CN115723722A - Parking redundancy braking device for automatic driving vehicle - Google Patents
Parking redundancy braking device for automatic driving vehicle Download PDFInfo
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- CN115723722A CN115723722A CN202211533573.1A CN202211533573A CN115723722A CN 115723722 A CN115723722 A CN 115723722A CN 202211533573 A CN202211533573 A CN 202211533573A CN 115723722 A CN115723722 A CN 115723722A
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- 238000012544 monitoring process Methods 0.000 claims description 3
- 239000003921 oil Substances 0.000 description 13
- 239000010720 hydraulic oil Substances 0.000 description 5
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- 238000004590 computer program Methods 0.000 description 1
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Abstract
The invention relates to a parking redundancy braking device for an automatic driving vehicle, belonging to the technical field of intelligent control of automobiles, comprising a network area bus, which is in communication connection with the vehicle and is used for determining a sending sequence by a time trigger mechanism and according to event trigger and the priority of a message, thereby improving the utilization rate of the bus: a control platform for executing program instructions of a brake control algorithm. When the parking redundancy brake device is acted, a human driver does not need to manually operate to activate the parking redundancy brake; therefore, when the main parking brake control cannot enable the parking brake executing component, for example, when the control signal cannot reach the parking brake executing component, the parking redundancy brake automatically acts to hydraulically park the automobile.
Description
Technical Field
The invention relates to the technical field of intelligent control of automobiles, in particular to a parking redundancy braking device for an automatic driving vehicle.
Background
With the continuous development and progress of science and technology, the requirement of people on the safety of automobiles is increased day by day, and excellent braking performance is an important evaluation sign of the safety of modern automobiles. With the development of electromechanical technology, electronic technology is continuously infiltrating into automobile brake systems, and Electronic Parking Systems (EPBs) are emerging. The EPB system adopts a mechanical transmission and electric control mode to drive a motor to implement electronic control of parking braking, and has the characteristics of static parking braking, dynamic emergency braking, hill-start assistance, emergency braking, emergency unlocking, alarming and the like. At present, EPB system has been widely used in cars at home and abroad, and has a tendency to be popularized in all cars.
Although the EPB system is space-saving and easy to operate, the parking brake can be automatically applied after the engine is turned off, making the vehicle safer. It still has significant drawbacks: the stability of the brake is not good as that of the traditional brake, and once the brake fails, the vehicle owner cannot handle the brake by himself, so that potential safety hazards exist; in addition, people in life need to stop the automobile on the slope sometimes, and due to the action of the gravity of the automobile, if the automobile is not braked, the automobile can slide down along the slope, so that safety accidents can be caused.
Although existing EPB systems can brake a vehicle, they are sometimes disabled for some reason and do not provide safety. In order to solve the problem, the parking redundancy braking device for the automatic driving automobile is provided, and is used for activating an auxiliary parking mechanism by some means to ensure that the automobile is stably parked when a driver of the automatic driving automobile stops on a slope and receives the condition that an EPB system fails and cannot enable a parking braking execution component to act.
Disclosure of Invention
The object of the present invention is to provide a parking redundancy brake device for an autonomous vehicle, which solves the problems set forth in the background art described above.
In order to achieve the purpose, the invention provides the following technical scheme:
a parking redundancy brake apparatus for an autonomous vehicle, comprising:
the network area bus is in communication connection with the vehicle and used for determining a sending sequence through a time trigger mechanism according to event trigger and by means of the priority of the message, so that the bus utilization rate is improved:
a control platform for executing program instructions of a brake control algorithm.
As a further technical solution of the present invention, the control platform includes:
a parking brake actuating assembly mounted on a vehicle for applying a braking force to the vehicle;
an active parking brake controller for providing one or more control signals to the parking brake actuator in response to a signal requesting application of the parking brake actuator to cause the parking brake actuator to function;
a redundant parking brake controller for providing one or more control signals to the parking brake actuating assembly in response to unavailability of the primary parking controller to ensure that the parking brake actuating assembly is active;
an automatic drive controller for monitoring the primary parking brake controller, activating the redundant parking brake controller when it is detected that the primary parking brake controller is not available, and providing one or more control signals for application to the parking brake actuation assembly.
As a further aspect of the present invention, the parking brake actuating assembly includes:
a mechanical brake applicator;
a hydraulic release actuator;
a parking brake spring;
a front wheel cylinder;
a rear wheel cylinder;
a hydraulic line;
an output pipeline;
a high pressure accumulator;
the pressure increasing valve is connected with the high-pressure accumulator through an output pipeline;
the overflow valve is arranged in the hydraulic pipeline and is connected with the output pipeline;
an oil can including a check valve;
the motor pump is connected with the oil can;
the output pipeline is connected with the oil can;
a pressure relief valve connected to the mechanical brake applicator via an output line.
