Vehicle braking control system, method and storage medium

Abstract

The present application provides a vehicle braking control system, method, and storage medium, relating to the technical field of electric vehicles. The system includes: a vehicle control module, a redundant controller, and a braking motor module; the vehicle control module includes a main power supply and a backup power supply; the redundant controller includes a power management module and a motor drive module; the motor drive module is electrically connected to the braking motor module, and the power management module is switchably connected to the main power supply and the backup power supply; wherein, the redundant controller is used to manage the discharging and charging of the backup power supply according to the power voltage state of the vehicle control module, and switch to a suitable power supply to drive the braking motor module for vehicle braking. The redundant controller integrates the backup power supply management and EPB functions, controls the power supply mode of autonomous switching between the main / backup power supplies, effectively ensures the overall healthy operation of the power supply system, and thus ensures the stable operation of vehicle braking, improving driving safety.

Description

Technical Field

[0001] The present application relates to the technical field of electric vehicles, and more particularly, to a vehicle braking control system, method, and storage medium. Background Art

[0002] The transformation from traditional vehicles to new energy vehicles is the main trend in current vehicle development, and the application of the motor system has thus been popularized. In new energy vehicles, the motor system can not only provide driving force for the vehicle to drive normally, but also provide braking force for the vehicle to perform emergency braking. The vehicle braking system generally has two main functions: "step on the brake" and "pull the handbrake". One is the service braking function that decelerates the vehicle from a dynamic state to a static state, which is achieved by the driver operating the brake pedal. The other is the parking braking function that keeps the vehicle stationary, which is automatically completed by the driver operating the parking switch (EPB) or the vehicle parking braking logic.

[0003] Currently, with the breakthrough of vehicle by-wire technology and the rise of skateboard chassis, the existing skateboard by-wire chassis mainly adopts a remote control mode or autonomous driving control, and there is no mechanically connected brake pedal. The power supply for the chassis basically adopts a single power supply model. When the vehicle power supply fails and cannot provide power for controllers such as VCU, EHB, and EPB, it will be impossible to effectively perform emergency braking on the vehicle. Summary of the Invention

[0004] In view of this, the purpose of the embodiments of the present application is to provide a vehicle braking control system, method, and storage medium. The system includes: a vehicle control module, a redundant controller, and a braking motor module. Among them, the vehicle control module includes a main power supply and a backup power supply; the redundant controller includes a power management module and a motor drive module; the redundant controller can perform discharge and charge management on the backup power supply according to the power voltage state of the vehicle control module, and switch to a suitable power supply to drive the braking motor module to perform vehicle braking, so that the vehicle can actively switch the main power supply (for example, the 12V main power supply) to the backup power supply, so as to still have a certain service or parking braking ability in the case of main power failure, thus solving the above technical problem of "when the vehicle power supply fails and cannot provide power for controllers such as VCU, EHB, and EPB, it will be impossible to effectively perform emergency braking on the vehicle".

[0005] In a first aspect, an embodiment of the present application provides a vehicle braking control system, which includes: a vehicle control module, a redundant controller, and a braking motor module; the vehicle control module includes a main power supply and a backup power supply; the redundant controller includes a power management module and a motor drive module; the motor drive module is electrically connected to the braking motor module, and the power management module is switchably connected to the main power supply and the backup power supply; wherein, the redundant controller is configured to perform discharge and charge management on the backup power supply according to the power supply voltage state of the vehicle control module, and switch to a suitable power supply to drive the braking motor module to perform vehicle braking.

[0006] In the above implementation process, by integrating the backup power supply management and the EPB function in the redundant controller, and controlling the main / backup power supply to autonomously switch to its power supply mode, the healthy operation of the overall power supply system is effectively ensured, thereby increasing the reliability of the operation of the entire vehicle system; when the main power supply fails, the redundant backup power supply intervenes and replaces the faulty main power supply to supply power to it, ensuring its normal operation. This redundant configuration method can effectively increase the mean time between failures of the system, ensure the stable operation of vehicle braking, and improve driving safety.

[0007] Optionally, the redundant controller further includes: an electrical signal sensor and a fault diagnosis module; the electrical signal sensor is electrically connected to the braking motor module and is used to detect the real-time current at both ends of the braking motor in the braking motor module; the fault diagnosis module is configured to determine whether the braking motor module has a working failure fault according to the comparison result between the real-time current detected by the electrical signal sensor and a preset braking current target value; and after a working failure fault occurs, determine whether the braking motor module has a mechanical fault according to the vehicle speed information provided by the vehicle control module.

[0008] In the above implementation process, by monitoring the EPB motor current through the redundant controller, and quickly executing the parking control after receiving the parking or release signal from the vehicle control module, diagnosing and identifying the braking working failure fault and mechanical fault that occur during the parking brake control process through the motor current, the healthy operation of the entire braking system is effectively ensured, thereby increasing the reliability of the operation of the entire vehicle system and improving vehicle safety.

