CN113085820B - Redundant brake control method and system, brake system and storage medium - Google Patents
Redundant brake control method and system, brake system and storage medium Download PDFInfo
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- CN113085820B CN113085820B CN202110444179.XA CN202110444179A CN113085820B CN 113085820 B CN113085820 B CN 113085820B CN 202110444179 A CN202110444179 A CN 202110444179A CN 113085820 B CN113085820 B CN 113085820B
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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
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Abstract
The invention discloses a redundant brake control method and system, a brake system and a storage medium, wherein the redundant brake control method comprises the following steps: acquiring the opening information of a brake pedal of the electric vehicle; determining a target braking force according to the information; acquiring energy recovery braking capacity of the electric vehicle, and determining target motor braking force of an electronic mechanical braking system and driving motor braking force of the electric vehicle according to the target braking force and the energy recovery braking capacity; and carrying out feedback braking on the driving motor according to the braking force of the driving motor, and controlling the electronic mechanical braking system to brake according to the braking force of the target motor. Therefore, the control method can perform braking control on the vehicle through the driving motor and the electronic mechanical braking system, so that braking force can be generated through the driving motor after the electronic mechanical braking system of the vehicle fails to perform braking control on the vehicle, the probability of major accidents of the vehicle is reduced, and the safety performance of the vehicle and the driving safety of a driver are improved.
Description
Technical Field
The present invention relates to the field of vehicle braking technologies, and in particular, to a redundant braking control method for an electric vehicle, a computer-readable storage medium, an electromechanical braking system, and a redundant braking control system for an electric vehicle.
Background
At present, a hydraulic device is generally adopted for braking a vehicle, namely when a driver steps on a brake pedal, the hydraulic device generates pressure to push a friction plate to clamp a brake disc so as to generate braking force, and then the vehicle is braked. Therefore, in the related art, an electromechanical brake is adopted to control an electromechanical braking system to brake a vehicle, but the technology of the existing electromechanical braking system is not mature, and if the electromechanical braking system has mechanical failure, aging or handover sensor failure and the like, braking force cannot be directly generated, so that the braking of the vehicle is influenced, the vehicle and drivers and passengers are dangerous, and serious traffic accidents are likely to be caused.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, a first object of the present invention is to provide a redundant braking control method for an electric vehicle, which can generate a braking force by a driving motor after an electromechanical braking system of the vehicle fails to perform braking control on the vehicle, thereby reducing the probability of a major accident occurring in the vehicle and improving the safety performance of the vehicle and the driving safety of a driver.
A second object of the invention is to propose a computer-readable storage medium.
A third object of the present invention is to provide an electromechanical braking system.
A fourth object of the present invention is to propose a redundant brake control system for an electric vehicle.
To achieve the above object, an embodiment of a first aspect of the present invention provides a redundant braking control method for an electric vehicle, including: acquiring the opening information of a brake pedal of the electric vehicle; determining target braking force according to the opening information of the brake pedal; acquiring energy recovery braking capacity of the electric vehicle, and determining target motor braking force of the electronic mechanical braking system and driving motor braking force of the electric vehicle according to the target braking force and the energy recovery braking capacity; and carrying out feedback braking on the driving motor of the electric vehicle according to the braking force of the driving motor, and controlling the electronic mechanical braking system to brake according to the braking force of the target motor.
According to the redundant braking control method of the electric vehicle, firstly, opening information of a brake pedal of the vehicle is obtained, then target braking force is determined according to the opening information, energy recovery braking capacity of the vehicle is obtained, target motor braking force of an electronic mechanical braking system and driving motor braking force of the electric vehicle are determined according to the target braking force and the energy recovery braking capacity, then feedback braking is carried out on a driving motor of the electric vehicle according to the driving motor braking force, and braking of the electronic mechanical braking system is controlled according to the target motor braking force. Therefore, the redundant brake control method of the electric vehicle can perform brake control on the vehicle through the driving motor and the electromechanical brake system, so that after the electromechanical brake system of the vehicle fails, the driving motor can generate braking force to perform brake control on the vehicle, the probability of major accidents of the vehicle is reduced, and the safety performance of the vehicle and the driving safety of a driver are improved.
