CN115465117A - Vehicle brake control system, method and storage medium - Google Patents

Abstract

The application provides a vehicle brake control system, a vehicle brake control method and a storage medium, which relate to the technical field of electric automobiles, and the system comprises: the system comprises a whole vehicle control module, a redundant controller and a brake motor module; the whole vehicle control module comprises a main power supply and a standby power supply; the redundancy controller comprises a power supply management module and a motor driving module; the motor driving module is electrically connected with the brake motor module, and the power management module is in switchable connection with the main power supply and the standby power supply; the redundant controller is used for carrying out discharging and charging management on the standby power supply according to the power supply voltage state of the whole vehicle control module, and switching a proper power supply to drive the brake motor module to brake the vehicle. The redundant controller integrates the functions of standby power management and EPB (emergency power supply), controls the power supply mode of the main/standby power supply for automatic switching, effectively ensures the integral healthy operation of a power supply system, further ensures the stable operation of vehicle braking, and improves the driving safety.

Description

Vehicle brake control system, method and storage medium

Technical Field

The application relates to the technical field of electric automobiles, in particular to a vehicle brake control system, a vehicle brake control method and a storage medium.

Background

The transition from conventional vehicles to new energy vehicles is a major trend in current vehicle development, wherein the application of electric motor systems is also popularized. In the new energy automobile, the motor system can provide driving force so that the automobile can normally run, and can also provide braking force so that the automobile can be emergently braked. The automobile brake system generally has two main functions of 'stepping brake' and 'pulling hand brake': one is the service braking which leads the automobile to be decelerated from a dynamic state to a static state, and is realized by the operation of a brake pedal by a driver; the other is parking brake for keeping the vehicle in a stationary state, which is automatically completed by the driver's operation of a parking switch (EPB) or a vehicle parking brake logic.

At present, with the breakthrough of vehicle drive-by-wire technology and the rise of slide plate type chassis, the existing slide plate type drive-by-wire chassis mainly adopts a remote control mode or automatic driving control and a brake pedal without mechanical connection, and a power supply for supplying power to the chassis basically adopts a single power supply model. When the power supply of the vehicle fails to provide power for the controllers such as VCU \ EHB \ EPB and the like, the vehicle cannot be effectively braked emergently.

Disclosure of Invention

In view of this, an object of the embodiments of the present application is to provide a vehicle brake control system, method and storage medium, the system including: the system comprises a whole vehicle control module, a redundant controller and a brake motor module, wherein the whole vehicle control module comprises a main power supply and a standby power supply; the redundancy controller comprises a power supply management module and a motor driving module; the redundancy controller can discharge and charge the standby power supply according to the power supply voltage state of the whole vehicle control module, and switch a proper power supply to drive the brake motor module to brake the vehicle, so that the vehicle can still have certain driving or parking brake capacity under the condition that the main power supply fails by actively switching the main power supply (for example, a 12V main power supply) to the standby power supply, thereby solving the technical problem that the vehicle cannot be effectively braked emergently when the power supply fails to provide power for controllers such as VCU \ EHB \ EPB and the like.

In a first aspect, an embodiment of the present application provides a vehicle brake control system, including: the system comprises a whole vehicle control module, a redundant controller and a brake motor module; the whole vehicle control module comprises a main power supply and a standby power supply; the redundancy controller comprises a power supply management module and a motor driving module; the motor driving module is electrically connected with the brake motor module, and the power supply management module is in switchable connection with the main power supply and the standby power supply; the redundant controller is used for carrying out discharging and charging management on the standby power supply according to the power supply voltage state of the whole vehicle control module, and switching a proper power supply to drive the brake motor module to brake the vehicle.

In the implementation process, the redundant controller integrates the standby power management and EPB functions, and controls the main/standby power to be automatically switched into the power supply mode, so that the overall healthy operation of the power supply system is effectively ensured, and the working reliability of the whole vehicle system is further improved; when the main power supply fails, the standby power supply which is configured redundantly intervenes and replaces the failed main power supply to supply power to the main power supply, so that the main power supply can work normally.

Optionally, the redundant controller further comprises: an electric signal sensor and a fault diagnosis module; the electric signal sensor is electrically connected with the brake motor module and is used for detecting real-time current at two ends of a brake motor in the brake motor module; the fault diagnosis module is used for judging whether the brake motor module has a working failure fault according to the comparison result of the real-time current detected by the electric signal sensor and a preset brake current target value; and after the working failure fault occurs, judging whether the brake motor module has a mechanical fault according to the speed information provided by the whole vehicle control module.

In the implementation process, the current of the EPB motor is monitored by the redundancy controller, parking control is quickly executed after a parking or releasing signal of a control module of the whole vehicle is received, and braking operation failure faults and mechanical faults occurring in the parking braking control process are diagnosed and identified through the current of the motor, so that the whole healthy operation of a braking system is effectively ensured, the working reliability of the whole vehicle system is improved, and the safety of the vehicle is improved.