[0009] Optionally, the redundant controller sends a current signal to the braking motor module; the fault diagnosis module is further configured to determine whether the braking motor module has a short circuit or open circuit fault according to the feedback of the current signal.

[0010] In the above implementation process, the redundant controller can diagnose the open - circuit and short - circuit faults of the EPB motor through the fault diagnosis module, which can well avoid the abnormal noise problem of the motor during the open - short - circuit detection process, effectively detect the open - short - circuit of the motor line, and improve safety and practicability.

[0011] Optionally, the electrical signal sensor is further used to detect the voltage of the power supply circuit of the vehicle control module; the vehicle control module further includes: a CAN interface; the redundant controller establishes a communication connection with the vehicle control module through the CAN interface; the redundant controller is used to receive the startup status of the vehicle control module through the CAN interface when the vehicle is powered on each time, and make the DC converter automatically charge the backup power supply; and when the voltage of the backup power supply detected by the electrical signal sensor is lower than the preset minimum motor braking voltage, the DC converter is made to automatically charge the backup power supply in a cyclic manner at regular intervals.

[0012] In the above implementation process, the state communication between the vehicle control module and the redundant controller is realized through the CAN interface. The redundant controller can monitor the communication status of the vehicle control module and the running state of the vehicle in real time, so as to realize automatic cyclic charging when the voltage of the backup power supply is lower than the preset value, ensure the active braking function in the case of main power failure, and improve the continuity of braking power supply.

[0013] Optionally, the vehicle control module is further used to send a forced charging signal to the redundant controller through the CAN interface; the redundant controller is further used to perform forced charging on the backup power supply according to the forced charging signal when the automatic charging of the backup power supply fails and the main power supply fails.

[0014] In the above implementation process, the state communication between the vehicle control module and the redundant controller is realized through the CAN interface. The redundant controller can monitor the communication status of the vehicle control module. In the two cases of failure of automatic charging of the backup power supply and main power failure, the backup power supply is forced to charge, further ensuring the active braking function in the case of main power failure and improving the continuity of braking power supply.

[0015] Optionally, the power management module is further used to switch the output of the backup power supply to the normally open state when the main power supply voltage detected by the electrical signal sensor is lower than the preset minimum voltage; and / or switch the output of the backup power supply to the off state when the main power supply voltage detected by the electrical signal sensor is higher than the preset minimum voltage.

[0016] In the above implementation process, by adopting an active and forced charging mode for the backup power supply, autonomous management is carried out under normal circumstances, and in the fault mode, it can provide an emergency backup power supply for other controllers, that is, when the vehicle main power supply fails, an emergency backup output is provided to supply other controllers to work, which can further ensure the overall healthy operation of the power supply system, and then increase the reliability and stability of the vehicle system operation.

[0017] Optionally, the power management module is further configured to switch to the main power supply when the voltage of the backup power supply detected by the electrical signal sensor is lower than the preset minimum operating voltage, and the motor drive module is configured to drive the brake motor module to perform vehicle braking under the power supply of the main power supply; and / or the power management module is further configured to switch to the backup power supply when the voltage of the backup power supply detected by the electrical signal sensor is within the preset normal operating voltage range, and the motor drive module is configured to drive the brake motor module to perform vehicle braking under the power supply of the backup power supply.

[0018] In the above implementation process, the power management module integrated by the redundant controller can well manage and monitor the main power supply and the backup power supply, and at the same time integrate the EPB braking function, so that it can well automatically manage the main power supply and the backup power supply to cooperate with the auxiliary brake motor module to perform parking braking, ensuring the normal operation of the parking braking, and thus improving the stability of the parking braking.

[0019] Optionally, the motor drive module includes high-power MOS transistors for adapting to direct drive large motor handbrake braking or cable-operated small motor handbrake braking at the wheel end.

[0020] In the above implementation process, the redundant controller can quickly calibrate the relevant parameters of the brake motor module to adapt to different vehicle models' EPB motors, and at the same time meet both large motor and small motor modes, achieving rapid calibration and matching, and reducing the cost of re-development and matching caused by different systems.

[0021] In a second aspect, an embodiment of the present application provides a vehicle braking control method, which is applied to the above system. The method includes: discharging and charging the backup power supply according to the power supply voltage state of the vehicle control module through the power management module of the redundant controller, and switching to a suitable power supply; under the switched-to suitable power supply, driving the brake motor module to perform vehicle braking through the motor drive module.

[0022] In the above implementation process, when the main power supply fails, the redundantly configured backup power supply intervenes and works instead of the failed main power supply. This redundant configuration method can effectively increase the mean time between failures of the system, ensure the stable operation of vehicle braking, and improve driving safety.

[0023] In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor and a memory. The memory stores machine-readable instructions executable by the processor. When the electronic device runs, the machine-readable instructions, when executed by the processor, perform the steps of the above-mentioned method.

[0024] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, it performs the steps of the above-mentioned method.