In addition, the redundant braking control method of the electric vehicle according to the above embodiment of the present invention may further have the following additional technical features:
according to one embodiment of the present invention, determining a target motor braking force of the electromechanical braking system and a driving motor braking force of the electric vehicle according to the target braking force and the energy recovery braking capability includes: when the energy recovery braking capacity is not zero, judging whether the target braking force is larger than the energy recovery braking capacity; if the target braking force is larger than the energy recovery braking capability, determining the maximum energy recovery braking capability of the electric vehicle, taking the maximum energy recovery braking capability as the braking force of the driving motor, and subtracting the maximum energy recovery braking capability from the target braking force to obtain the target motor braking force; and if the target braking force is less than or equal to the energy recovery braking capability, taking the target braking force as the braking force of the driving motor, and determining that the target braking force of the motor is zero.
According to an embodiment of the present invention, determining the target motor braking force of the electromechanical braking system and the driving motor braking force of the electric vehicle according to the target braking force and the energy recovery braking capability further includes: and when the energy recovery braking capability is zero, determining that the braking force of the driving motor is zero, and taking the target braking force as the target motor braking force.
According to one embodiment of the invention, after the target motor braking force of the electronic mechanical brake system and the driving motor braking force of the electric vehicle are determined, whether the electronic mechanical brake system fails is also judged, and when the electronic mechanical brake system fails, the driving motor of the electric vehicle is subjected to regenerative braking according to the driving motor braking force.
To achieve the above object, a second embodiment of the present invention provides a computer readable storage medium having a redundant braking control program of an electric vehicle stored thereon, which when executed by a processor implements the redundant braking control method of the electric vehicle as described in the above embodiment.
The computer-readable storage medium of the embodiment of the invention can perform braking control on the vehicle through the driving motor and the electromechanical braking system by executing the control program corresponding to the redundant braking control method of the electric vehicle stored thereon, so that braking force can be generated by the driving motor to perform braking control on the vehicle after the electromechanical braking system of the vehicle fails, thereby reducing the probability of major accidents of the vehicle and improving the safety performance of the vehicle and the driving safety of a driver.
In order to achieve the above object, a third aspect of the present invention provides an electromechanical braking system, which includes a memory, a processor, and a redundant braking control program of an electric vehicle stored in the memory and operable on the processor, wherein the processor implements the redundant braking control method of the electric vehicle according to the above embodiment when executing the redundant braking control program of the electric vehicle.
The electromechanical braking system comprises a memory and a processor, wherein the processor executes a control program which is stored in the memory and corresponds to a redundant braking control method of the electric vehicle, and can brake and control the vehicle through the driving motor and the electromechanical braking system, so that after the electromechanical braking system of the vehicle fails, the driving motor generates braking force to brake and control the vehicle, the probability of major accidents of the vehicle is reduced, and the safety performance of the vehicle and the driving safety of a driver are improved.
In order to achieve the above object, a fourth aspect of the present invention provides a redundant brake control system for an electric vehicle, the redundant brake control system comprising an electromechanical brake system control unit and a vehicle control unit, wherein the electromechanical brake system control unit is configured to obtain brake pedal opening information of the electric vehicle, and determine a target braking force according to the brake pedal opening information; the vehicle control unit is used for determining the energy recovery braking capability of the electric vehicle and sending the energy recovery braking capability to the electronic mechanical braking system control unit; the control unit of the electronic mechanical brake system is also used for determining the target motor brake force of the electronic mechanical brake system and the drive motor brake force of the electric vehicle according to the target brake force and the energy recovery brake capacity and sending the drive motor brake force to the vehicle control unit; the vehicle control unit is also used for carrying out feedback braking on a driving motor of the electric vehicle according to the driving motor braking force; and the control unit of the electronic mechanical brake system is also used for controlling the electronic mechanical brake system to brake according to the braking force of the target motor.
Firstly, the electromechanical braking system control unit is used for obtaining the opening degree information of a brake pedal of the electric vehicle, determining target braking force according to the opening degree information of the brake pedal, then the vehicle control unit is used for determining the energy recovery braking capacity of the vehicle and sending the energy recovery braking capacity to the electromechanical braking system control unit, the electromechanical braking system control unit is used for determining the target motor braking force of the electromechanical braking system and the driving motor braking force of the electric vehicle according to the target braking force and the energy recovery braking capacity, then the driving motor braking force is sent to the vehicle control unit, the vehicle control unit carries out feedback braking on the driving motor of the electric vehicle according to the driving motor braking force, and the electromechanical braking system control unit controls the electromechanical braking system to brake according to the target braking force And (6) moving. Therefore, the redundant brake control system of the electric vehicle can perform brake control on the vehicle through the driving motor and the electromechanical brake system, so that after the electromechanical brake system of the vehicle fails, the driving motor can generate braking force to perform brake control on the vehicle, the probability of major accidents of the vehicle is reduced, and the safety performance of the vehicle and the driving safety of a driver are improved.
