Electromechanical brake system and method with controller failure redundancy control function

Abstract

The application discloses an electromechanical brake system and method with controller failure redundancy control function, and the method comprises the following steps: acquiring a vehicle brake signal, and performing information interaction on a chassis domain controller and a vehicle central computing platform of the electromechanical brake system to obtain an information interaction result; sending the information interaction result and a vehicle operation signal to the chassis domain controller for signal processing to obtain a signal processing result; performing information management operation on the electromechanical brake system according to state information of the chassis domain controller and the signal processing result, and according to vehicle operation intention information; and controlling the electromechanical brake system according to the vehicle operation intention and a preset control instruction. The application can realize the function of brake anti-lock when the brake controller is in a failure state, thereby improving the safety performance of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobiles, and in particular to an electronic mechanical braking system and method with controller failure redundancy control function. BACKGROUND

[0002] With the development of automobile intelligence and electrification, electronic mechanical braking system technology is developing rapidly. It gradually becomes an important solution for vehicle braking system with its rapid response and accurate control. In CN 113002511 B, a commercial vehicle electronic mechanical braking system is disclosed, which realizes wheel braking function by controlling the brake motor of the wheel edge.

[0003] The current electronic mechanical braking system completes the whole vehicle braking intention recognition and wheel edge target braking force calculation through the brake controller, and the electric brake controller completes the motor torque adjustment in the wheel edge electronic mechanical braking. The problem of this scheme is that when the brake controller fails, the system cannot realize the whole vehicle braking function, especially the electric brake controller inside does not have a redundant backup brake anti-lock module, so when the brake controller fails, the system cannot have the brake anti-lock function, which leads to the wheel locking during braking and causes safety accidents.

[0004] Unlike traditional pneumatic braking systems, electronic mechanical braking systems usually have multiple motor controllers, and the computing power and storage capacity of the motor control chip have great potential. In addition to completing the regular motor control, they can also perform vehicle braking intention recognition, braking force distribution, and slip rate control functions. The functions of traditional brake controllers can be integrated into the chassis domain controller, which is a technical solution to reduce hardware costs. The current electronic mechanical braking system completes the whole vehicle braking intention recognition and wheel edge target braking force calculation through the brake controller, and the electric brake controller completes the motor torque adjustment in the wheel edge electronic mechanical braking. The problem of this scheme is that when the brake controller fails, the system cannot realize the whole vehicle braking function, especially the electric brake controller inside does not have a redundant backup brake anti-lock module, so when the brake controller fails, the system cannot have the brake anti-lock function, which leads to the wheel locking during braking and causes safety accidents. SUMMARY

[0005] The present application aims to at least solve one of the technical problems in the related art to some extent.

[0006] To this end, the present application aims to provide an electronic mechanical braking system with controller failure redundancy control function to realize the brake anti-lock function when the brake controller is in failure state, thereby improving the safety performance of the vehicle.

[0007] Another object of the present application is to provide an electronic mechanical braking method with controller failure redundancy control function.

[0008] To achieve the above object, the present application provides an electromechanical brake system with controller failure redundancy control function, comprising a central computing platform, a chassis domain controller, a wheel edge electromechanical brake unit, an electric brake controller, a wheel speed sensor, an electronic brake pedal, a steering wheel angle sensor, a combination sensor and a manual brake push rod, wherein,

[0009] The central computing platform is configured to send vehicle state information to the chassis domain controller, wherein the vehicle state information comprises vehicle power system state information, cabin state information and vehicle intelligent driving system related commands;

[0010] The chassis domain controller is configured to send chassis state information to the central computing platform, and calculate a wheel edge target braking force according to an internal brake control algorithm, and send the wheel edge target braking force to the electric brake controller;

[0011] The electric brake controller is configured to control the wheel edge electromechanical brake unit to generate a wheel speed signal and a clamping force control signal, and send them to the chassis domain controller;

[0012] The wheel speed sensor is configured to collect wheel rotation state and send an electrical signal corresponding to the actual wheel speed value to the electric brake controller;

[0013] The electronic brake pedal is configured to collect brake intention information and send it to the electric brake controller;

[0014] The manual brake push rod is configured to generate a vehicle brake signal and send it to the electric brake controller;

[0015] The combination sensor is configured to collect vehicle speed information and send it to the chassis domain controller;

[0016] The steering wheel angle sensor is configured to collect a vehicle steering wheel angle signal and send it to the chassis domain controller.