[0025] To make the above objects, features, and advantages of the present application more obvious and understandable, specific embodiments are hereinafter given, and in conjunction with the accompanying drawings, the detailed description is as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] To more clearly illustrate the technical solutions of the embodiments of the present application, the accompanying drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0027] Figure 1 It is a module function diagram of a vehicle braking control system provided by an embodiment of the present application;

[0028] Figure 2 It is a schematic structural diagram of a vehicle braking control system provided by an embodiment of the present application;

[0029] Figure 3 It is a connection circuit diagram of a redundant controller and a vehicle control module provided by an embodiment of the present application;

[0030] Figure 4 It is a block diagram of an electronic device of a vehicle braking control system provided by an embodiment of the present application.

[0031] Icons: 01 - Vehicle braking control system; 10 - Redundant controller; 11 - Power management module; 12 - Motor drive module; 20 - Vehicle control module; 21 - Main power supply; 22 - Backup power supply; 30 - Braking motor module; 300 - Electronic device; 311 - Memory; 312 - Storage controller; 313 - Processor; 314 - Peripheral interface; 315 - Input / output unit; 316 - Display unit. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Components of the embodiments of the present application described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application claimed, but merely represents selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application.

[0033] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. The term "comprising", "including" or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element. The terms "first", "second", etc. are only used for descriptive distinction and cannot be construed as indicating or implying relative importance.

[0034] Before introducing the present application, several concepts related to the present application will be briefly described first:

[0035] VCU: Vehicle Control Unit, which is the core unit for the operation of electric vehicles, responsible for functions such as vehicle drive control, energy management, vehicle safety, fault diagnosis and information processing, and is a necessary guarantee for the safe and efficient operation of pure electric vehicles.

[0036] EHB: Electronic Hydraulic Brake System, developed on the basis of traditional hydraulic brakes. The operating mechanism replaces the traditional hydraulic brake pedal with an electronic brake pedal and cancels the large-volume vacuum booster. The integrated electronic pedal sensor can accurately sense the driver's control of the pedal's force and speed, and convert it into an electrical signal to be transmitted to the electronic control unit. The high-pressure hydraulic control unit will automatically adjust the braking pressure of the wheels according to different driving conditions. The actuator replaces the pressure regulator and ABS module in the traditional brake with a comprehensive brake module.

[0037] EPB: Electronic Parking Brake system, which changes the traditional lever handbrake into a readily accessible button and controls the parking brake through electronic circuits. It has the same function as the mechanical lever handbrake. When starting the vehicle, there is no need to manually turn off the electronic handbrake, and it will automatically turn off when stepping on the accelerator to start.

[0038] This application invention notes that: The "pull handbrake" of the vehicle braking system is the parking brake that keeps the vehicle stationary. It is automatically completed by the driver's operation of the parking switch (EPB) or the vehicle parking brake logic. Currently, with the breakthrough of vehicle by-wire technology and the rise of skateboard chassis, the existing skateboard by-wire chassis mainly adopts remote control mode or autonomous driving control, and there is no mechanically connected brake pedal. The power supply for the chassis basically adopts a single power supply model. When the vehicle power supply fails and cannot provide power for controllers such as VCU, EHB, and EPB, it will be impossible to effectively perform emergency braking on the vehicle. Based on the above findings, this application proposes a vehicle control system to solve the above defects, specifically as follows:

[0039] Please refer to Figure 1 , Figure 1 which is a schematic diagram of the module functions of a vehicle braking control system 01 provided by an embodiment of this application. The vehicle braking control system 01 includes: a vehicle control module 20, a redundant controller 10, and a brake motor module 30; the vehicle control module 20 includes a main power supply 21 and a backup power supply 22; the redundant controller 10 includes a power management module 11 and a motor drive module 12;

[0040] Among them, the motor drive module 12 is electrically connected to the brake motor module 30, and the power management module 11 is switchably connected to the main power supply 21 and the backup power supply 22; the redundant controller 10 is used to manage the discharge and charge of the backup power supply 22 according to the power voltage state of the vehicle control module 20 and switch to a suitable power supply to drive the brake motor module 30 to perform vehicle braking.

[0041] Exemplarily, the vehicle control module 20 can be a controller system including the core processing unit of the vehicle VCU (vehicle controller), which can implement multiple functions such as main / backup power management, CAN communication, and the vehicle. The motor drive module 12 can include an H-bridge switch circuit, which can be respectively connected to the four switches in the H-bridge, and is used to control the current feeding to multiple motors and the rotation directions of multiple motors through the four switches in the H-bridge. Specifically, it can be achieved by respectively outputting high-level or low-level signals to the four switches in the H-bridge to drive multiple motors; the power management module 11 can be equivalent to a one-out-of-two analog switch or switch, which is used to implement the switching between the main power supply 21 and the backup power supply 22. Its two input terminals are respectively connected to the main power supply 21 and the backup power supply 22. When its control terminal is at a high level, the input terminal is connected to the main power supply 21, and when it is at a low level, the input terminal is connected to the backup power supply 22. When the redundant controller 10 detects a failure of the main power supply 21, it outputs a control signal to the control terminal of the power management module 11 to achieve power switching.