In addition, the redundant brake control system of the electric vehicle according to the above embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, the control unit of the electromechanical braking system is further configured to determine whether the target braking force is greater than the energy recovery braking capability when the energy recovery braking capability is not zero; if the target braking force is larger than the energy recovery braking capability, determining the maximum energy recovery braking capability of the electric vehicle, taking the maximum energy recovery braking capability as the braking force of the driving motor, and subtracting the maximum energy recovery braking capability from the target braking force to obtain the target motor braking force; and if the target braking force is less than or equal to the energy recovery braking capability, taking the target braking force as the braking force of the driving motor, and determining that the target braking force of the motor is zero.
According to an embodiment of the present invention, the control unit of the electromechanical braking system is further configured to determine that the braking force of the driving motor is zero when the energy recovery braking capability is zero, and use the target braking force as the target motor braking force.
According to an embodiment of the present invention, the vehicle control unit is further configured to determine whether the electromechanical braking system fails after receiving the driving motor braking force, and perform regenerative braking on the driving motor of the electric vehicle according to the driving motor braking force when the electromechanical braking system fails.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of a redundant braking control method of an electric vehicle according to one embodiment of the present invention;
fig. 2 is a schematic configuration diagram of an electric vehicle according to an embodiment of the invention;
FIG. 3 is a schematic illustration of determining recovered energy according to one embodiment of the present invention;
FIG. 4 is a flowchart of a redundant braking control method of an electric vehicle according to another embodiment of the present invention;
FIG. 5 is a flow chart of a method of redundant braking control for an electric vehicle according to an embodiment of the present invention;
FIG. 6 is a block diagram of an electromechanical braking system according to an embodiment of the present invention;
fig. 7 is a block diagram of a redundant automatic control subsystem of an electric vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Hereinafter, a redundant brake control method and system, an electromechanical brake system, and a computer-readable storage medium of an electric vehicle according to embodiments of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is a flowchart of a redundant braking control method of an electric vehicle according to one embodiment of the present invention.
First, it should be noted that the redundant brake Control method according to the embodiment of the present invention is mainly applied to a pure electric Vehicle or an electric-oil hybrid Vehicle equipped with a VCU (Vehicle Control Unit) and capable of recovering braking energy and equipped with a decoupled electronic brake booster.
In this embodiment, the electric vehicle includes an electromechanical brake system for braking the electric vehicle, and it is understood that the vehicle can be braked by the electromechanical brake system during vehicle braking such as usual running braking and parking braking.
If the vehicle is braked by the electromechanical brake system alone, and if the electromechanical brake system fails, there is a possibility of a major accident, so this embodiment proposes a redundant brake control method for an electric vehicle, as shown in fig. 1, the method includes the following steps:
and S10, obtaining the brake pedal opening information of the electric vehicle.
Specifically, as shown in fig. 2, the electric vehicle in the present embodiment is mounted with an electromechanical brake, a VCU, a pedal displacement sensor, a caliper control unit, a brake lamp/interactive interface, and the like, and the VCU, the pedal displacement sensor, the caliper control unit, the brake lamp/interactive interface, and the like are connected with the electromechanical brake, respectively. The pedal displacement sensor can be used for acquiring the opening degree information of a brake pedal of the electric vehicle, namely, when a driver judges that the current scene needs to be braked, the driver can tread the brake pedal, and then the pedal displacement sensor can detect the opening degree information of the current pedal. It should be noted that, the pedal displacement sensor in the embodiment of the present invention may be a capacitance sensor, a resistance sensor, or the like, and the present invention is not limited thereto, and only needs to ensure that the pedal displacement sensor can accurately detect the pedal opening. In fig. 2, the caliper control unit is used for controlling the calipers on the vehicle to work to brake the vehicle, and the brake lamp/man-machine interface can be used for displaying the current brake details.
And S20, determining the target braking force according to the information of the opening degree of the brake pedal.
After the opening degree information of the brake pedal is acquired through step S10, the electromechanical brake may determine the target braking force according to the opening degree information of the brake pedal, and it is understood that there is a positive correlation between the opening degree of the brake pedal and the target braking force, that is, the larger the opening degree of the brake pedal, the larger the target braking force is.
S30, acquiring the energy recovery braking capability of the electric vehicle, and determining the target motor braking force of the electronic mechanical braking system and the driving motor braking force of the electric vehicle according to the target braking force and the energy recovery braking capability.