[0017] The electromechanical brake system with controller failure redundancy control function according to the embodiment of the present application can further have the following additional technical features:

[0018] Further, in an embodiment of the present application, the chassis domain controller comprises a first data acquisition and processing module, a first function arbitration module, a first fault diagnosis module, a power management module, a first state estimation module and a brake force control module;

[0019] The electric brake controller comprises a second data acquisition and processing module, a second function arbitration module, a second fault diagnosis module, a second state estimation module, a brake force distribution module, a motor control module and a mechanical locking control module.

[0020] Further, in an embodiment of the present application, a communication network is further included, and the communication network at least comprises a vehicle-mounted network; the electronic mechanical brake system at least comprises one chassis domain controller and at least one electric brake controller arranged at each wheel; the chassis domain controller communicates with the central computing platform through the vehicle-mounted network, the chassis domain controller communicates with each electric brake controller through an independent vehicle-mounted network, and all electric brake controllers communicate with each other through an independent communication network.

[0021] Further, in an embodiment of the present application, the vehicle brake signal is sent to the chassis domain controller through the electronic brake pedal, and the vehicle brake signal is processed by the chassis domain controller to obtain a brake force command and is sent to the electric brake controller.

[0022] Further, in an embodiment of the present application, the second fault diagnosis module of the electric brake controller is used to diagnose the working state of the chassis domain controller in real time, so as to calculate a vehicle speed estimation value according to the second state estimation module when the chassis domain controller fails, and to calculate a current slip ratio through the vehicle speed estimation value and the actual wheel speed value.

[0023] Further, in an embodiment of the present application, the second fault diagnosis module of the electric brake controller is further used to diagnose the working state of the chassis domain controller in real time, so as to receive the vehicle brake signal of the manual brake push rod when the chassis domain controller fails, to perform vehicle brake intention recognition and brake force distribution.

[0024] Further, in an embodiment of the present application, the wheel-side electronic mechanical brake unit comprises a motor, a mechanical locking mechanism, a rotary conversion mechanism, a pressure sensor and a motor position sensor; the wheel-side electronic mechanical brake unit is used to generate a brake caliper clamping force; the motor position sensor is used to collect and calculate the rotating position of the motor, and the pressure sensor is used to collect and calculate the caliper clamping force.

[0025] Further, in an embodiment of the present application, the electric brake controller is used to monitor the power supply state in the chassis domain controller when the chassis domain controller fails, to control the wheel-side electronic mechanical brake unit according to the power supply state, and when the voltage is lower than a preset threshold value, the motor control module controls the motor to reach a specified position corresponding to a target torque, the motor is locked through the mechanical locking mechanism, and the motor control current is cut off.

[0026] Further, in one embodiment of the present application, the mechanical locking control module of the electric brake controller is used to control the state of the mechanical locking mechanism, in the mechanical locking mechanism closed state, the brake motor does not rotate, and in the mechanical locking mechanism open state, the brake motor rotates.

[0027] The brake force distribution module of the electric brake controller is used to calculate and distribute the target brake force in different brake modes; the brake force distribution module includes a conventional brake module, an autonomous driving brake module, an autonomous ABS brake module, an autonomous parking brake module, and a command distribution module; the autonomous ABS brake module includes a slip rate calculation module, a slip rate selection module, a target slip rate module, an anti-skid controller module, and a stall monitoring module.

[0028] Preferably, the electronic mechanical brake system includes one or more chassis domain controllers, and each wheel is equipped with at least one electric brake controller. The chassis domain controller communicates directly with the central computing platform through the vehicle network, the chassis domain controller communicates with each electric brake controller through an independent vehicle network, and all electric brake controllers communicate through an independent network. Each axle is equipped with one chassis domain controller, and the chassis domain controller and the central computing platform and other domain controllers can have two or more communication lines to interact data, one of which is a regular communication line and the other is a failure backup communication line. The chassis domain controller and each electric brake controller can have two or more communication lines to interact data, one of which is a regular communication line and the other is a failure backup communication line. The electric brake controllers can have two or more communication lines to interact data, one of which is a regular communication line and the other is a failure backup communication line.

[0029] The chassis domain controller can communicate with the vehicle central computing platform, send chassis state information to other controllers, receive vehicle steering intention information, and complete comprehensive management of brake system, steering system and suspension system information, and calculate control command of all actuators according to vehicle steering intention and internal control logic.

[0030] The chassis domain controller calculates the wheel edge target brake force according to the internal brake control algorithm, sends the wheel edge target brake force to the electric brake controller, and receives the wheel speed signal and clamping force control signal sent by the electric brake controller. The chassis domain controller includes a data acquisition and processing module, a function arbitration module, a fault diagnosis module, a power management module, a state estimation module, and a brake force control module.