[0042] The redundant controller 10 (BCU) includes a power management module 11 with the ability to manage the 12V main power supply 21 and the backup power supply 22, and a motor drive module 12 with the ability to drive the brake motor module 30 (EPB motor) for emergency parking braking, enabling the redundant controller 10 to integrate the backup power supply 22 management and the EPB function in one controller, which well avoids the situation that normal parking braking cannot be performed in the case of the failure of the main power supply 21. Among them, for example: the working parameters of the main power supply 21 are generally 12V, 80Ah, and the working parameters of the backup power supply 22 can be 12V, 25Ah.

[0043] The process of the redundant controller 10 managing the charging of the backup power supply 22 can be as follows: After the vehicle is powered on, the redundant controller 10 detects the power-on signal of the main power supply 21, and then the redundant controller 10 can enter the working state. After receiving the Ready state sent by the vehicle controller, it controls the DC converter to close the internal charging circuit of the BCU with 12V input, and the backup power supply 22 starts to charge; after charging for one hour, the redundant controller 10 will actively disconnect the charging switch, and the charging ends. Among them, the corresponding control algorithm can be modified according to the actual situation for calibration adjustment in the later stage of the charging time.

[0044] To prevent the redundant controller 10 from consuming power continuously after the vehicle control module 20 is powered off, if the vehicle is parked for a long time, it will cause the backup power supply 22 to run out of power. After the vehicle is powered on again, if the backup power supply 22 runs out of power, the redundant controller 10 cannot work properly, resulting in the inability to release the parking brake and manage the charging of the backup power supply 22. Therefore, the automatic sleep and wake-up functions of the redundant controller 10 are added. When the vehicle control module 20 requests to power off, it will send the power-off request information to the redundant controller 10 at the same time. The redundant controller 10 will automatically enter the sleep state within 30s after receiving this signal and no longer consume energy. When the vehicle is powered on again, the redundant controller 10 receives the 12V power-on voltage signal sent by the vehicle control module 20 and will automatically activate and enter the working state.

[0045] By integrating the backup power supply 22 management and EPB function in the redundant controller 10, and controlling the power supply mode of the main / backup power supply to switch autonomously, it effectively ensures the overall healthy operation of the power supply system, thereby increasing the reliability of the vehicle system operation; when the main power supply 21 fails, the redundant backup power supply 22 intervenes and works instead of the failed main power supply 21. This redundant configuration method can effectively increase the mean time between failures of the system, ensure the stable operation of vehicle braking, and improve driving safety.

[0046] In one embodiment, the redundant controller 10 further includes: an electrical signal sensor, a fault diagnosis module; the electrical signal sensor is electrically connected to the brake motor module 30 and is used to detect the real-time current at both ends of the brake motor in the brake motor module 30; the fault diagnosis module is used to judge whether the brake motor module 30 has a working failure fault according to the comparison result between the real-time current detected by the electrical signal sensor and the preset target value of the braking current; and after no working failure fault occurs, judge whether the brake motor module 30 has a mechanical fault according to the vehicle speed information provided by the vehicle control module 20.

[0047] Exemplarily, as Figure 2 shown, the electrical signal sensor includes a current sensor and a voltage sensor, and is used to detect the real-time voltage and current at both ends of the target object. The fault diagnosis module can support the open circuit and short circuit diagnosis of the EPB motor circuit, can monitor the EPB motor current, and can make a simple fault judgment on whether the motor is working properly. The mechanical fault can be brake pad wear or caliper mechanical damage. Additionally, the electrical signal sensor can only include one of the current sensor and the voltage sensor, and it can also monitor the EPB motor current based on the corresponding control algorithm and make a simple fault judgment on whether the motor is working properly.

[0048] A disc brake usually consists of a brake oil pump, a brake disc connected to the wheel, and a brake caliper on the disc. During braking, high-pressure brake oil pushes the pistons inside the caliper, pressing the brake pads against the brake disc to generate a braking effect. The caliper has functions such as decelerating, stopping, or maintaining the stopped state of the moving wheel and can be used in a disc brake system; the brake pads can refer to the friction materials fixed on the brake drum or brake disc that rotates with the wheel, and the friction linings and friction pads therein bear the external pressure and generate a frictional effect to achieve the purpose of vehicle deceleration.

[0049] After receiving the parking or release signal from the VCU, the redundant controller 10 quickly executes the parking control and drives the brake motor module 30 to perform the braking operation through the motor drive module 12. Specifically, it can be divided into two modes: manual parking and manual release. The manual parking brake can be: when the redundant controller 10 is in the handbrake release state, pull the EPB switch once manually, and the redundant controller 10 executes the parking brake; the manual release brake can be: when the redundant controller 10 is in the handbrake activated state, press the EPB switch once manually, and the redundant controller 10 releases the parking brake.