Optionally, the redundant controller sends a current signal to the brake motor module; and the fault diagnosis module is also used for judging whether the brake motor module has short-circuit or open-circuit faults according to the feedback of the current signal.

In the implementation process, the redundant controller can carry out circuit open circuit and short circuit fault diagnosis on the EPB motor through the fault diagnosis module, can well avoid the problem of abnormal motor sound in the open circuit and short circuit detection process, can effectively detect the open circuit and short circuit of the motor circuit, and improves safety and practicability.

Optionally, the electric signal sensor is further configured to detect a voltage of a power supply circuit of the vehicle control module; the vehicle control module further comprises: a CAN interface; the redundant controller is in communication connection with the whole vehicle control module through the CAN interface; the redundancy controller is used for receiving the starting state of the whole vehicle control module through the CAN interface when the vehicle is electrified every time, and enabling the direct current converter to automatically charge the standby power supply; and when the voltage of the standby power supply detected by the electric signal sensor is lower than the preset lowest motor brake voltage, enabling the direct current converter to automatically and circularly charge the standby power supply at regular intervals.

In the implementation process, the state communication between the whole vehicle control module and the redundant controller is realized through the CAN interface, and the redundant controller CAN monitor the communication state of the whole vehicle control module and monitor the running state of the vehicle in real time, so that the automatic cyclic charging is realized when the voltage of the standby power supply is lower than a preset value, the active braking function under the condition of failure of the main power supply is ensured, and the continuity of braking power supply is improved.

Optionally, the vehicle control module is further configured to send a forced charging signal to the redundant controller through a CAN interface; and the redundancy controller is also used for forcibly charging the standby power supply when the automatic charging of the standby power supply fails and the main power supply fails according to the forced charging signal.

In the implementation process, the state communication between the whole vehicle control module and the redundancy controller is realized through the CAN interface, the redundancy controller CAN monitor the communication state of the whole vehicle control module, and when the standby power supply fails to charge automatically and the main power supply fails, the standby power supply is charged forcibly, so that the active braking function under the condition that the main power supply fails is further ensured, and the continuity of braking power supply is improved.

Optionally, the power management module is further configured to switch the standby power output to a normally open state when the main power voltage detected by the electrical signal sensor is lower than a preset minimum voltage level; and/or when the main power supply voltage detected by the electric signal sensor is higher than the preset minimum voltage, switching the output of the standby power supply to a closed state.

In the implementation process, the standby power supply is actively and forcibly charged, so that the standby power supply is autonomously managed under normal conditions, and an emergency standby power supply can be provided for other controllers under a fault mode, namely, when an emergency standby output is provided under the condition of the fault of the main power supply of the vehicle, the emergency standby output is supplied to other controllers to work, the overall healthy operation of the power supply system can be further ensured, and the reliability and the stability of the work of the whole vehicle system are further improved.

Optionally, the power management module is further configured to switch to a main power supply when a standby power supply voltage detected by the electrical signal sensor is lower than a preset minimum working voltage, and the motor driving module is configured to drive the brake motor module to brake the vehicle under power supply of the main power supply; and/or the power management module is also used for switching to a standby power supply when the voltage of the standby power supply detected by the electric signal sensor is within a preset normal working voltage range, and the motor driving module is used for driving the braking motor module to brake the vehicle under the power supply of the standby power supply.

In the implementation process, the power management module integrated through the redundant controller can well manage and monitor the main power supply and the standby power supply, and simultaneously integrates the EPB braking function, so that the main power supply and the standby power supply can be well and automatically managed to cooperate with the auxiliary braking motor module to execute the parking braking, the normal operation of the parking braking is ensured, and the stability of the parking braking is improved.

Optionally, the motor driving module comprises a high-power MOS transistor to adapt to wheel-side direct-drive large motor hand brake or pull-wire small motor hand brake.

In the implementation process, the related parameters of the braking motor module can be quickly calibrated through the redundant controller to adapt to EPB motors of different vehicle types, two modes of a large motor and a small motor are met, quick calibration and matching are realized, and the cost of redevelopment and matching caused by different systems is reduced.

In a second aspect, the present application provides a vehicle braking control method, which is applied to the above system, and includes: the standby power supply is subjected to discharge and charge management through a power supply management module of the redundant controller according to the power supply voltage state of the whole vehicle control module, and a proper power supply is switched; and under the condition of switching to a proper power supply, the motor driving module drives the brake motor module to brake the vehicle.

In the implementation process, when the main power supply fails, the standby power supply in the redundant configuration intervenes and replaces the failed main power supply to work, so that the mean time of no failure of the system can be effectively prolonged by the redundant configuration, the stable operation of vehicle braking is ensured, and the driving safety is improved.

In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor, a memory storing machine-readable instructions executable by the processor, the machine-readable instructions being executable by the processor to perform the steps of the method described above when the electronic device is run.

In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to perform the steps of the method.