[0031] The wheel-side electronic mechanical brake unit comprises a motor, a mechanical locking mechanism, a rotary conversion mechanism, a pressure sensor and a motor position sensor. The electronic mechanical brake unit is used to generate brake caliper clamping force. The motor inside the unit generates braking force, and the rotary motion of the motor shaft is converted into linear motion of the caliper through mechanical transmission components. The wheel-side electronic mechanical brake unit contains a motor position sensor and a pressure sensor. The position sensor is used to collect and calculate the motor rotation position, and the pressure sensor is used to collect and calculate the clamping force of the caliper.

[0032] The electric brake controller is used for wheel-side electronic mechanical brake unit control. It contains a data acquisition and processing module, a function arbitration module, a fault diagnosis module, a state estimation module, a brake force distribution module, a motor control module and a mechanical locking control module.

[0033] The data acquisition and processing module of the electric brake controller is used to receive external incoming signals and send its own signals to the chassis domain controller. The data acquisition and processing module receives information from the chassis domain controller, other wheel electric brake controllers and the wheel speed sensor of the wheel where the electric brake controller is located, as well as the manual brake push rod.

[0034] The function arbitration module of the electric brake controller is used to select the brake mode of the electric brake controller according to the information received by the data acquisition and processing module. The brake modes include regular braking, autonomous driving braking, autonomous ABS braking and autonomous parking braking.

[0035] The fault diagnosis module of the electric brake controller is used to determine the working state of the chassis domain controller and also supervise its own working state.

[0036] The state estimation module of the electric brake controller can estimate the vehicle speed according to the wheel speed information of each wheel and the wheel speed information of the wheel where the electric brake controller is located.

[0037] The motor control module of the electric brake controller is used for brake motor control. It can contain a torque loop controller, a position loop controller and a current loop controller.

[0038] The mechanical locking control module of the electric brake controller is used to control the state of the mechanical locking mechanism. When the mechanical locking mechanism is in the closed state, the brake motor cannot rotate. When the mechanical locking mechanism is in the open state, the brake motor can rotate by itself.

[0039] The brake force distribution module of the electric brake controller is used for target brake force calculation and distribution in different brake modes. It contains a regular braking module, an autonomous driving braking module, an autonomous ABS braking module, an autonomous parking braking module and a command distribution module. The autonomous ABS braking module contains a slip ratio calculation module, a slip ratio selection module, a target slip ratio module, an anti-slip controller module and a stall monitoring module.

[0040] The wheel speed sensor collects the wheel rotation state and sends an electrical signal corresponding to the actual wheel speed to the electronic brake controller.

[0041] The electronic brake pedal is used to collect the driver's braking intention and send the command to the chassis domain controller.

[0042] The manual brake push rod is used to generate a braking command when parking or when the electronic brake or brake controller fails, and can generate a continuous and gradual electrical analog signal. When the vehicle needs to be parked, the electronic brake controller sends the manual brake push rod signal to the chassis domain controller after receiving the parking command of the manual brake push rod, and the chassis domain controller completes the vehicle braking intention recognition and brake force distribution, and realizes the brake parking function according to the vehicle load estimate and slope estimate.

[0043] The combination sensor is used to collect the vehicle longitudinal acceleration, lateral acceleration and yaw angular velocity, and send the above signals to the chassis domain controller.

[0044] The steering wheel angle sensor is used to collect the vehicle steering wheel angle signal and send the above signal to the chassis domain controller.

[0045] To achieve the above purpose, another aspect of the present application provides an electronic mechanical braking method with controller failure redundancy control function, comprising:

[0046] Obtaining a vehicle braking signal, and performing information interaction on the chassis domain controller and the central computing platform of the electronic mechanical braking system to obtain an information interaction result;

[0047] Sending the information interaction result and the vehicle operation signal to the chassis domain controller for signal processing to obtain a signal processing result;

[0048] According to the state information of the chassis domain controller and the signal processing result, and according to the whole vehicle operation intention information, performing information management operation on the electronic mechanical braking system, and controlling the electronic mechanical braking system according to the whole vehicle operation intention and the preset control instruction.

[0049] The electronic mechanical braking system and method with controller failure redundancy control function of the embodiment of the present application realize the function of brake anti-lock when the vehicle enters extreme road conditions and the brake controller is in a failure state, thereby improving the safety performance of the vehicle.