As a further technical solution of the present invention, the control platform further includes:
the parking pressure module is used for calculating the pressure required by the automobile for parking successfully through the parking gradient;
a pressure sensing device mounted on the parking brake actuation assembly, the pressure sensing device comprising:
the first pressure and voltage sensor is used for detecting the pressure of a hydraulic pipeline flowing to a front wheel cylinder and providing corresponding voltage for the parking redundancy parking brake controller;
the second pressure and voltage sensor is used for detecting the pressure of the hydraulic pipeline flowing to the rear wheel cylinder and providing corresponding voltage for the parking redundancy parking brake controller;
a third pressure-voltage sensor for detecting the pressure of the hydraulic line flowing to the front wheel cylinder and providing corresponding voltage to the active parking brake controller;
and a fourth pressure-voltage sensor for detecting a pressure of the hydraulic line flowing into the rear wheel cylinder and supplying a corresponding voltage to the parking master brake controller.
As a still further aspect of the present invention, the brake device further includes:
a processor having a memory, said processor executing one or more programs of instructions, said programs of instructions being tangibly embodied on a program storage medium readable by said processor.
Compared with the prior art, the invention has the beneficial effects that:
1. when acting, the parking redundancy brake is activated without manual operation of a human driver; therefore, when the main parking brake system cannot make the parking brake actuating assembly work, for example, when the control signal cannot reach the parking brake actuating assembly, the parking redundancy brake automatically works to hydraulically park the automobile.
2. The TTCAN network bus is adopted, a time trigger mechanism is added on the basis of the original CAN network, uncertainty of information transmission time and priority inversion under multiple controllers are avoided, the utilization rate of the bus is improved, and the requirements of the invention are met.
3. When the automobile wants to release the parking brake, the hydraulic oil in the automobile wheel cylinder can return to the oil can. Even if the main parking brake system is not available, the pressure of the high-pressure accumulator and the like can be maintained, so that hydraulic oil can be continuously input into the automobile wheel cylinder when needed to ensure that the automobile is parked successfully, and the parking redundant brake can be used repeatedly.
4. Because the pressure increasing valve, the overflow valve, the pressure reducing valve and the like are all controlled by one controller (parking redundancy parking brake controller), coordination between the two controllers is not needed, the design of the parking brake system is simplified, and fault removal is facilitated when maintenance is needed.
5. The parking system of the automobile is not greatly changed, and corresponding hardware and a control system are carried on the basis of the parking system, so that the parking system is simple to implement, convenient to operate and low in cost.
Drawings
FIG. 1 is a schematic block diagram of a parking redundancy brake arrangement for an autonomous vehicle;
fig. 2 is a control flowchart of a parking-redundancy brake apparatus for an autonomous vehicle.
In the figure: 10-mechanical brake applicator, 20-hydraulic release actuator, 30-parking brake spring, 41-first pressure voltage sensor, 42-second pressure voltage sensor, 43-third pressure voltage sensor, 44-fourth pressure voltage sensor, 50-front wheel cylinder, 60-rear wheel cylinder, 70-pressure increasing valve, 80-high pressure accumulator, 90-relief valve, 100-oil pot, 110-network area bus, 120-master parking brake controller, 122-master parking brake control logic, 130-autopilot controller, 132-autopilot control logic, 140-redundant parking brake controller, 142-redundant parking brake control logic, 150-check valve, 160-motor pump, 170-motor, 180-output line, 190-hydraulic line, 200-parking pressure module, 210-pressure reducing valve.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The embodiment of the present invention is realized in such a way that the parking redundancy brake apparatus for an autonomous vehicle shown in fig. 1 includes:
a network area bus 110, communicatively connected to the vehicle, for determining a transmission order by means of a time-triggered mechanism and depending on event triggers depending on a priority of the messages, thereby improving a bus utilization:
a control platform for executing program instructions of a brake control algorithm, the control platform comprising:
a parking brake actuating assembly mounted on a vehicle for applying a braking force to the vehicle;
an active parking brake controller 120 for providing one or more control signals to be applied to the parking brake actuator in response to a signal requesting the application of the parking brake actuator to cause the parking brake actuator to function;
a redundant parking brake controller 140 for providing one or more control signals to the parking brake actuating assembly in response to the primary parking controller being unavailable to ensure that the parking brake actuating assembly is active;
an automatic driving controller 130 for monitoring the primary parking brake controller 120, activating the redundant parking brake controller 140 when it is detected that the primary parking brake controller 120 is not available, providing one or more control signals to be applied to the parking brake actuating member;
the parking pressure module 200 is used for calculating the pressure required by the successful parking of the automobile through the parking gradient;
and the pressure sensing part is arranged on the parking brake actuating assembly.