Specifically, in the braking process of the vehicle, the driving motor arranged on the vehicle stops driving the vehicle to run, at the moment, the vehicle can run for a certain distance due to the inertia effect, in this case, the running of the vehicle can drive the driving motor to rotate so as to generate energy, and the energy can be recycled and participate in controlling the braking of the vehicle. More specifically, the driver may issue an energy recovery braking request, which may be obtained by an electromechanical brake based on a pedal displacement sensor, a driver braking request, an energy recovery braking system, and the like. As shown in fig. 3, the electronic mechanical brake may first send an energy recovery Target instruction Regen Target to the vehicle control unit, and then send a calibration instruction Regen Target Q to verify the energy recovery Target instruction Regen Target, and optionally, when the calibration instruction Regen Target Q is 1, the energy recovery Target instruction Regen Target is valid; when the calibration command Regen Target Q is 0, the energy recovery Target command Regen Target is invalid. After receiving the valid energy recovery Target command Regen Target, the vehicle control unit sends a maximum energy recovery command Regen Capacity and an Actual energy recovery command Regen Actual to the electromechanical brake. When the maximum recovery energy of the vehicle control unit is smaller than the target recovery energy, a maximum energy recovery instruction Regen Capacity is sent to the electromechanical brake, namely the energy recovery braking capability is equal to the maximum energy recovery braking capability; when the maximum recovery energy of the vehicle control unit is larger than the target recovery energy, an Actual energy recovery instruction Regen Actual is sent to the electromechanical brake, and at the moment, the Actual recovery energy can be equal to the target recovery energy, that is, the energy recovery braking capability is equal to the target energy recovery braking capability. It will be appreciated that as the vehicle slowly comes to rest during braking, the energy recovered by the drive motor will also slowly decrease.
After the energy recovery braking capability is acquired, the target motor braking force of the electromechanical braking system and the driving motor braking force of the electric vehicle can be determined according to the target braking force and the energy recovery braking capability. The target motor braking force is determined according to the target braking force, and the driving motor braking force is determined according to the energy recovery braking capability.
In some embodiments of the present invention, as shown in fig. 4, determining a target motor braking force of the electromechanical brake system and a driving motor braking force of the electric vehicle according to the target braking force and the energy recovery braking capability includes:
s401, when the energy recovery braking capacity is not zero, judging whether the target braking force is larger than the energy recovery braking capacity.
Specifically, after the energy recovery braking capability is acquired, it may be determined whether the energy recovery braking capability is zero, and if it is determined that the energy recovery braking capability is not zero, it may be further determined whether the target braking force is greater than the energy recovery braking capability. It should be noted that, in this embodiment, the energy recovery braking capability may be determined by providing a comparator, or by soft program comparison.
S402, if the target braking force is larger than the energy recovery braking capacity, determining the maximum energy recovery braking capacity of the electric vehicle, taking the maximum energy recovery braking capacity as the braking force of the driving motor, and subtracting the maximum energy recovery braking capacity from the target braking force to obtain the target motor braking force.
Specifically, if it is determined that the target braking force is greater than the energy recovery braking capability, the maximum energy recovery braking capability of the electric vehicle may be determined first, optionally, the maximum energy recovery braking capability of the electric vehicle in this embodiment may be obtained by calculation using an electromechanical brake according to parameters such as a pedal displacement sensor of the vehicle, a rotation speed of a vehicle driving motor after stopping driving, and the like, and after the maximum energy recovery braking capability of the vehicle is determined, the maximum energy recovery braking capability is used as the driving motor braking force, that is, in this embodiment, the driving motor of the electric vehicle is driven by the maximum energy recovery braking capability to perform braking. And further, subtracting the maximum energy recovery braking capacity from the target braking capacity to obtain a braking capacity, wherein the braking capacity is the target motor braking capacity, and the target motor braking capacity is used for controlling the electronic mechanical braking system to brake.
It will be appreciated that in this embodiment, the vehicle is braked by the drive motor and the electromechanical brake system, wherein the sum of the braking force of both the drive motor and the electromechanical brake system braking the vehicle is equal to the target motor braking force, i.e. the target motor braking force determined by the user depressing the brake pedal.
And S403, if the target braking force is less than or equal to the energy recovery braking capacity, taking the target braking force as the driving motor braking force, and determining that the target motor braking force is zero.
Specifically, if it is determined that the target braking force is not greater than the energy recovery braking capability, the magnitude of the target braking force may be taken as the magnitude of the driving motor braking force, and the braking force is provided by the energy recovery braking capability, while the magnitude of the target motor braking force is adjusted to zero. That is, if it is determined that the target braking force is less than or equal to the energy recovery braking capability, it indicates that the braking requirement of the driver on the vehicle can be met only by using the energy recovery braking capability, and then the energy recovery braking capability can be adjusted according to the magnitude of the target braking force to brake the driving motor, and the braking force of the target motor is adjusted to zero at the same time, that is, the electromechanical braking system is not required to refer to the braking, so as to save the control energy.