[0050] Additional aspects and advantages of the application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0051] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description, taken in conjunction with the following drawings of which:

[0052] Figure 1 Structure diagram of an electromechanical brake system with controller failure redundancy control function according to an embodiment of the present application;

[0053] Figure 2 Structure diagram of a chassis domain controller according to an embodiment of the present application;

[0054] Figure 3 Structure diagram of an electric brake controller according to an embodiment of the present application;

[0055] Figure 4 Software framework diagram of a feasible electric brake controller according to an embodiment of the present application;

[0056] Figure 5 Software framework diagram of a feasible autonomous ABS brake control according to an embodiment of the present application;

[0057] Figure 6 Flow chart of a method for an electromechanical brake system with controller failure redundancy control function according to an embodiment of the present application. DETAILED DESCRIPTION

[0058] It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0059] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings and in conjunction with the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative work should fall within the protection scope of the present application.

[0060] The electromechanical brake system with controller failure redundancy control function according to an embodiment of the present application will be described below with reference to the accompanying drawings.

[0061] Figure 1 Structure diagram of an electromechanical brake system with controller failure redundancy control function according to an embodiment of the present application.

[0062] As Figure 1As shown, the system comprises a central computing platform 101, a chassis domain controller 201, a communication network 301 between the central computing platform 101 and the chassis domain controller 201, electrical lines 302, 303, 304, 305 between the chassis domain controller 201 and the electric brake controller, an electronic brake pedal 401, a combination sensor 402, a steering wheel angle sensor 403, a manual brake push rod 501, an electric brake controller 601, 602, 701, 702, a brake motor 603, 605, 703, 705, a mechanical locking mechanism 604, 606, 704, 706, and a wheel speed sensor 801, 802, 901, 902.

[0063] In this embodiment, the central computing platform 101 sends vehicle state information to the chassis domain controller 201, which can include vehicle power domain information, intelligent driving domain information, and cabin domain information. The chassis domain controller 201 sends chassis state information to the central computing platform 101.

[0064] The chassis domain controller 201 has Figure 2 As shown, the software module comprises a state estimation module 210, a brake force control module 211, a power management module 212, a fault diagnosis module 213, a function arbitration module 214, and a data acquisition and processing module 215. The brake control module includes a brake intention recognition module and a brake force distribution, which is responsible for calculating the target brake force at the wheel. Preferably, the chassis domain controller 201 can include a steering control module, a suspension control module, a chassis state switching control module, and a chassis longitudinal-lateral-vertical coordination control module.

[0065] The data acquisition and processing module 215 in the chassis domain controller 201 receives signals from the electronic brake pedal 401, the combination sensor 402, and the steering wheel angle sensor 403 and sends them to the brake force control module 211. The brake force control module 211 can calculate the target brake force of each wheel according to the vehicle body stability control requirements.

[0066] The chassis domain controller 201 sends power domain information, electric brake controller state information, and combination sensor information to the state estimation module in itself, completes vehicle load estimation calculation, slope estimation calculation, road adhesion estimation calculation, and vehicle body posture calculation.

[0067] The state estimation module 210 in the chassis domain controller 201 can preferably perform weighted fusion calculation on the load estimation calculation, slope estimation calculation, road adhesion estimation calculation and vehicle body posture calculation according to the intelligent driving domain sensor signals sent by the central computing platform 101, which can include camera, laser radar, millimeter wave radar, inertial navigation, GPS, and can use weighted fusion algorithms such as Kalman filter estimation to further optimize the calculation of load, slope, road adhesion and vehicle body posture to improve their accuracy. The chassis domain controller 201 sends the calculated vehicle load, slope, road adhesion and vehicle body posture to the electric brake controllers 601, 602, 701 and 702.

[0068] The fault diagnosis module 213 in the chassis domain controller 201 can complete the fault diagnosis function of the chassis domain controller itself, and can send fault levels and fault codes to the central computing platform and the electric brake controllers.

[0069] The power management module 212 in the chassis domain controller 201 can complete the internal power control function of the controller, which not only supplies power to the chassis domain controller 201, but also provides power to the electric brake controllers 601, 602, 701 and 702.

[0070] The chassis domain controller 201 is connected to the electric brake controllers 601, 602, 701 and 702 through electrical lines 302, 303, 304 and 305, which contain communication lines, power supply lines and signal acquisition lines. The communication lines are used to transmit information between the two controllers, the power supply lines provide power for the electric brake controllers, and the signal acquisition lines are used to acquire key states of the chassis domain controller, such as the power supply voltage of the chassis domain controller 201.

[0071] The chassis domain controller 201 estimates the vehicle speed according to the wheel speed sent by the electric brake controllers 601, 602, 701 and 702. Preferably, the chassis domain controller 201 can optimize the calculation of vehicle speed according to the inertial navigation signal and GPS signal sent by the central computing platform 101, and send the optimized vehicle speed to the central computing platform 101 and the electric brake controllers 601, 602, 701 and 702.