[0050] Since the working current of the brake motor is linearly related to the clamping force of the caliper, and the current change of the motor shows a consistent curve during each normal operation. Therefore, the redundant controller 10 can detect the current current of the brake motor module 30 when pulling and releasing the handbrake through the electrical signal sensor, and compare the currents of pulling and releasing the handbrake with the set target value threshold respectively. If it is less than the set target value threshold, the fault diagnosis module considers that the EPB braking operation fails; if it is equal to or greater than the set target value threshold, it indicates that the EPB braking operation is normal. At this time, if the vehicle speed information provided by the vehicle control module 20 can still be received, that is, when the redundant controller 10 takes effective braking, and there is still an effective vehicle speed output at this time, it indicates that the caliper end has not tightened the brake pads, which may be due to worn brake pads or mechanical damage to the caliper.

[0051] By monitoring the EPB motor current through the redundant controller 10, after receiving the parking or release signal from the VCU, it quickly executes the parking control, and diagnoses and identifies the braking operation failure fault and mechanical fault that occur in the parking brake control process through the motor current, effectively ensuring the overall healthy operation of the braking system, thereby increasing the reliability of the vehicle system operation and improving vehicle safety.

[0052] In one embodiment, the redundant controller sends a current signal to the brake motor module 30; the fault diagnosis module determines whether the brake motor module 30 has short-circuit or open-circuit faults according to the feedback of the current signal.

[0053] Exemplarily, the fault diagnosis module can determine whether there is an open - circuit fault in multiple motors based on the excitation current corresponding to when the multiple motors are excited by pulsed currents that fail to make them rotate and the release current generated by the multiple motors after excitation.

[0054] The redundant controller 10 sends a small - pulse - width current to the EPB motor through the motor drive control module. The period and pulse width of this current value vary according to different motor models. At the same time, a voltage signal is sent and the current output at both ends of the motor is detected by a current sensor. The fault diagnosis module compares it with the test calibration value to determine whether there is an open - circuit or short - circuit fault in the motor circuit, and then sends it to the VCU. For example, it is possible to determine whether there is an open - circuit motor among the current multiple motors by comparing the maximum values of the measured excitation current and release current with the maximum values of the excitation current and release current measured when all multiple motors are normal.

[0055] The redundant controller 10 can perform open - circuit and short - circuit fault diagnosis on the EPB motor circuit through the fault diagnosis module, can well avoid the abnormal noise problem of the motor during 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.

[0056] In one embodiment, the electrical signal sensor is further used to detect the voltage of the power supply circuit of the vehicle control module 20; the vehicle control module 20 further includes: a CAN interface; the redundant controller 10 establishes a communication connection with the vehicle control module 20 through the CAN interface;

[0057] The redundant controller 10 is used to, when the vehicle is powered on each time, receive the start - up state of the vehicle control module 20 through the CAN interface and make the DC converter automatically charge the backup power supply 22; and when the voltage of the backup power supply 22 detected by the electrical signal sensor is lower than the preset minimum motor braking voltage, make the DC converter automatically charge the backup power supply 22 in a cyclic manner at regular intervals.

[0058] Exemplarily, the vehicle control module 20 and the redundant controller 10 perform message interaction through the CAN interface, receive the status signal of the MCU, and send a braking control instruction to the MCU. Among them, the CAN communication rate can be 500 kbit / s. Each power - on can be when the vehicle enters the ready state after high - voltage self - inspection. Since when performing EPB parking braking, the backup power supply 22 supplies power to the EPB motor, and the working voltage of the EPB motor can be 9 - 16V, the preset minimum motor braking voltage can be 11V, that is, the voltage of the backup power supply 22 is 11V. The specific value can be adjusted according to the actual situation and will not be limited here.

[0059] The state discrimination of the redundant controller 10 can be divided into three cases: power-on, normal power-off, and abnormal power-off: (1) Power-on: When receiving the ready signal, the redundant controller 10 controls the start of charging. After one hour, the charging stops, and the EPB motor is in a standby working state. (2) Normal power-off: When receiving the high-voltage disconnection request signal, the redundant controller 10 is in a normal working state. After 3 minutes, the output of the standby power supply 22 is disconnected, and after 30s, the redundant controller 10 goes into sleep. (3) Abnormal power-off (main power supply 21 fails): When receiving no high-voltage disconnection request signal and the main power supply 21 is lower than 11V, the redundant controller 10 actively parks the vehicle and does not cut off the output of the standby power supply 22 or enter the sleep state.

[0060] Correspondingly, please refer to Figure 3 , Figure 3 for the connection circuit diagram of the redundant controller 10 and the whole vehicle. (1) Power-on process: When the vehicle is powered on, the VCU sends out a vehicle Ready signal indicating successful power-on. S2 is closed, and the redundant controller 10 detects the voltage of the main / standby power supply and automatically selects the available power supply for the EPB motor. If the VCU sends out a signal to release the handbrake at this time, the redundant controller 10 controls the motor to work after receiving it. At the same time, switches S1 and S3 are closed to charge the standby power supply 22. After charging for one hour, S1 is automatically disconnected. (2) During vehicle operation: When the VCU requests the redundant controller 10 to park or release, the redundant controller 10 first disconnects S3 to stop charging the standby battery, and then controls the motor to work. (3) Power-off process: The VCU first requests the redundant controller 10 to park, and the redundant controller 10 actively parks the vehicle.

