en) | 2020-12-11 | 2020-12-11 | Electronic braking method and device |
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| CN202011460478.4A CN112606812A (en) | 2020-12-11 | 2020-12-11 | Electronic braking method and device |
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Application publication date: 20210406 |