[0072] The electric brake controllers 601, 602, 701 and 702 each contain a data acquisition and processing module 610, a state estimation module 611, a function arbitration module 612, a brake force distribution module 613, a motor control module 614, a fault diagnosis module 615 and a mechanical locking control module 616.

[0073] As Figure 3As shown, the electric brake controller 601, 602, 701, 702 respectively collects the signals from the wheel speed sensor 801, 802, 901, 902 of the wheel where it is located, and completes the wheel speed calculation. Each wheel speed signal is sent to the chassis domain controller 201 through the communication line in 302, 303, 304, 305.

[0074] The chassis domain controller 201 calculates the wheel slip rate according to the wheel speed and vehicle speed, and when the anti-lock braking function is triggered, it will calculate the target braking force at the wheel according to the deviation between the target slip rate and the actual slip rate, and send the target braking force to the electric brake controller. Preferably, the wheel speed sensor 801, 802, 901, 902 can simultaneously send signals to the chassis domain controller 201 and the electric brake controller 601, 602, 701, 702.

[0075] When the vehicle is in the intelligent driving state, the chassis domain controller 201 receives the deceleration request command sent by the central computing platform 101, and according to the deceleration request command, completes the vehicle braking intention recognition and braking force distribution calculation, and sends the wheel target braking force to the electric brake controller 601, 602, 701, 702 through the communication line in the electrical line 302, 303, 304, 305.

[0076] When the vehicle is in the driver driving state, the chassis domain controller 201 receives the brake command sent by the electronic brake pedal 401, and according to the brake command, completes the vehicle braking intention recognition and braking force distribution calculation, and sends the wheel target braking force to the electric brake controller 601, 602, 701, 702 through the electrical line 302, 303, 304, 305.

[0077] When the vehicle needs to be parked, the chassis domain controller receives the manual brake push rod 501 signal sent by the electric brake controller, and according to the brake command, completes the vehicle braking intention recognition, and according to the slope estimation value, completes the parking brake force distribution calculation, and sends the parking brake command to the electric brake controller. The electric brake controller controls the brake motor 603, 605, 703, 705 to the position corresponding to the parking target braking force, and when the brake motor shaft rotates to the specified position, the mechanical locking mechanism is started to lock the brake motor, and then the brake motor control current is turned off.

[0078] A feasible electric brake controller software framework is as follows Figure 4As shown, the electric brake controller 601, 602, 701, 702 judges the working state of the chassis domain controller 201 through the communication signal and voltage detection module between the chassis domain controller 201 at the same time, the communication signal includes the heartbeat message, fault diagnosis signal, electronic brake pedal command and target brake force command of the chassis domain controller 201, and the voltage detection line in the electric line 302, 303, 304, 305 monitors the internal power module state of the chassis domain controller.

[0079] As a feasible chassis domain controller failure control architecture, the function arbitration module 612 in the electric brake controller 601, 602, 701, 702 judges the chassis domain controller state according to the information sent by the data acquisition and processing module 610, the normal brake module, autonomous driving brake module, autonomous ABS brake module and autonomous parking module in the brake force distribution module 613 run synchronously, the calculation results of the above modules are all sent to the command distribution module, the command module selects and distributes the brake force according to the results of the function arbitration module 612, only one function module can be selected by the function arbitration module 612 at the same time, the selected function module sends control commands to the motor control module 614 and the mechanical locking module 616, the control commands include the target brake force of the brake motor 603, 605, 703, 705 and the target position command of the mechanical locking mechanism 604, 606, 704, 706.

[0080] As a feasible chassis domain controller failure control architecture, when the electric brake controller judges that the chassis domain controller 201 is in failure state, the fault diagnosis module 615 sends signal release command to the state estimation module 611, the state estimation module 611 sends the target deceleration command value and target brake force command value stored in the normal state of the chassis domain controller at the previous moment to the normal brake module, the normal brake module receives the above information to complete the vehicle braking action, when the vehicle speed decreases to zero, the state estimation module 611 clears the storage space of the target deceleration command value and target brake force command value. Further, when the function arbitration module 612 selects autonomous driving brake or autonomous ABS brake or autonomous parking brake command, the state estimation module 611 clears the storage space of the target deceleration command value and target brake force command value.

[0081] The electric brake controller 601, 602, 701, 702 continuously monitors the state of the manual brake push rod, and sends the state of the manual brake push rod to the function arbitration module 612, the autonomous driving brake module, the autonomous ABS brake module and the autonomous parking brake module when judging the chassis domain controller failure.