In some embodiments of the present invention, determining a target motor braking force of the electromechanical braking system and a driving motor braking force of the electric vehicle according to the target braking force and the energy recovery braking capability further comprises: and when the energy recovery braking capacity is zero, determining that the braking force of the driving motor is zero, and taking the target braking force as the target motor braking force.
Specifically, if the energy recovery braking capability is zero by the judgment, it indicates that no energy is recovered, so the driving motor braking force is zero, that is, the driving motor cannot be controlled to perform the braking operation, and therefore the target braking force is taken as the target motor braking force to control the electromechanical braking system to perform the braking operation.
And S40, carrying out feedback braking on the driving motor of the electric vehicle according to the driving motor braking force, and controlling the electronic mechanical braking system to brake according to the target motor braking force.
Specifically, after the driving motor braking force and the target motor braking force are determined, the driving motor can be further controlled to brake according to the driving motor braking force, and the electronic mechanical brake system can be further controlled to brake according to the target motor braking force. Therefore, the vehicle can be braked by combining the driving motor and the electronic mechanical brake system, the redundancy is improved, and the probability of vehicle accidents is reduced.
In some embodiments of the present invention, after determining the target motor braking force of the electromechanical brake system and the driving motor braking force of the electric vehicle, it is further determined whether the electromechanical brake system fails, and when the electromechanical brake system fails, the driving motor of the electric vehicle is subjected to regenerative braking based on the driving motor braking force.
Specifically, after the target motor braking force and the driving motor braking force are determined, whether the electronic mechanical braking system fails or not is further judged, if the electronic mechanical braking system fails, feedback braking can be performed on the driving motor of the vehicle according to the driving motor braking force, and if the electronic mechanical braking system does not fail, normal braking of the electronic mechanical braking system is kept.
As shown in fig. 5, in an embodiment of the present invention, firstly, a pedal displacement sensor is used to detect a push rod stroke of a pedal, then a driver electronic mechanical brake can calculate a requested braking force value of a driver according to the push rod stroke to obtain a target braking force, and then, whether the energy recovery braking capability is zero is determined, if the energy recovery braking capability is zero, the braking force of a driving motor is zero, and the target braking force is taken as the target motor braking force; if the energy recovery braking capacity is not zero, further judging whether the target braking force is larger than the energy recovery braking capacity, if so, determining that the braking force of the driving motor is the maximum energy recovery braking capacity, and if not, determining that the braking force of the driving motor is equal to the target braking force minus the energy recovery braking capacity, and if not, determining that the braking force of the driving motor is equal to the target braking force and setting the braking force of the target motor to be zero. After the braking force of the driving motor and the braking force of the target motor are determined, whether the electronic mechanical braking system fails or not is further judged, if yes, only the driving motor generates the braking force, and if not, the electronic mechanical braking system is kept to brake normally.
In summary, the redundant brake control method for the electric vehicle according to the embodiment of the present invention can perform brake control on the vehicle through the driving motor and the electromechanical brake system, so that after the electromechanical brake system of the vehicle fails, the driving motor generates a braking force to perform brake control on the vehicle, thereby reducing the probability of major accidents occurring on the vehicle, and improving the safety performance of the vehicle and the driving safety of the driver.
Further, the present invention proposes a computer-readable storage medium having stored thereon a redundant braking control program of an electric vehicle which, when executed by a processor, implements the redundant braking control method of the electric vehicle as in the above-described embodiments.
The computer-readable storage medium of the embodiment of the present invention executes the redundant braking control program of the electric vehicle stored thereon through the processor, so as to implement the redundant braking control method of the electric vehicle in the above-described embodiment, so that the vehicle can be subjected to braking control through the driving motor and the electromechanical braking system, and after the electromechanical braking system of the vehicle fails, the driving motor generates braking force to perform braking control on the vehicle, thereby reducing the probability of major accidents of the vehicle, and improving the safety performance of the vehicle and the driving safety of a driver.
Fig. 6 is a block diagram of the structure of an electromechanical brake system according to an embodiment of the present invention.
Further, as shown in fig. 6, the present invention provides an electromechanical braking system 10, where the electromechanical braking system 10 includes a memory 11, a processor 12, and a redundant braking control program of an electric vehicle stored on the memory 11 and operable on the processor 12, and when the processor 12 executes the redundant braking control program of the electric vehicle, the redundant braking control method of the electric vehicle in the above embodiment is implemented.