In order to make the aforementioned objects, features and advantages of the present application comprehensible, embodiments accompanied with figures are described in detail below.

Drawings

To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

FIG. 1 is a block functional diagram of a vehicle brake control system provided in an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a vehicle brake control system according to an embodiment of the present application;

fig. 3 is a circuit diagram of a connection between a redundant controller and a vehicle control module according to an embodiment of the present disclosure;

fig. 4 is a block diagram illustrating an electronic device of a vehicle brake control system according to an embodiment of the present disclosure.

Icon: 01-vehicle brake control system; 10-redundant controllers; 11-a power management module; 12-a motor drive module; 20-a vehicle control module; 21-a main power supply; 22-backup power supply; 30-braking the motor module; 300-an electronic device; 311-a memory; 312 — a storage controller; 313-a processor; 314-a peripheral interface; 315-input-output unit; 316-display unit.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element. The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Before introducing this application, a brief description of several concepts related to this application will first be provided:

the VCU is a vehicle control unit which is a core unit for running the electric vehicle, is responsible for functions of vehicle driving control, energy management, vehicle safety and fault diagnosis, information processing and the like, and is a necessary guarantee for realizing safe and efficient running of the pure electric vehicle.

EHB: the electronic hydraulic brake system is developed on the basis of the traditional hydraulic brake, an electronic brake pedal is used for replacing the traditional hydraulic brake pedal in an operating mechanism, and a large vacuum booster is omitted. The integrated electronic pedal sensor can accurately sense the weight of the control pedal of a driver and convert the weight into an electric signal to be transmitted to the electronic control unit, and the high-pressure hydraulic control unit can automatically adjust the brake pressure of the wheels according to different driving conditions. The actuator replaces the pressure regulator and ABS module of a conventional brake with a comprehensive brake module.

The EPB electronic parking brake system changes the traditional pull rod hand brake into a button which can be reached by a touch hand, and controls the parking brake through an electronic circuit. The function is the same as that of a mechanical pull rod hand brake. The electronic hand brake does not need to be closed manually when starting, and the electronic hand brake can be automatically closed when stepping on an accelerator for starting.

The invention of the application notes that: the parking brake of the vehicle brake system which pulls the hand brake to keep the vehicle in the stationary state is automatically completed by the operation of a parking switch (EPB) by a driver or the logic of the parking brake of the vehicle. At present, with the breakthrough of vehicle drive-by-wire technology and the rise of slide plate type chassis, the existing slide plate type drive-by-wire chassis mainly adopts a remote control mode or automatic driving control and a brake pedal without mechanical connection, and a power supply for supplying power to the chassis basically adopts a single power supply model. When the power supply of the vehicle fails to provide power for the controllers such as VCU \ EHB \ EPB and the like, the vehicle cannot be effectively braked emergently. Based on the above findings, the present application provides a vehicle control system to solve the above drawbacks, which includes:

referring to fig. 1, fig. 1 is a functional schematic diagram of modules of a vehicle brake control system 01 according to an embodiment of the present disclosure. The vehicle brake control system 01 includes: a vehicle control module 20, a redundant controller 10, and a brake motor module 30; the whole vehicle control module 20 comprises a main power supply 21 and a standby power supply 22; the redundant controller 10 includes a power management module 11 and a motor driving module 12;

the motor driving module 12 is electrically connected with the brake motor module 30, and the power management module 11 is switchably connected with the main power supply 21 and the standby power supply 22; the redundant controller 10 is used for performing discharge and charge management on the standby power supply 22 according to the power supply voltage state of the vehicle control module 20, and switching a proper power supply to drive the brake motor module 30 to perform vehicle braking.

Illustratively, the vehicle control module 20 may be a controller system including a complete vehicle VCU (complete vehicle controller) core processing unit, and may implement various functions such as main/standby power management, CAN communication, and complete vehicle. The motor driving module 12 may include an H-bridge switching circuit, which may be connected to four switches in the H-bridge, respectively, and configured to control current feeding to the multiple motors and rotation directions of the multiple motors through the four switches of the H-bridge, and may specifically implement driving of the multiple motors by outputting a high level mode or a low level mode to the four switches in the H-bridge; the power management module 11 may be equivalent to an alternative analog switch or a switch, and is configured to switch between the main power source 21 and the standby power source 22, where two input terminals of the power management module are respectively connected to the main power source 21 and the standby power source 22, and when a control terminal of the power management module is at a high level, the input terminal is connected to the main power source 21, and when the control terminal of the power management module is at a low level, the input terminal is connected to the standby power source 22. When the redundant controller 10 detects a failure of the main power 21, it outputs a control signal to the control terminal of the power management module 11 to implement power switching.