[0061] Optionally, when the vehicle is powered on, when the redundant controller 10 receives the Ready status sent by the vehicle control module 20, the redundant controller 10 will close the circuit between the DCDC (DC converter) and the standby power supply 22 to allow the DCDC to charge the standby power supply 22. It can be charged for 1 hour, and the specific charging time can be set according to different standby battery models. At the same time, when the voltage of the standby power supply 22 is lower than 11v, the redundant controller 10 will also make it enter the automatic cyclic charging state, driving the DCDC to repeat the charging of the standby power supply 22 every 0.5 hours.

[0062] The state communication between the vehicle control module 20 and the redundant controller 10 is realized through the CAN interface. The redundant controller 10 can monitor the communication status of the vehicle control module 20, so as to realize automatic cyclic charging when the voltage of the standby power supply 22 is lower than the preset value, ensuring the active braking function in the case of the failure of the main power supply 21 and improving the continuity of braking power supply.

[0063] 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 further configured to perform forced charging on the backup power supply 22 according to the forced charging signal when the automatic charging of the backup power supply 22 fails and the main power supply 21 fails.

[0064] Exemplarily, the redundant controller 10 may reserve a forced charging switch. The VCU can send a message instruction to the redundant controller 10 through the CAN interface for forced charging. In the two cases where the automatic charging of the backup power supply 22 fails and the main power supply 21 fails, the redundant controller 10 can drive the DC converter to perform emergency charging on the backup power supply 22 according to the forced charging instruction issued by the VCU.

[0065] Through the CAN interface, the status communication between the vehicle control module 20 and the redundant controller 10 is realized. The redundant controller 10 can monitor the communication status of the vehicle control module 20. When the automatic charging of the backup power supply 22 fails and the main power supply 21 fails, forced charging is performed on the backup power supply 22, further ensuring the active braking function in the case of the failure of the main power supply 21 and improving the sustainability of the braking power supply.

[0066] In one embodiment, the power management module 11 is further configured to switch the output of the backup power supply 22 to the normally open state when the voltage of the main power supply 21 detected by the electrical signal sensor is lower than the preset minimum voltage; and / or switch the output of the backup power supply 22 to the closed state when the voltage of the main power supply 21 detected by the electrical signal sensor is higher than the preset minimum voltage.

[0067] Exemplarily, the preset minimum voltage may be the minimum voltage of the main power supply 21, such as 3V. The specific value can be adjusted according to the actual situation and will not be limited here. The power management module 11 of the redundant controller 10 can provide an output of the backup power supply 22 of 12V / 40A, that is, provide an emergency backup output in the case of the failure of the vehicle main power supply 21 to supply other controllers to work. The specific process can be: when the main power supply 21 is working properly, that is, the voltage of the main power supply 21 detected by the voltage sensor is higher than 3V, the output of the backup power supply 22 is switched to the closed state, and the opening and closing can be actively selected by sending a CAN request through the VCU; 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 the normally open state.

[0068] The state communication between the 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 vehicle control module 20. By adopting the active and forced charging modes for the backup power supply 22, it can be autonomously managed under normal circumstances and can provide an emergency backup power supply 22 for other controllers in the fault mode, that is, when the vehicle main power supply 21 fails, it can provide an emergency backup output to supply other controllers to work, which can further ensure the overall healthy operation of the power supply system, and then increase the reliability and stability of the vehicle system operation.

[0069] In one embodiment, the power management module 11 is further configured to switch to the main power supply 21 when the voltage of the backup power supply 22 detected by the electrical signal sensor is lower than the preset minimum operating voltage, and the motor drive module 12 is configured to drive the brake motor module 30 to perform vehicle braking under the power supply of the main power supply 21; and / or

[0070] The power management module 11 is further configured to switch to the backup power supply 22 when the voltage of the backup power supply 22 detected by the electrical signal sensor is within the preset normal operating voltage range, and the motor drive module 12 is configured to drive the brake motor module 30 to perform vehicle braking under the power supply of the backup power supply 22.

[0071] Exemplarily, if the operating voltage of the EPB motor is 9V to 16V, since the power supply of the redundant controller 10 is selected from the main power supply 21 and the backup power supply 22, and the EPB motor is usually powered by the backup power supply 22, when the voltage of the backup power supply 22 is lower than 11V, the EPB motor may not work properly, and when it is lower than 9V, the controller does not work properly. The preset minimum operating voltage can be the lowest voltage for the normal operation of the backup power supply 22, so it can be 9V here, and the preset normal operating voltage range can be 9V to 14V.