The electromechanical brake system 10 of the embodiment of the present invention includes a memory 11 and a processor 12, and the processor 12 executes a redundant brake control program of the electric vehicle stored in the memory 11, so as to implement the redundant brake control method of the electric vehicle in the above-described embodiment, so that the vehicle can be brake-controlled by the driving motor and the electromechanical brake system, and after the electromechanical brake system of the vehicle fails, the driving motor generates a braking force to brake the vehicle, thereby reducing the probability of major accidents of the vehicle, and improving the safety performance of the vehicle and the driving safety of the driver.
Fig. 7 is a block diagram of a redundant automatic control subsystem of an electric vehicle according to an embodiment of the present invention.
Further, as shown in fig. 7, the present invention proposes a redundant brake control system 100 of an electric vehicle, the control system 100 including an electromechanical brake system control unit 101 and a vehicle control unit 102.
The electronic mechanical brake system control unit 101 is configured to obtain opening information of a brake pedal of the electric vehicle, and determine a target braking force according to the opening information of the brake pedal; the vehicle control unit 102 is configured to determine energy recovery braking capability of the electric vehicle, and send the energy recovery braking capability to the electromechanical braking system control unit 101; the electromechanical braking system control unit 101 is further configured to determine a target motor braking force of the electromechanical braking system and a driving motor braking force of the electric vehicle according to the target braking force and the energy recovery braking capability, and send the driving motor braking force to the vehicle control unit 102; the vehicle control unit 102 is further configured to perform regenerative braking on the driving motor of the electric vehicle according to the driving motor braking force; the electromechanical brake system control unit 101 is also configured to control the electromechanical brake system to perform braking according to the target motor braking force.
First, it should be noted that the redundant brake Control method according to the embodiment of the present invention is mainly applied to a pure electric Vehicle or an electric-oil hybrid Vehicle equipped with a VCU (Vehicle Control Unit) and capable of recovering braking energy and equipped with a decoupled electronic brake booster.
In this embodiment, the electric vehicle includes an electromechanical brake system for braking the electric vehicle, and it is understood that the vehicle can be braked by the electromechanical brake system during vehicle braking such as usual running braking and parking braking.
If the vehicle is braked by the electromechanical brake system alone, there is a possibility of a major accident occurring if the electromechanical brake system fails, so this embodiment proposes a redundant brake control system for an electric vehicle, as shown in fig. 7, in which the control system 100 includes an electromechanical brake system control unit 101 and a vehicle control unit 102.
Specifically, as shown in fig. 7, the electromechanical brake system control unit 101 may acquire brake pedal opening information of the electric vehicle, and more specifically, as shown in fig. 2, the electric vehicle is equipped with an electromechanical brake, a VCU, a pedal displacement sensor, a caliper control unit, a brake lamp/interactive interface, and the like, and the VCU, the pedal displacement sensor, the caliper control unit, and the brake lamp/interactive interface, and the like are respectively connected to the electromechanical brake. The pedal displacement sensor can be used for acquiring the opening degree information of a brake pedal of the electric vehicle, namely, when a driver judges that the current scene needs to be braked, the driver can tread the brake pedal, and then the pedal displacement sensor can detect the opening degree information of the current pedal. It should be noted that the pedal displacement sensor in the embodiment of the present invention may be a capacitance sensor, a resistance sensor, or the like, and is not limited herein, and only needs to be ensured to be capable of accurately detecting the pedal opening. In fig. 2, the caliper control unit is used for controlling the calipers on the vehicle to work to brake the vehicle, and the brake lamp/man-machine interface can be used for displaying the current brake details.
After the opening degree information of the brake pedal is acquired by the electromechanical brake system control unit 101, the target braking force may be further determined according to the opening degree information of the brake pedal, and it is understood that there is a positive correlation between the opening degree of the brake pedal and the target braking force, that is, the larger the opening degree of the brake pedal, the larger the target braking force is.