The redundant controller 10 (BCU) comprises a power supply management module 11 with the management capability of a 12V main power supply 21 and a standby power supply 22 and a motor driving module 12 with the capability of driving a braking motor module 30 (EPB motor) to carry out emergency parking braking, so that the redundant controller 10 integrates the management of the standby power supply 22 and the EPB function into one controller, and the condition that the parking braking cannot be normally carried out under the condition that the main power supply 21 fails is well avoided. Among them, for example: the operating parameters of the main power supply 21 are typically 12V, 80Ah, and the operating parameters of the backup power supply 22 may be 12V, 25Ah.

The process by which the redundant controller 10 manages charging of the backup power supply 22 may be: after the vehicle is powered on, the redundancy controller 10 detects a power-on signal of the main power supply 21, the redundancy controller 10 can work, and controls the input of the direct current converter 12V to close an internal charging loop of the BCU and the standby power supply 22 starts to charge after receiving a Ready state sent by the vehicle controller; after one hour of charging, the redundant controller 10 will actively turn off the charging switch, and the charging is finished. And the later stage of the charging time can modify a corresponding control algorithm according to the actual condition to carry out calibration adjustment.

In order to prevent that redundant controller 10 from continuously working and consuming power after whole vehicle control module 20 powers off, if park for a long time and can lead to standby power supply 22 to lack of power, and power-on back again, if standby power supply 22 lacks of power, redundant controller 10 can't normally work to lead to unable handbrake and the charging of management standby power supply 22 of relieving, consequently increase redundant controller 10's automatic dormancy and awaken the function up. When the vehicle control module 20 requests power-off, the power-off request information is simultaneously sent to the redundant controller 10, and the redundant controller 10 automatically enters a dormant state within 30s after receiving the signal and does not consume energy any more. When the vehicle is powered on again, the redundant controller 10 receives a 12V power-on voltage signal sent by the vehicle control module 20, and is automatically activated to enter the working state.

The redundant controller 10 integrates the functions of standby power supply 22 management and EPB, and controls the power supply mode of main/standby power supply autonomous switching, so that the integral healthy operation of the power supply system is effectively ensured, and the working reliability of the whole vehicle system is further improved; when the main power supply 21 fails, the standby power supply 22 in redundant configuration intervenes and replaces the failed main power supply 21 to work, so that the mean time without failure of the system can be effectively prolonged by the redundant configuration, the stable operation of vehicle braking is ensured, and the driving safety is improved.

In one embodiment, the redundant controller 10 further comprises: an electric signal sensor and a fault diagnosis module; the electric signal sensor is electrically connected with the brake motor module 30 and is used for detecting real-time current at two ends of a brake motor in the brake motor module 30; the fault diagnosis module is used for judging whether the brake motor module 30 has a working failure fault according to the comparison result of the real-time current detected by the electric signal sensor and a preset brake current target value; and judging whether the brake motor module 30 has a mechanical fault according to the speed information provided by the vehicle control module 20 after the failure fault does not occur.

Illustratively, as shown in fig. 2, the electrical signal sensor includes a current sensor and a voltage sensor for detecting a real-time voltage and current across the target object. The fault diagnosis module can support the diagnosis of open circuit and short circuit of the EPB motor, can monitor the current of the EPB motor and can simply judge whether the motor works normally. The mechanical failure may be brake pad wear or caliper mechanical damage. Additionally, the electric signal sensor may only include one of a current sensor and a voltage sensor, and may also monitor the current of the EPB motor based on a corresponding control algorithm, and perform simple fault judgment on whether the motor is working normally.

Disc brakes are typically comprised of a brake oil pump, a brake disc attached to the wheel, and brake calipers on the disc. When the brake is performed, the high-pressure brake oil pushes a piston in the caliper to press the brake shoe to the brake disc, so that the brake effect is generated. The calipers have the functions of reducing the speed of a moving wheel, stopping the moving wheel or keeping the moving wheel in a stopped state and the like, and can be used for a disc brake system; the brake pad may be a friction material fixed to a drum or a disc rotating with a wheel, and a friction lining and a friction pad thereof receive an external pressure to generate a frictional action, thereby achieving a deceleration of a vehicle.

The redundant controller 10 receives a parking or release signal of the VCU and then quickly executes parking control, and drives the brake motor module 30 to perform braking operation through the motor driving module 12, which may specifically be: two modes of manual parking and manual release. The manual parking brake may be: when the redundant controller 10 is in a hand brake release state, the EPB switch is pulled down manually, and the redundant controller 10 executes parking brake; the manual release of the brakes may be: the redundant controller 10 is in the hand brake activation state, and the EPB switch is manually pressed, and the redundant controller 10 releases the parking brake.

The working current of the brake motor and the clamping force of the calipers are in a linear relation, and the current change of the motor presents a consistent curve when the brake motor normally runs each time. Therefore, the redundant controller 10 can detect the current of the brake motor module 30 during the pull brake and the release brake through the electric signal sensor, compare the current of the pull brake and the release brake with the set target value threshold respectively, and if the current is smaller than the set target value threshold, the fault diagnosis module determines that the EPB brake is out of work; if the value is equal to or greater than the set target value threshold, the EPB brake is normal, and at this time, if the vehicle speed information provided by the entire vehicle control module 20 can be received, that is, under the condition that the redundant controller 10 applies effective braking, the vehicle still has an effective vehicle speed output, which indicates that the caliper end does not tighten the brake pad, and the brake pad may be worn or the caliper may be mechanically damaged.