[0072] The redundant controller detects the voltage of the backup power supply 22 of the vehicle control module 20 through the voltage sensor. When the voltage sensor detects that it is between 9 and 14V, the power in the vehicle is switched to the backup power supply 22 through the power management module 11, and the brake motor module 30 is driven to perform EPB parking braking through the motor drive control module; when it is lower than 9V, the power 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 to perform EPB parking braking through the motor drive control module.

[0073] The power management module 11 integrated in the redundant controller 10 can well manage and monitor the main power supply 21 and the backup power supply 22, and at the same time integrate the EPB braking function. Furthermore, it can well automatically manage the cooperation between the main power supply 21 and the backup power supply 22 to assist the brake motor module to perform parking braking, ensuring the normal operation of the parking braking, and thus improving the stability of the parking braking.

[0074] In one embodiment, the motor drive module 12 includes high-power MOS transistors for adapting to the handbrake braking of a large in-wheel direct drive motor or the handbrake braking of a small wire-pull motor.

[0075] Exemplarily, the MOS transistor can be a Metal-Oxide-Semiconductor field-effect transistor, and the current at the drain of the output terminal is controlled by the voltage applied to the gate of the input terminal. The motor drive module 12 includes high-power MOS transistors, and the model with a maximum current that can be borne of 70A can cover the requirements of various EPB motors of the current vehicle models.

[0076] Combined with the skateboard chassis platforms of multiple companies and the differences in the electronic parking brake systems, the redundant controller 10 is comprehensively developed. By importing the working mode selection and calibration mode into the handbrake control program of the redundant controller 10, different working modes are selected according to different handbrake structures, and different control parameters are calibrated according to different handbrake motors.

[0077] For the large EPB motor with in-wheel direct drive, it is mainly applicable to chassis vehicles with a weight of more than 1 ton. It can be selected to work in the corresponding DEPB working mode. By calibrating relevant parameters of the redundant controller 10, such as the maximum current limit threshold, two in-wheel direct drive motors are controlled to control two calipers, thereby realizing parking braking.

[0078] For the small wire-pull EPB motor, it is mainly applicable to chassis vehicles with a weight of less than 1 ton. It can be selected to work in the corresponding SEPB working mode. By calibrating relevant parameters of the redundant controller 10, such as the maximum current limit threshold, the metal wire of a single wire-pull motor is controlled to control two calipers, thereby realizing parking braking.

[0079] The motor drive module 12 adopts high-power MOS transistors, which reduces the volume of the controller compared with the traditional EPB scheme. At the same time, the EPB function is specifically designed for the skateboard chassis, and many vehicle signal inputs of the traditional EPB are cancelled. At the same time, the current detection and current limit calibration of the EPB motor enable the redundant controller to quickly adapt to different chassis vehicle models.

[0080] Through the redundant controller 10, the relevant parameters of the brake motor module can be quickly calibrated to adapt to the EPB motors of different vehicle models, and at the same time, both the large motor and the small motor modes are satisfied, realizing rapid calibration and matching, and reducing the cost of re-development and matching caused by different systems.

[0081] In one embodiment, a vehicle braking control method is provided. This method is applied to the vehicle braking control system 01 introduced above. This method includes:

[0082] The power management module 11 of the redundant controller 10 discharges, charges, and manages the backup power supply 22 according to the power supply voltage status of the vehicle control module 20, and switches to a suitable power supply.

[0083] Exemplarily, the redundant controller 10 integrates the management of the backup power supply 22 and the EPB function in one controller, and can switch to a suitable power supply to cooperate with the execution of the parking brake. When the main power supply 21 fails, the redundantly configured backup power supply 22 intervenes and replaces the failed main power supply 21 to work. This redundant configuration method can effectively increase the mean time between failures of the system, ensure the stable operation of vehicle braking, and improve driving safety.

[0084] The power management module 11 integrated in the redundant controller 10 can well manage and monitor the main power supply 21 and the backup power supply 22, quickly switch to the backup power supply 22 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.

[0085] Please refer to Figure 4 , Figure 4 which is a block diagram of an electronic device. The electronic device 300 may include a memory 311, a storage controller 312, a processor 313, a peripheral interface 314, an input / output unit 315, and a display unit 316. Those of ordinary skill in the art can understand that Figure 4 the structure shown is only illustrative and does not limit the structure of the electronic device 300. For example, the electronic device 300 may also include more or fewer components than Figure 4 shown in, or have a different configuration from Figure 4 shown.

[0086] The above-mentioned memory 311, storage controller 312, processor 313, peripheral interface 314, input / output unit 315, and display unit 316 are electrically connected directly or indirectly to each other to realize data transmission or interaction. For example, these components may be electrically connected to each other through one or more communication buses or signal lines. The above-mentioned processor 313 is used to execute the executable module stored in the memory.

[0087] Among them, the memory 311 can be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electric Erasable Programmable Read-Only Memory (EEPROM), etc. Among them, the memory 311 is used to store a program. After receiving an execution instruction, the processor 313 executes the program. The method executed by the electronic device 300 defined by the process disclosed in any embodiment of the embodiments of the present application can be applied to the processor 313 or implemented by the processor 313.