In practical application, the network area bus 110 (TTCAN) and a plurality of vehicle devices are connected with each other to communicate with each other, which belongs to a time trigger mechanism, event trigger determines a sending sequence by the priority of messages, and the bus utilization rate is improved.
Vehicle devices that may be connected to the TTCAN bus include, but are not limited to: a primary parking brake controller 120 as a first controller, a parking redundant parking brake controller 140 as a second controller, an automatic drive controller 130 as a third controller, and a parking module 200.
Specifically, the master parking brake controller 120 may provide various signals to the TTCAN bus including configuration messages, diagnostic status and brake specific signals such as parking brake status and parking brake pressure, etc.; similarly, the parking redundant parking brake controller 140 may provide various signals to the TTCAN bus including configuration messages, diagnostic status and brake specific signals such as parking brake actuator status and parking brake actuator pressure, etc.; the autonomous drive controller 130 may provide various signals to the TTCAN bus including configuration messages, diagnostic status, driving mode (i.e., autonomous, semi-autonomous, or driver controlled), and desired intent of the vehicle state (e.g., stopped, running, stopped), etc.; the voltage standing module 200 provides pressure required by the safe parking of the automobile on the slope to the TTCAN bus; the TTCAN bus enables the master parking brake controller 120, the parking-redundant parking brake controller 140, the automatic driving controller 130, and the parking pressure module 200 to communicate with each other.
Further, the parking brake actuating assembly includes: a mechanical brake applicator 10; a hydraulic release actuator 20; a parking brake spring 30; a front-wheel cylinder 50; a rear wheel cylinder 60; a hydraulic line 190; an output line 180; a high pressure accumulator 80; a pressure increasing valve 70 connected to the high pressure accumulator 80 through an output line 180; an overflow valve 90 mounted in the hydraulic line 190 and connected to the output line 180; an oil can 100 including a check valve 150; a motor pump 160 connected to the oil can 100; an output pipe 180 connected to the oil can 100; a pressure relief valve 210 is connected to the mechanical brake applicator 10 via the output line 180.
Specifically, the parking brake actuation assembly includes a motor pump 160 connected to the oil can 100 and an output line 180 including a check valve 150; relief valve 90 is located in hydraulic line 190 and is connected to output line 180, pressure increasing valve 70 and high pressure accumulator 80 are connected by output line 180, and output line 180 is connected to mechanical brake applicator 10 and pressure reducing valve 210.
The active parking brake controller 120 is in the form of an electronic controller unit that provides one or more control signals to the active parking brake control logic 122 based on signals on the TTCAN bus. Master parking brake controller 120 provides one or more control signals on the lines (hydraulic line 190, output line 180) to the wheel cylinders (front wheel cylinder 50, rear wheel cylinder 60) to control the delivery of hydraulic oil (from high pressure accumulator 80 and oil can 100) to the wheel cylinders (front wheel cylinder 50, rear wheel cylinder 60).
The parking pressure module 200 calculates the required pressure for successful parking of the automobile through the parking gradient, monitors the pressures in the front wheel cylinder 50 and the rear wheel cylinder 60 by using sensors, provides one or more signals to the parking redundancy parking braking controller 140 when the pressure is lower than the parking pressure, thereby controlling the pressure increasing valve 70 to be opened and the pressure reducing valve 210 to be closed, so that the pressures in the front wheel cylinder 50 and the rear wheel cylinder 60 are increased, and closes the pressure increasing valve 70 when the sensors (the third pressure voltage sensor 43 and the fourth pressure voltage sensor 44) detect that the pressure in the automobile wheel cylinder reaches the requirement, so that the hydraulic pressures in the front wheel cylinder 50 and the rear wheel cylinder 60 of the automobile are kept unchanged, and the automobile is parked successfully; when the automobile wants to walk again, the pressure increasing valve 70 is closed, the pressure reducing valve 210 is opened, the hydraulic oil in the automobile front wheel cylinder 50 and the automobile rear wheel cylinder 60 is released back to the oil can 100, and the pressure in the automobile front wheel cylinder 50 and the automobile rear wheel cylinder 60 is reduced, so that the automobile is braked, and the requirement of a user is met.