[0082] When the chassis domain controller 201 is in failure state, the electric brake controllers 601, 602, 701, 702 transmit data to each other through the communication network 301, each electric brake controller sends the wheel speed and slip rate of the wheel it is located in to the communication network 301, each electric brake controller can obtain the wheel speed and slip rate of other wheels, each electric brake controller completes vehicle speed estimation according to the wheel speed of itself and the wheel speed of other wheels, and sends the vehicle speed estimation value to the autonomous driving brake module, the autonomous ABS brake module, and the autonomous parking brake module.

[0083] When the chassis domain controller 201 is in failure state, the autonomous driving brake module receives the manual brake push rod position signal, completes vehicle braking intention analysis according to the value, obtains the total braking demand of the vehicle, completes axle target braking force distribution calculation, and the braking force distribution can be a plurality of distribution methods, such as front-rear axle fixed proportion distribution, ideal braking force I curve distribution, etc. After the axle target braking force is determined, the target braking torque of the wheel located in the autonomous driving brake module is sent to the motor control module.

[0084] As a feasible autonomous ABS brake control software framework, as shown in Figure 5 When the chassis domain controller 201 is in failure state, the autonomous ABS brake module completes the calculation of the current slip rate of the wheel according to the vehicle speed and the wheel speed of itself, compares the current slip rate of itself with the slip rate of the wheel on the same axle, takes the maximum value of the two as the feedback slip rate, sends the deviation of the feedback slip rate from the target slip rate to the anti-skid controller, and the anti-skid controller can be a PI controller or an ADRC controller or other single-input single-output feedback controller. The anti-skid controller calculates the motor target torque according to the slip rate deviation, and the motor target torque is limited by the stall monitoring module, and the stall monitoring module limits the motor target torque according to the closing state of the mechanical locking mechanism. The above process will make the two electric brake controllers on the same axle be in the braking anti-lock torque low selection state, so as to ensure the braking anti-lock stability in the chassis domain controller failure state.

[0085] When the chassis domain controller 201 is in a failure state, the electric brake controller 601, 602, 701, 702 detects the chassis domain controller power voltage signal in real time through the electric line 302, 303, 304, 305, compares the actually collected voltage value with the pre-set failure protection voltage threshold value, and when the power voltage signal is lower than the threshold value, the electric brake controller 601, 602, 701, 702 enters the energy-saving control mode, and commands the distribution module to monitor the brake motor torque in real time, and when the absolute value of the change rate of the brake motor torque is lower than the pre-set threshold value, the mechanical locking control module 616 is sent a locking command to start the mechanical locking mechanism to lock the brake motor. Preferably, the distribution module can monitor the pressure sensor in the wheel edge electronic mechanical brake unit in real time, and when the absolute value of the change rate of the pressure signal sampled by the pressure sensor is lower than the pre-set threshold value, the mechanical locking control module 616 is sent a locking command to start the mechanical locking mechanism to lock the brake motor. When the command distribution module detects that all brake motor target torques are zero, the mechanical locking mechanism is released, and at this time the brake motor can rotate.

[0086] The electronic mechanical brake system with controller failure redundancy control function according to the embodiment of the application can realize the brake anti-lock function when the brake controller is in a failure state, thereby improving the safety performance of the vehicle.

[0087] In order to realize the above-mentioned embodiment, as shown in the embodiment, the electronic mechanical brake method with controller failure redundancy control function is also provided, and the method comprises the following steps. Figure 6

[0088] S1, obtaining a vehicle brake signal, and performing information interaction on the chassis domain controller and the central computing platform of the electronic mechanical brake system to obtain an information interaction result;

[0089] S2, sending the information interaction result and a vehicle operation signal to the chassis domain controller for signal processing to obtain a signal processing result;

[0090] S3, performing information management operation on the electronic mechanical brake system according to the state information of the chassis domain controller and the signal processing result, and performing control command calculation on the electronic mechanical brake system according to the whole vehicle operation intention information and the pre-set control instruction.