In the braking process of the vehicle, the driving motor arranged on the vehicle stops driving the vehicle to run, at the moment, the vehicle can run for a certain distance due to the inertia effect, in this case, the running of the vehicle can drive the driving motor to rotate so as to generate energy, and the energy can be recycled by using the vehicle control unit 102 and participate in controlling the braking of the vehicle. Specifically, the driver may issue an energy recovery braking request, which may be obtained by an electromechanical brake based on a pedal displacement sensor, a driver braking request, an energy recovery braking system, and the like. As shown in fig. 3 and 7, the electromechanical brake may first send an energy recovery Target instruction Regen Target to the vehicle control unit 102, and then send a calibration instruction Regen Target Q to verify the energy recovery Target instruction Regen Target, and optionally, when the calibration instruction Regen Target Q is 1, the energy recovery Target instruction Regen Target is valid; when the calibration command Regen Target Q is 0, the energy recovery Target command Regen Target is invalid. After receiving the valid energy recovery Target command Regen Target, the vehicle control unit 102 sends a maximum energy recovery command Regen Capacity and an Actual energy recovery command Regen Actual to the electromechanical brake. When the maximum recovery energy of the vehicle control unit 102 is smaller than the target recovery energy, a maximum energy recovery instruction Regen Capacity is sent to the electromechanical brake, that is, the energy recovery braking capability is equal to the maximum energy recovery braking capability; when the maximum recovered energy of the vehicle control unit 102 is greater than the target recovered energy, an Actual energy recovery instruction Regen Actual is sent to the electromechanical brake, and at this time, the Actual recovered energy may be equal to the target recovered energy, that is, the energy recovery braking capability is equal to the target energy recovery braking capability. It will be appreciated that as the vehicle slowly comes to rest during braking, the energy recovered by the drive motor will also slowly decrease.
After the electromechanical brake system control unit 101 acquires the energy recovery braking capability, the target motor braking force of the electromechanical brake system and the drive motor braking force of the electric vehicle may be determined according to the target braking force and the energy recovery braking capability. The target motor braking force is determined according to the target braking force, and the driving motor braking force is determined according to the energy recovery braking capability.
After the driving motor braking force and the target motor braking force are determined, the driving motor can be further controlled by the vehicle control unit 102 to brake according to the driving motor braking force, and the electromechanical brake system control unit 101 controls the electromechanical brake system to brake according to the target motor braking force. Therefore, the vehicle can be braked by combining the driving motor and the electronic mechanical brake system, the redundancy is improved, and the probability of vehicle accidents is reduced.
In some embodiments of the present invention, the control unit 101 of the electromechanical braking system is further configured to determine whether the target braking force is greater than the energy recovery braking capability when the energy recovery braking capability is not zero; if the target braking force is larger than the energy recovery braking capacity, determining the maximum energy recovery braking capacity of the electric vehicle, taking the maximum energy recovery braking capacity as the braking force of the driving motor, and subtracting the maximum energy recovery braking capacity from the target braking force to obtain the target motor braking force; and if the target braking force is less than or equal to the energy recovery braking capacity, taking the target braking force as the braking force of the driving motor, and determining that the target motor braking force is zero.
In some embodiments of the present invention, the electromechanical braking system control unit 101 is further configured to determine that the driving motor braking force is zero when the energy recovery braking capability is zero, and to take the target braking force as the target motor braking force.
In some embodiments of the present invention, the vehicle control unit 102 is further configured to determine whether the electromechanical brake system fails after receiving the driving motor braking force, and perform regenerative braking on the driving motor of the electric vehicle according to the driving motor braking force when the electromechanical brake system fails.
It should be noted that, for other specific embodiments of the redundant brake control system of an electric vehicle according to the embodiment of the present invention, reference may be made to the specific embodiments of the redundant brake control method of an electric vehicle in the foregoing embodiments, and details are not described herein again.
In summary, the redundant brake control system of the electric vehicle according to the embodiment of the present invention can perform brake control on the vehicle through the driving motor and the electromechanical brake system, so that after the electromechanical brake system of the vehicle fails, the driving motor generates a braking force to perform brake control on the vehicle, thereby reducing the probability of major accidents occurring on the vehicle, and improving the safety performance of the vehicle and the driving safety of the driver.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the invention.
Furthermore, the terms "first", "second", and the like used in the embodiments of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated in the embodiments. Thus, a feature of an embodiment of the present invention that is defined by the terms "first," "second," etc. may explicitly or implicitly indicate that at least one of the feature is included in the embodiment. In the description of the present invention, the word "plurality" means at least two or two and more, for example, two, three, four, etc., unless the embodiment is specifically defined otherwise.