Specifically, the pressure sensing device includes: a first pressure-voltage sensor 41 for detecting a pressure of the hydraulic line 190 flowing into the front wheel cylinder 50 and supplying a corresponding voltage to the parking-redundant parking brake controller 140; a second pressure-voltage sensor 42 for detecting a pressure of the hydraulic line 190 flowing into the rear wheel cylinder 60 and supplying a corresponding voltage to the parking-redundant parking brake controller 140; a third pressure-voltage sensor 43 for detecting a pressure of the hydraulic line 190 flowing into the front wheel cylinder 50 and supplying a corresponding voltage to the active parking brake controller 120; a fourth pressure-voltage sensor 44 for detecting the pressure of the hydraulic line 190 flowing into the rear wheel cylinders 60 and supplying a corresponding voltage to the active parking brake controller 120.
The redundant parking brake controller is in the form of an electronic controller unit arranged to monitor signals on the TTCAN bus to provide one or more control signals to apply parking-based redundant brake control logic 142 stored in a data storage unit of the redundant parking brake controller 140; the parking-redundant parking brake controller 140 provides control signals to the pressure increasing valve 70 and the pressure decreasing valve 210.
The autopilot controller 130 is in the form of an electronic controller unit arranged on the TTCAN bus to provide one or more control signals to apply a signal based on the autopilot control logic 132 that monitors the unavailability of the active parking brake controller 120 and then provides one or more signals to the TTCAN bus to activate the parking redundant parking brake controller 140 to cause the parking brake actuation components to function to allow the vehicle to be successfully parked.
Specifically, the parking redundant parking brake controller 140 and the autopilot controller 130 cooperate to provide a backup parking brake solution to ensure that the parking brake actuation components are functional in the event the primary parking brake controller 120 is unavailable. The autopilot controller 130 monitors the primary parking controller, detects that the unavailability of the primary parking brake controller 120 causes the parking brake actuation components to be disabled, at which time the parking redundant parking brake controller 140 is activated to cause the parking brake actuation components to be disabled.
Further, when the automatic driving controller 130 provides the parking redundant parking brake controller 140 with a signal that the main parking brake controller 120 is unavailable, the pressure reducing valve 210 is closed, the pressure increasing valve 70 is opened, and the mechanical brake applying device and the hydraulic pressure release actuator 20 are affected, the high pressure accumulator 80 supplies hydraulic oil to the front wheel cylinder 50 and the rear wheel cylinder 60 of the vehicle through the output pipeline 180, it is required to ensure the pressure difference between the high pressure accumulator 80 and the wheel cylinders at any time, and when the pressure difference is too low, oil can be supplied from the oil can 100 to the high pressure accumulator pump through the motor pump 160 to ensure the pressure difference, so that the parking brake executing component is maintained at the applying position through the parking brake spring 30.
As shown in FIG. 2, a flowchart depicts an example computer method of operating a parking brake device according to one embodiment. The computer implemented method is for an autonomously driven vehicle having a parking brake actuation component, an active parking brake controller 120, and a parking redundant parking brake controller 140 that is different from the active parking brake controller 120.
Aspects of embodiments of the invention may be implemented in software, hardware, firmware, or a combination thereof. The various elements, alone or in combination, may be implemented as a computer program product tangibly embodied in a machine-readable storage device for execution by a processor. The various steps of the embodiments may be performed by a program tangibly embodied on a computer-readable medium by a computer process executor to perform a function by operating on input and generating output.
In particular, the method is performed by a processor having a memory that executes one or more programs of instructions tangibly embodied on a program storage medium readable by the processor. Including but not limited to external hard drives, flash drive disks, optical disks, etc., and the program instructions may be reprogrammed in accordance with the functionality of the particular electronic control unit.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it is to be understood that all embodiments may be combined as appropriate by one of ordinary skill in the art to form other embodiments as will be apparent to those of skill in the art from the description herein.
Claims (5)
1. A parking redundancy braking apparatus for an autonomous vehicle, comprising:
the network area bus is in communication connection with the vehicle and used for determining a sending sequence through a time trigger mechanism according to event trigger and by means of the priority of the message, so that the bus utilization rate is improved:
a control platform for executing program instructions of a brake control algorithm.
2. The parking redundant brake apparatus for autonomous vehicles according to claim 1, characterized in that the control platform comprises:
a parking brake actuating assembly mounted on a vehicle for applying a braking force to the vehicle;
an active parking brake controller for providing one or more control signals to the parking brake actuator in response to a signal requesting application of the parking brake actuator to cause the parking brake actuator to function;
a redundant parking brake controller for providing one or more control signals to the parking brake actuating assembly in response to unavailability of the primary parking controller to ensure that the parking brake actuating assembly is active;
an automatic drive controller for monitoring the primary parking brake controller, activating the redundant parking brake controller when it is detected that the primary parking brake controller is not available, and providing one or more control signals to be applied to the parking brake actuation assembly.