[0091] ​In particular, the method is applied to the control of an electromechanical brake system. The electromechanical brake system comprises: a chassis domain controller, a wheel-side electromechanical brake unit, an electric brake controller, a communication network, a wheel speed sensor, an electronic brake pedal, a steering wheel angle sensor, a combination sensor, a manual brake push rod, the chassis domain controller, which can communicate with a vehicle central computing platform, sends chassis state information to other controllers, and receives vehicle operation intention information, completes the comprehensive management of brake system, steering system and suspension system information, and completes the control command calculation of all actuators according to the vehicle operation intention and the internal control logic. The chassis domain controller calculates the wheel-side target braking force according to the internal brake control algorithm, and sends the wheel-side target braking force to the electric brake controller, and receives the wheel speed signal and the clamping force control signal sent by the electric brake controller. The chassis domain controller comprises a data acquisition and processing module, a function arbitration module, a fault diagnosis module, a power management module, a state estimation module, and a brake force control module. The electric brake controller is used for wheel-side electromechanical brake unit control. It comprises a data acquisition and processing module, a function arbitration module, a fault diagnosis module, a state estimation module, a brake force distribution module, a motor control module, and a mechanical locking control module. The wheel speed sensor collects the wheel rotation state and sends an electrical signal corresponding to the actual wheel speed to the electric brake controller. The electronic brake pedal is used to collect the driver's braking intention and send the command to the brake controller. The manual brake push rod is used to generate a brake command when parking or when the electronic brake or brake controller fails, and can generate a continuous and gradual electrical analog signal. The combination sensor is used to collect vehicle longitudinal acceleration, lateral acceleration and yaw rate, and send the signals to the chassis domain controller. The steering wheel angle sensor is used to collect the vehicle steering wheel angle signal and send it to the chassis domain controller.

[0092] Further, the electromechanical brake system comprises one or more chassis domain controllers, and at least one electric brake controller is provided at each wheel. The chassis domain controller communicates with the central computing platform through the vehicle network, and the chassis domain controller communicates with each electric brake controller through an independent vehicle network, and all electric brake controllers communicate through an independent network.

[0093] Further, the vehicle brake signal can be sent directly to the electric brake controller through the manual brake push rod, or sent to the chassis domain controller through the electronic brake pedal. The vehicle brake signal is processed by the chassis domain controller to form a brake force command and sent to the electric brake controller. The vehicle brake signal can also be sent to the chassis domain controller by the central computing platform.

[0094] Further, the electric brake controller diagnoses the working state of the chassis domain controller in real time, and when the chassis domain controller fails, the vehicle speed estimation value is calculated according to the state estimation module, and the current slip ratio can be calculated through the vehicle speed estimation value and the actual wheel speed value.

[0095] Further, the electric brake controller diagnoses the working state of the chassis domain controller in real time, and when the chassis domain controller fails, the vehicle braking intention recognition and brake force distribution can be completed by receiving the control command of the manual brake push rod, and the anti-lock braking function is realized through the anti-lock braking control module when the wheels appear to be locked.

[0096] Further, the electric brake controller monitors the power state in the chassis domain controller when the chassis domain controller fails, and controls the wheel edge electronic mechanical brake unit according to the voltage state, when the voltage of the power module is lower than the pre-set threshold value, the electric brake controller controls the motor to reach the specified position corresponding to the target torque in the braking process, and then locks the motor through the mechanical locking mechanism to cut off the motor control current.

[0097] The electronic mechanical brake method with controller failure redundancy control function according to the embodiment of the application can realize the anti-lock braking function when the brake controller is in the failure state, thereby improving the safety performance of the vehicle.

[0098] In addition, the terms "first", "second", "third", etc. are used only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second", etc. can be explicitly or implicitly included at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0099] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the description of the present application, the illustrative description of the above terms is not necessarily for the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, the skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0100] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and that variations, modifications, substitutions and changes can be made by those skilled in the art without departing from the scope of the present application.