The current of the EPB motor is monitored through the redundancy controller 10, parking control is quickly executed after a parking or releasing signal of the VCU is received, and braking work failure faults and mechanical faults occurring in the parking braking control process are diagnosed and identified through the current of the motor, so that the integral healthy operation of a braking system is effectively ensured, the working reliability of a whole vehicle system is increased, and the safety of a vehicle is improved.

In one embodiment, the redundant controller sends a current signal to the brake motor module 30; the fault diagnosis module judges whether the brake motor module 30 has short-circuit or open-circuit faults according to the feedback of the current signals.

For example, the fault diagnosis module may determine whether an open-circuit fault exists in the plurality of motors based on corresponding excitation currents when the plurality of motors are excited by a pulse current that fails to rotate the plurality of motors and release currents generated by the plurality of motors after the excitation.

The redundancy controller 10 sends small pulse width current to the EPB motor through the motor driving control module, the period and the pulse width of the current value are different according to different motor models, a voltage signal is sent at the same time, the current output from two ends of the motor is detected through the current sensor, the fault diagnosis module compares the current with a test calibration value, and then whether an open short circuit fault exists in a motor circuit is determined, and the fault is sent to the VCU. For example, it may be determined whether there is an open-circuit motor in the plurality of motors at present by comparing the maximum value of the excitation current and the release current measured in the case where the plurality of motors are normal.

The redundant controller 10 can diagnose open circuit and short circuit faults of the circuit of the EPB motor through the fault diagnosis module, can well avoid the abnormal sound problem of the motor in the open short circuit detection process, can effectively detect the open short circuit of the motor circuit, and improves the safety and the practicability.

In one embodiment, the electrical signal sensor is also used to detect the voltage of the power circuit of the vehicle control module 20; this whole car control module 20 still includes: a CAN interface; the redundancy controller 10 establishes communication connection with the vehicle control module 20 through a CAN interface;

the redundant controller 10 is used for receiving the starting state of the whole vehicle control module 20 through the CAN interface when the vehicle is powered on every time, and enabling the direct current converter to automatically charge the standby power supply 22; and when the voltage of the standby power supply 22 detected by the electric signal sensor is lower than the preset minimum motor brake voltage, enabling the direct current converter to automatically and circularly charge the standby power supply 22 at regular intervals.

Illustratively, the vehicle control module 20 and the redundancy controller 10 perform message interaction through the CAN interface, receive a status signal of the MCU, and send a brake control instruction to the MCU, where the CAN communication size may be 500kbit/s. Each power-up may be to enter a ready state after a high voltage self test on the vehicle. When the EPB parking brake is performed, the emergency power supply 22 is used for supplying power to the EPB motor, the working voltage of the EPB motor can be 9-16V, so that the preset minimum motor brake voltage can be 11V, namely the voltage of the emergency power supply 22 is 11V, and the specific value can be adjusted according to actual conditions, and the method is not limited to a few times.

The state discrimination of the redundant controller 10 can be divided into three conditions of power-on, normal power-off and abnormal power-off: (1) Electrifying, receiving a ready signal, controlling the charging to start by the redundancy controller 10, stopping the charging after 1 hour, and enabling the EPB motor to be in a working state; (2) When the power is normally powered off, a high-voltage request signal is received, the redundancy controller 10 is in a normal working state, the output of the standby power supply 22 is disconnected after 3 minutes, and the redundancy controller 10 is dormant after 30 seconds; (3) The redundant controller 10 is actively parked without cutting off the output of the backup power supply 22 and entering a sleep state when abnormally powered off (failure of the main power supply 21), receiving a no-down high voltage request signal, and the main power supply 21 is lower than 11V.

Correspondingly, referring to fig. 3, fig. 3 is a circuit diagram of the connection between the redundant controller 10 and the entire vehicle, (1) a power-on process: when the whole vehicle is powered on, the VCU sends out a Ready signal of the vehicle to indicate that the power-on is successful, the S2 is closed, the redundancy controller 10 detects the voltage of the main/standby power supply, and the available power supply is automatically selected to be used by the EPB motor. If the VCU sends a hand brake release signal at this time, the redundant controller 10 receives the signal and controls the motor to work. The S1 and S3 switches are closed simultaneously to charge the backup power source 22. When the charging is full for one hour, S1 is automatically disconnected. (2) during vehicle operation: the VCU requests the redundant controller 10 to park or release, and the redundant controller 10 disconnects S3 to stop charging the backup battery, and then controls the motor to operate. (3) a power-off process: the VCU first requests the redundant controller 10 to park, and the redundant controller 10 actively parks.