3. The parking redundancy brake apparatus for an autonomous vehicle of claim 2, wherein the parking brake actuation assembly comprises:
a mechanical brake applicator;
a hydraulic release actuator;
a parking brake spring;
a front wheel cylinder;
a rear wheel cylinder;
a hydraulic line;
an output pipeline;
a high pressure accumulator;
the pressure increasing valve is connected with the high-pressure accumulator through an output pipeline;
the overflow valve is arranged in the hydraulic pipeline and is connected with the output pipeline;
an oil can including a check valve;
the motor pump is connected with the oil can;
the output pipeline is connected with the oil can;
a pressure relief valve connected to the mechanical brake applicator via an output line.
4. The parking redundant brake apparatus for autonomous vehicles according to claim 2, wherein the control platform further comprises:
the parking pressure module is used for calculating the pressure required by the automobile for parking successfully through the parking gradient;
a pressure sensing device mounted on the parking brake actuation assembly, the pressure sensing device comprising:
the first pressure and voltage sensor is used for detecting the pressure of a hydraulic pipeline flowing to a front wheel cylinder and providing corresponding voltage for the parking redundancy parking brake controller;
the second pressure voltage sensor is used for detecting the pressure of the hydraulic pipeline flowing into the rear wheel cylinder and providing corresponding voltage for the parking redundancy parking brake controller;
a third pressure-voltage sensor for detecting the pressure of the hydraulic line flowing to the front wheel cylinder and providing corresponding voltage to the active parking brake controller;
and a fourth pressure-voltage sensor for detecting a pressure of the hydraulic line flowing into the rear wheel cylinder and supplying a corresponding voltage to the parking brake master controller.
5. The parking redundant brake apparatus for autonomous vehicles according to claim 1, characterized in that the brake apparatus further comprises:
a processor having a memory, said processor executing one or more programs of instructions, said programs of instructions being tangibly embodied on a program storage medium readable by said processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211533573.1A CN115723722A (en) | 2022-12-01 | 2022-12-01 | Parking redundancy braking device for automatic driving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211533573.1A CN115723722A (en) | 2022-12-01 | 2022-12-01 | Parking redundancy braking device for automatic driving vehicle |
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| CN115723722A true CN115723722A (en) | 2023-03-03 |
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| CN202211533573.1A Pending CN115723722A (en) | 2022-12-01 | 2022-12-01 | Parking redundancy braking device for automatic driving vehicle |
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Citations (6)
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|---|---|---|---|---|
| CN105109475A (en) * | 2015-08-24 | 2015-12-02 | 洛阳理工学院 | Electronic control parking device for automobiles |
| CN108162947A (en) * | 2017-11-20 | 2018-06-15 | 浙江亚太机电股份有限公司 | A kind of parking control system for electric vehicle |
| CN213502256U (en) * | 2020-09-25 | 2021-06-22 | 上海拿森汽车电子有限公司 | Redundant system of electron parking and vehicle |
| CN114248746A (en) * | 2020-09-25 | 2022-03-29 | 芜湖伯特利电子控制***有限公司 | Control method for redundant control of motor vehicle braking |
| WO2022165636A1 (en) * | 2021-02-02 | 2022-08-11 | 智马达汽车有限公司 | Redundant electrical park brake system and control method therefor, and vehicle |
| CN115246379A (en) * | 2021-04-26 | 2022-10-28 | 上海汽车集团股份有限公司 | Vehicle brake redundancy method and device |
-
2022
- 2022-12-01 CN CN202211533573.1A patent/CN115723722A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105109475A (en) * | 2015-08-24 | 2015-12-02 | 洛阳理工学院 | Electronic control parking device for automobiles |
| CN108162947A (en) * | 2017-11-20 | 2018-06-15 | 浙江亚太机电股份有限公司 | A kind of parking control system for electric vehicle |
| CN213502256U (en) * | 2020-09-25 | 2021-06-22 | 上海拿森汽车电子有限公司 | Redundant system of electron parking and vehicle |
| CN114248746A (en) * | 2020-09-25 | 2022-03-29 | 芜湖伯特利电子控制***有限公司 | Control method for redundant control of motor vehicle braking |
| WO2022165636A1 (en) * | 2021-02-02 | 2022-08-11 | 智马达汽车有限公司 | Redundant electrical park brake system and control method therefor, and vehicle |
| CN115246379A (en) * | 2021-04-26 | 2022-10-28 | 上海汽车集团股份有限公司 | Vehicle brake redundancy method and device |
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