Claims

1. An electromechanical brake system with controller failure redundancy control function, characterized in that: include: Central computing platform, chassis domain controller, wheel-side electronic mechanical brake unit, electric brake controller, wheel speed sensor, electronic brake pedal, steering wheel angle sensor, combination sensor and manual brake push rod, the wheel-side electronic mechanical brake unit includes a motor, a mechanical locking mechanism, a rotation conversion mechanism, a pressure sensor, and a motor position sensor; the wheel-side electronic mechanical brake unit is used to generate the brake caliper clamping force; the motor position sensor is used to collect and calculate the motor rotation position, and the pressure sensor is used to collect and calculate the caliper clamping force; The mechanical locking control module of the electric brake controller is used to control the state of the mechanical locking mechanism, so that the brake motor does not rotate when the mechanical locking mechanism is closed, and the brake motor rotates when the mechanical locking mechanism is open; The braking force distribution module of the electric brake controller is used to calculate and distribute the target braking force under different braking modes; the braking force distribution module includes a conventional braking module, an autonomous service braking module, an autonomous ABS braking module, an autonomous parking brake module and a command distribution module; The autonomous ABS braking module includes a slip ratio calculation module, a slip ratio selection module, a target slip ratio module, an anti-slip controller module and a stall monitoring module; wherein, The central computing platform is used to send vehicle status information to the chassis domain controller; The chassis domain controller is configured to send chassis status information to the central computing platform, calculate wheel-side target braking forces based on an internal braking control algorithm, and send the wheel-side target braking forces to the electric brake controller; The electric brake controller is used to control the wheel-side electronic mechanical brake unit to generate a wheel speed signal and a clamping force control signal, and send the signal to the chassis domain controller; The wheel speed sensor is used to collect the wheel rotation state and send an electrical signal corresponding to the actual wheel speed value to the electric brake controller; The electronic brake pedal is used to collect braking intention information and send the braking intention information to the electric brake controller; The manual brake push rod is used to generate a vehicle braking signal and send it to the electric brake controller; The combined sensor is used to collect vehicle speed information and send the vehicle speed information to the chassis domain controller; The steering wheel angle sensor is used to collect a vehicle steering wheel angle signal and send the vehicle steering wheel angle signal to the chassis domain controller; When the electric brake controller determines the working status of the chassis domain controller through the communication signal between the chassis domain controller and the voltage detection module, the communication signal includes the heartbeat message, fault diagnosis signal, electronic brake pedal command and target braking force command of the chassis domain controller, and the status of the power module inside the chassis domain controller is monitored through the voltage detection circuit in the electrical circuit; When the chassis domain controller is in a failed state, the autonomous ABS braking module calculates the current wheel slip rate based on the vehicle speed and its own wheel speed, compares the current own slip rate with the slip rate of the coaxial wheel, takes the maximum value of the two as the feedback slip rate, and sends the deviation between the feedback slip rate and the target slip rate to the anti-skid controller. The anti-skid controller calculates the motor target torque based on the slip rate deviation. The motor target torque is limited by the stall monitoring module, and the stall monitoring module limits the motor target torque based on the closed state of the mechanical locking mechanism; The electric brake controller is used to monitor the power status in the chassis domain controller when the chassis domain controller fails, and control the wheel-side electronic mechanical brake unit according to the power status. When the voltage is lower than the preset threshold value, the motor control module controls the motor to reach the specified position corresponding to the target torque, locks the motor through the mechanical locking mechanism, and cuts off the motor control current.

2. The electromechanical braking system according to claim 1, characterized in that: The vehicle status information includes vehicle power system status information, cockpit status information, and vehicle intelligent driving system related commands; the chassis domain controller includes a first data acquisition and processing module, a first function arbitration module, a first fault diagnosis module, a power management module, a first state estimation module, and a braking force control module; The electric brake controller includes a second data acquisition and processing module, a second function arbitration module, a second fault diagnosis module, a second state estimation module, a braking force distribution module, a motor control module and a mechanical locking control module.

3. The electromechanical braking system according to claim 1, wherein: It also includes a communication network, which includes at least an on-board network; the electronic mechanical braking system includes at least one chassis domain controller, and is equipped with at least one electric brake controller at each wheel; the chassis domain controller communicates with the central computing platform through the on-board network, the chassis domain controller communicates with each electric brake controller through an independent on-board network, and all electric brake controllers communicate with each other through the independent communication network.

4. The electromechanical braking system according to claim 1, wherein: The vehicle braking signal is sent to the chassis domain controller through the electronic brake pedal. The vehicle braking signal is processed by the chassis domain controller to obtain a braking force command and sent to the electric brake controller.

5. The electromechanical brake system according to claim 2, characterized in that: The second fault diagnosis module of the electric brake controller is used to diagnose the working status of the chassis domain controller in real time, so as to calculate the vehicle speed estimation value according to the second state estimation module when the chassis domain controller fails, and calculate the current slip rate through the vehicle speed estimation value and the actual wheel speed value.

6. The electromechanical braking system according to claim 2, characterized in that: The second fault diagnosis module of the electric brake controller is also used to diagnose the working status of the chassis domain controller in real time, so as to receive the vehicle braking signal of the manual brake push rod when the chassis domain controller fails, and perform vehicle braking intention recognition and braking force distribution.

7. A control method for an electromechanical system with controller failure redundancy control function according to any one of claims 1 to 6, characterized in that: The following steps are involved: Acquire vehicle braking signals and exchange information with the chassis domain controller and central computing platform of the electronic mechanical braking system to obtain information interaction results; Sending the information interaction results and vehicle control signals to the chassis domain controller for signal processing to obtain signal processing results; The electronic mechanical braking system is managed according to the status information of the chassis domain controller and the signal processing result, and the vehicle operation intention information, and the electronic mechanical braking system is controlled according to the vehicle operation intention and preset control instructions.

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