Alternatively, when the vehicle is powered on, the redundant controller 10 receives the Ready state sent by the vehicle control module 20, and the redundant controller 10 closes a loop between the DCDC (direct current converter) and the backup power source 22 to allow the DCDC to charge the backup power source 22, and the charging time can be set according to different backup battery models for 1 hour. Meanwhile, when the voltage of the backup power source 22 is lower than 11v, the redundancy controller 10 will also make it enter an automatic cycle charging state, and drive the DCDC to repeatedly charge the backup power source 22 every 0.5 hour.

The state communication between the vehicle control module 20 and the redundant controller 10 is realized through the CAN interface, and the redundant controller 10 CAN monitor the communication state of the vehicle control module 20, so that the automatic cycle charging is realized when the voltage of the standby power supply 22 is lower than a preset value, the active braking function under the condition that the main power supply 21 fails is ensured, and the continuity of braking power supply is improved.

In one embodiment, the vehicle control module 20 is further configured to send a forced charging signal to the redundant controller 10 through the CAN interface; the redundant controller 10 is also configured to forcibly charge the backup power supply 22 when the backup power supply 22 fails to be automatically charged and the main power supply 21 fails according to the forced charging signal.

Illustratively, the redundant controller 10 may reserve a forced charge switch. The VCU may send a message command to the redundant controller 10 via the CAN interface to perform forced charging. In the case of the automatic charging failure of the backup power source 22 and the failure of the main power source 21, the redundancy controller 10 may drive the dc converter to charge the backup power source 22 in an emergency according to a forced charging instruction issued by the VCU.

The state communication between the whole vehicle control module 20 and the redundant controller 10 is realized through the CAN interface, the redundant controller 10 CAN monitor the communication state of the whole vehicle control module 20, and when the standby power supply 22 fails in automatic charging and the main power supply 21 fails, the standby power supply 22 is charged forcibly, so that the active braking function under the condition that the main power supply 21 fails is further ensured, and the continuity of braking power supply is improved.

In one embodiment, the power management module 11 is further configured to switch the output of the standby power supply 22 to a normally open state when the voltage of the main power supply 21 detected by the electrical signal sensor is lower than a preset minimum voltage amount; and/or switching the output of the backup power supply 22 to an off state when the voltage of the main power supply 21 detected by the electric signal sensor is higher than a preset minimum voltage amount.

Illustratively, the preset minimum voltage amount may be a minimum voltage amount of the main power supply 21, for example, 3V, and the specific value may be adjusted according to actual conditions, which is not limited herein. The power management module 11 of the redundant controller 10 may provide a 12V/40A backup power supply 22 output, i.e., an emergency backup output for other controllers in the event of a failure of the vehicle's primary power supply 21. The specific process can be as follows: when the main power supply 21 works normally, namely the voltage of the main power supply 21 detected by the voltage sensor is higher than 3V, the output of the standby power supply 22 is switched to be in a closed state, and a CAN request CAN be sent by a VCU to actively select to be turned on and turned off; when the output of the main power supply 21 fails, that is, the voltage of the main power supply 21 detected by the voltage sensor is lower than 3V, the output of the backup power supply 22 is switched to a normally open state.

Realize the state communication between whole car control module 20 and the redundant controller 10 through the CAN interface, redundant controller 10 CAN monitor whole car control module 20's communication state, through the mode of taking initiative and compulsory charging to stand-by power supply 22, the autonomous management under the normal condition, CAN provide urgent stand-by power supply 22 for other controllers under the fault mode, promptly when providing an urgent reserve output under the vehicle main power 21 trouble condition, supply with other controller work, CAN further guarantee the holistic healthy operation of power supply system, and then increase the reliability of whole car system work, stability.

In one embodiment, the power management module 11 is further configured to switch to the main power 21 when the voltage of the backup power 22 detected by the electrical signal sensor is lower than a preset minimum operating voltage, and the motor driving module 12 is configured to drive the brake motor module 30 to brake the vehicle under the power supplied by the main power 21; and/or

The power management module 11 is further configured to switch to the backup power source 22 when the voltage of the backup power source 22 detected by the electrical signal sensor is within a preset normal operating voltage range, and the motor driving module 12 is configured to drive the braking motor module 30 to brake the vehicle under the power supplied by the backup power source 22.

Illustratively, if the EPB motor operating voltage is 9V to 16V, since the power supply of the redundant controller 10 is selected by the main power supply 21 and the backup power supply 22, and the EPB motor power supply is normally the backup power supply 22 power, the EPB motor may not operate normally, and the controller below 9V may not operate normally, with the backup power supply 22 voltage being lower than 11v. The preset minimum operating voltage may be the minimum voltage at which the backup power supply 22 normally operates, and thus may be 9V here, and the preset normal operating voltage may range from 9V to 14V.