In the present invention, unless otherwise explicitly stated or limited by the relevant description or limitation, the terms "mounted," "connected," and "fixed" in the embodiments are to be understood in a broad sense, for example, the connection may be a fixed connection, a detachable connection, or an integrated connection, and it may be understood that the connection may also be a mechanical connection, an electrical connection, etc.; of course, they may be directly connected or indirectly connected through intervening media, or they may be interconnected within one another or in an interactive relationship. Those of ordinary skill in the art will understand the specific meaning of the above terms in the present invention according to their specific implementation.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (6)
1. A redundant braking control method of an electric vehicle, the electric vehicle including an electromechanical braking system that brakes the electric vehicle, the method comprising:
acquiring the opening information of a brake pedal of the electric vehicle;
determining target braking force according to the opening information of the brake pedal;
acquiring energy recovery braking capacity of the electric vehicle, and determining target motor braking force of the electronic mechanical braking system and driving motor braking force of the electric vehicle according to the target braking force and the energy recovery braking capacity;
carrying out feedback braking on a driving motor of the electric vehicle according to the braking force of the driving motor, and controlling the electronic mechanical braking system to brake according to the braking force of the target motor;
determining a target motor braking force of the electromechanical braking system and a driving motor braking force of the electric vehicle according to the target braking force and the energy recovery braking capability, comprising:
when the energy recovery braking capacity is not zero, judging whether the target braking force is larger than the energy recovery braking capacity;
if the target braking force is larger than the energy recovery braking capability, determining the maximum energy recovery braking capability of the electric vehicle, taking the maximum energy recovery braking capability as the braking force of the driving motor, and subtracting the maximum energy recovery braking capability from the target braking force to obtain the target motor braking force;
if the target braking force is smaller than or equal to the energy recovery braking capability, taking the target braking force as the braking force of the driving motor, and determining that the target braking force of the motor is zero;
after the target motor braking force of the electronic mechanical braking system and the driving motor braking force of the electric vehicle are determined, whether the electronic mechanical braking system fails or not is judged, and when the electronic mechanical braking system fails, feedback braking is carried out on the driving motor of the electric vehicle according to the driving motor braking force.
2. The redundant brake control method of an electric vehicle according to claim 1, wherein a target motor braking force of the electromechanical brake system and a driving motor braking force of the electric vehicle are determined according to the target braking force and the energy recovery braking capability, further comprising:
and when the energy recovery braking capability is zero, determining that the braking force of the driving motor is zero, and taking the target braking force as the target motor braking force.
3. A computer-readable storage medium, characterized in that a redundant brake control program of an electric vehicle is stored thereon, which when executed by a processor implements the redundant brake control method of an electric vehicle according to any one of claims 1-2.
4. An electromechanical braking system comprising a memory, a processor, and a redundant braking control program for an electric vehicle stored on the memory and executable on the processor, wherein the processor implements the redundant braking control program for the electric vehicle according to any one of claims 1-2.
5. A redundant brake control system for an electric vehicle, comprising an electromechanical brake system control unit and a vehicle control unit, wherein,
the electronic mechanical brake system control unit is used for acquiring the opening information of a brake pedal of the electric vehicle and determining a target braking force according to the opening information of the brake pedal;
the vehicle control unit is used for determining the energy recovery braking capability of the electric vehicle and sending the energy recovery braking capability to the electronic mechanical braking system control unit;
the control unit of the electronic mechanical brake system is also used for determining the target motor brake force of the electronic mechanical brake system and the drive motor brake force of the electric vehicle according to the target brake force and the energy recovery brake capacity and sending the drive motor brake force to the vehicle control unit;
the vehicle control unit is also used for carrying out feedback braking on a driving motor of the electric vehicle according to the driving motor braking force;
the control unit of the electronic mechanical brake system is also used for controlling the electronic mechanical brake system to brake according to the braking force of the target motor;
the electromechanical brake system control unit is further adapted to,
when the energy recovery braking capacity is not zero, judging whether the target braking force is larger than the energy recovery braking capacity;
if the target braking force is larger than the energy recovery braking capability, determining the maximum energy recovery braking capability of the electric vehicle, taking the maximum energy recovery braking capability as the braking force of the driving motor, and subtracting the maximum energy recovery braking capability from the target braking force to obtain the target motor braking force;
if the target braking force is less than or equal to the energy recovery braking capability, taking the target braking force as the braking force of the driving motor, and determining that the target braking force of the motor is zero;
the vehicle control unit is further used for judging whether the electronic mechanical brake system fails or not after receiving the braking force of the driving motor, and carrying out feedback braking on the driving motor of the electric vehicle according to the braking force of the driving motor when the electronic mechanical brake system fails.
6. The redundant brake control system of an electric vehicle of claim 5, wherein the electro-mechanical brake system control unit is further configured to,
and when the energy recovery braking capability is zero, determining that the braking force of the driving motor is zero, and taking the target braking force as the target motor braking force.
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