[0088] The above-mentioned processor 313 may be an integrated circuit chip with signal processing capabilities. The above-mentioned processor 313 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a digital signal processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0089] The above-mentioned peripheral interface 314 couples various input / output devices to the processor 313 and the memory 311. In some embodiments, the peripheral interface 314, the processor 313, and the memory controller 312 may be implemented on a single chip. In some other instances, they may be implemented by separate chips.

[0090] The above-mentioned input / output unit 315 is used to provide input data to the user. The input / output unit 315 can be, but is not limited to, a mouse, a keyboard, etc.

[0091] The above-described display unit 316 provides an interactive interface (such as a user operation interface) between the electronic device 300 and the user for the user's 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 processor executing the program.

[0092] The electronic device 300 in this embodiment can be used to execute each step in the various methods provided by the embodiments of the present application.

[0093] In addition, an embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, it executes the steps in the above method embodiment.

[0094] The computer program product of the above method provided by the embodiments of the present application includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the steps in the above method embodiment. For details, refer to the above method embodiment, which will not be elaborated here.

[0095] In the embodiments provided by the present application, it should be understood that the disclosed device and method can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be other division methods. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some communication interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other form. In the embodiments of the present application, each functional module can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0096] It should be noted that if a function is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product 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, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0097] In this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0098] The above are only the embodiments of the present application and are not used to limit the protection scope of the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle braking control system, characterized in that, The system includes: a vehicle control module, a redundant controller, and a brake motor module; The vehicle control module includes a main power supply and a backup power supply; The redundant controller includes a power management module and a motor drive module; the motor drive module is electrically connected to the brake motor module, and the power management module is switchably connected to the main power supply and the backup power supply; Wherein, the redundant controller is used to manage the discharge and charge of the backup power supply according to the power supply voltage state of the vehicle control module, and switch to a suitable power supply to drive the brake motor module to perform vehicle braking; The redundant controller further includes: an electrical signal sensor and a fault diagnosis module; The electrical signal sensor is electrically connected to the brake motor module and is used to detect the real-time current at both ends of the brake motor in the brake motor module; The fault diagnosis module is used to judge whether the brake motor module has a working failure fault according to the comparison result between the real-time current detected by the electrical signal sensor and the preset brake current target value; and after no working failure fault occurs, judge whether the brake motor module has a mechanical fault according to the vehicle speed information provided by the vehicle control module; Wherein, the electrical signal sensor is further used to detect the voltage of the power supply circuit of the vehicle control module; The vehicle control module further includes: a CAN interface; the redundant controller establishes a communication connection with the vehicle control module through the CAN interface; The redundant controller is used to receive the startup state of the vehicle control module through the CAN interface when the vehicle is powered on each time, and make the DC converter automatically charge the backup power supply; and when the voltage of the backup power supply detected by the electrical signal sensor is lower than the preset minimum motor braking voltage, make the DC converter automatically charge the backup power supply in a cyclic manner at regular intervals.

2. The system according to claim 1, wherein Wherein, The redundant controller sends a current signal to the brake motor module; the fault diagnosis module is further used to judge whether the brake motor module has a short circuit or open circuit fault according to the feedback of the current signal.

3. The system according to claim 1, wherein Wherein, The vehicle control module is further used to send a forced charging signal to the redundant controller through the CAN interface; the redundant controller is further used to perform forced charging on the backup power supply according to the forced charging signal when the automatic charging of the backup power supply fails or the main power supply fails.

4. The system according to claim 1, wherein Wherein, The power management module is further used to switch the output of the backup power supply to the normally open state when the main power supply voltage detected by the electrical signal sensor is lower than the preset minimum voltage; and / or switch the output of the backup power supply to the off state when the main power supply voltage detected by the electrical signal sensor is higher than the preset minimum voltage.

5. The system according to claim 1, characterized in that, The power management module is further used to switch to the main power supply when the voltage of the backup power supply detected by the electrical signal sensor is lower than the preset minimum working voltage, and the motor drive module is used to drive the brake motor module to perform vehicle braking under the power supply of the main power supply; and / or The power management module is further used to switch to the backup power supply when the voltage of the backup power supply detected by the electrical signal sensor is within the preset normal working voltage range, and the motor drive module is used to drive the brake motor module to perform vehicle braking under the power supply of the backup power supply.

6. The system according to claim 1, wherein The motor drive module includes high-power MOS transistors for adapting to the handbrake braking of a large in-wheel direct drive motor or the handbrake braking of a small wire-pull motor.

7. A vehicle braking control method, characterized in that, Applied to the system according to any one of claims 1-6, the method includes: Discharging and charging the backup power supply and switching to a suitable power supply by the power management module of the redundant controller according to the power voltage state of the vehicle control module; Under the condition of switching to a suitable power supply, driving the brake motor module by the motor drive module to perform vehicle braking.

8. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, it executes the steps of the method according to claim 7.

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