The redundancy controller detects the voltage of a standby power supply 22 of a whole vehicle control module 20 through a voltage sensor, when the voltage sensor detects that the voltage is 9-14V, the power supply in the vehicle is switched to the standby power supply 22 through a power supply management module 11, and a brake motor module 30 is driven through a motor drive control module to carry out EPB parking brake; when the voltage is lower than 9V, the power supply in the vehicle is switched to the main power supply 21 through the power management module 11 within 0.05s, and the brake motor module 30 is driven through the motor drive control module to perform EPB parking brake.

The power management module 11 integrated by the redundant controller 10 can well manage and monitor the main power supply 21 and the standby power supply 22, and simultaneously integrates an EPB braking function, so that the main power supply 21 and the standby power supply 22 can be well and automatically managed to cooperate with the auxiliary braking motor module to execute parking braking, the normal operation of the parking braking is ensured, and the stability of the parking braking is improved.

In one embodiment, the motor drive module 12 includes a high power MOS transistor for adapting a wheel-side direct drive large motor hand brake or a pull-cord small motor hand brake.

Illustratively, the MOS transistor may be a Metal-Oxide-Semiconductor (Semiconductor) field effect transistor, and the current of the drain of the output terminal is controlled by a voltage applied to the gate of the input terminal. The motor driving module 12 comprises a high-power MOS tube, bears the maximum current of 70A, and can cover the requirements of various EPB motors of the current vehicle type.

The method is characterized in that the redundancy controller 10 is comprehensively developed by combining the differences of sliding plate type chassis platforms and electronic parking brake systems of a plurality of companies, working mode selection and calibration modes are introduced into a hand brake control program of the redundancy controller 10, different working modes are selected according to different hand brake structures, and different control parameters are calibrated according to different hand brake motors.

For the large wheel-side direct-drive EPB motor, the large wheel-side direct-drive EPB motor is mainly suitable for chassis vehicles with more than 1 ton, can work in a corresponding DEPB working mode selectively, and controls the two wheel-side direct-drive motors to realize control over two calipers by calibrating relevant parameters of the redundancy controller 10, such as a maximum current limit threshold, so as to realize parking braking.

For the small pull-type EPB motor, the motor is mainly suitable for chassis vehicles with less than 1 ton, the motor can work in a corresponding SEPB working mode selectively, and the metal pull wires of the single pull-type motor are controlled to realize the control of two calipers by calibrating relevant parameters of the redundancy controller 10, such as a maximum current limit threshold, so as to realize parking brake.

The motor driving module 12 adopts a high-power MOS tube, and compared with the traditional EPB scheme, the size of the controller is reduced. Meanwhile, the EPB function is specially designed for the sliding plate type chassis, and a plurality of vehicle signal inputs of the traditional EPB are eliminated. Meanwhile, the current detection and the current limiting calibration of the EPB motor enable the redundant controller to be rapidly adapted to different chassis vehicle types.

The redundancy controller 10 can quickly calibrate the relevant parameters of the brake motor module to adapt to EPB motors of different vehicle types, and simultaneously meets two modes of a large motor and a small motor, thereby realizing quick calibration and matching and reducing the cost of redevelopment and matching caused by different systems.

In one embodiment, a vehicle brake control method is provided, which is applied to the vehicle brake control system 01 described above, and includes:

the power management module 11 of the redundant controller 10 performs discharge and charge management on the standby power supply 22 according to the power supply voltage state of the vehicle control module 20, and switches the appropriate power supply.

Illustratively, the redundant controller 10 integrates the management of the backup power supply 22 and the EPB function into one controller, can switch the appropriate power supply to cooperate to execute the parking brake, and when the main power supply 21 fails, the redundant backup power supply 22 intervenes and works instead of the failed main power supply 21, so that the mean time without failure of the system can be effectively increased by means of the redundant configuration, the stable operation of the vehicle brake is ensured, and the driving safety is improved.

The power management module 11 integrated with the redundant controller 10 can manage and monitor the main power supply 21 and the backup power supply 22 well, can switch to the backup power supply 22 quickly after the main power supply 21 fails, automatically manage the automatic charging and discharging of the backup power supply 22, and support the forced charging request of the VCU.

Referring to fig. 4, fig. 4 is a block diagram of an electronic device. The electronic device 300 may include a memory 311, a memory controller 312, a processor 313, a peripheral interface 314, an input output unit 315, and a display unit 316. It will be understood by those skilled in the art that the structure shown in fig. 4 is merely illustrative and is not intended to limit the structure of the electronic device 300. For example, electronic device 300 may also include more or fewer components than shown in FIG. 4, or have a different configuration than shown in FIG. 4.

The above-mentioned memory 311, memory controller 312, processor 313, peripheral interface 314, input/output unit 315 and display unit 316 are electrically connected to each other directly or indirectly to implement data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The processor 313 described above is used to execute executable modules stored in memory.

The Memory 311 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 311 is configured to store a program, and the processor 313 executes the program after receiving an execution instruction, and the method executed by the electronic device 300 defined by the process disclosed in any embodiment of the present application may be applied to the processor 313, or implemented by the processor 313.

The processor 313 may be an integrated circuit chip having signal processing capabilities. The Processor 313 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The peripheral interface 314 couples various input/output devices to the processor 313 and to the memory 311. In some embodiments, peripheral interface 314, processor 313, and memory controller 312 may be implemented in a single chip. In other examples, they may be implemented separately from the individual chips.

The input/output unit 315 is used for providing input data to a user. The input/output unit 315 may be, but is not limited to, a mouse, a keyboard, and the like.

The display unit 316 provides an interactive interface (e.g., a user interface) between the electronic device 300 and the user for reference. In this embodiment, the display unit 316 may be a liquid crystal display or a touch display. The liquid crystal display or the touch display can display the process of the program executed by the processor.

The electronic device 300 in this embodiment may be configured to perform each step in each method provided in this embodiment.

In addition, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and the computer program is executed by a processor to perform the steps in the foregoing method embodiments.

The computer program product of the foregoing method provided in the embodiment of the present application includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute steps in the foregoing method embodiment, which may be referred to specifically in the foregoing method embodiment, and details are not described herein again.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the modules is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form. The functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

It should be noted that the functions, if implemented in the form of software functional modules and sold or used as independent products, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A vehicle brake control system, characterized in that the system comprises: the system comprises a whole vehicle control module, a redundant controller and a brake motor module;

the whole vehicle control module comprises a main power supply and a standby power supply;

the redundancy controller comprises a power supply management module and a motor driving module; the motor driving module is electrically connected with the brake motor module, and the power management module is in switchable connection with the main power supply and the standby power supply;

the redundant controller is used for carrying out discharging and charging management on the standby power supply according to the power supply voltage state of the whole vehicle control module, and switching a proper power supply to drive the brake motor module to brake the vehicle.

2. The system of claim 1, wherein the redundant controller further comprises: an electric signal sensor and a fault diagnosis module;

the electric signal sensor is electrically connected with the brake motor module and is used for detecting real-time current at two ends of a brake motor in the brake motor module;

the fault diagnosis module is used for judging whether the brake motor module has a working failure fault according to the comparison result of the real-time current detected by the electric signal sensor and a preset brake current target value; and after the working failure fault does not occur, judging whether the mechanical fault occurs in the brake motor module according to the vehicle speed information provided by the whole vehicle control module.

3. The system of claim 2, wherein the redundant controller sends a current signal to the brake motor module; and the fault diagnosis module is also used for judging whether the brake motor module has short-circuit or open-circuit faults according to the feedback of the current signal.

4. The system of claim 2, wherein the electrical signal sensor is further configured to detect a voltage of a vehicle control module power circuit;

the vehicle control module further comprises: a CAN interface; the redundant controller is in communication connection with the whole vehicle control module through the CAN interface;

the redundancy controller is used for receiving the starting state of the whole vehicle control module through the CAN interface when the vehicle is electrified every time, and enabling the direct current converter to automatically charge the standby power supply; and when the voltage of the standby power supply detected by the electric signal sensor is lower than the preset lowest motor brake voltage, enabling the direct current converter to automatically and circularly charge the standby power supply at regular intervals.

5. The system of claim 4, wherein the vehicle control module is further configured to send a forced charge signal to the redundant controller via a CAN interface; and the redundancy controller is also used for forcibly charging the standby power supply when the automatic charging of the standby power supply fails and the main power supply fails according to the forced charging signal.

6. The system of claim 4, wherein the power management module is further configured to switch the standby power output to a normally open state when the main power voltage detected by the electrical signal sensor is lower than a preset minimum voltage level; and/or when the main power supply voltage detected by the electric signal sensor is higher than the preset minimum voltage, switching the output of the standby power supply to a closed state.

7. The system of claim 4, wherein the power management module is further configured to switch to a main power source when the backup power voltage detected by the electrical signal sensor is lower than a preset minimum operating voltage, and the motor driving module is configured to drive the brake motor module to brake the vehicle when the motor driving module is powered by the main power source; and/or

The power management module is also used for switching to a standby power supply when the standby power supply voltage detected by the electric signal sensor is within a preset normal working voltage range, and the motor driving module is used for driving the braking motor module to brake the vehicle under the power supply of the standby power supply.

8. The system of claim 1, wherein the motor drive module comprises a high power MOS transistor for adapting a wheel-side direct drive large motor hand brake or a pull-cord small motor hand brake.

9. A vehicle brake control method applied to the system according to any one of claims 1 to 8, the method comprising:

the standby power supply is subjected to discharge and charge management through a power supply management module of the redundant controller according to the power supply voltage state of the whole vehicle control module, and a proper power supply is switched;

and under the condition of switching to a proper power supply, the motor driving module drives the brake motor module to brake the vehicle.

10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, performs the steps of the method as claimed in claim 9.

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