Control system, method and vehicle for an electromechanical brake system

Abstract

The application discloses a control system and method of an electromechanical brake system and a vehicle. The system comprises a first brake controller, a second brake controller, a first pedal stroke sensor, a second pedal stroke sensor, a pedal sensor and a plurality of electromechanical brake systems. The first brake controller is connected with the first pedal stroke sensor, the second pedal stroke sensor, the second brake controller and the plurality of electromechanical brake systems respectively. The second brake controller is connected with the pedal sensor and the plurality of electromechanical brake systems respectively. The plurality of electromechanical brake systems are used for braking wheels of the vehicle. The application solves the technical problem that the braking force may be insufficient or excessive due to the fact that only two pedal stroke sensors are used to identify the braking intention of a driver in the prior art.

Description

Technical Field

[0001] This application relates to the field of intelligent braking technology, and more specifically, to a control system, method, and vehicle for an electromechanical braking system. Background Technology

[0002] With the rapid development of intelligence and electrification, braking electronic control systems have evolved into integrated braking control assemblies, and electromechanical braking systems are the future direction of intelligent vehicle braking. The braking energy path of vehicles equipped with electromechanical braking systems is as follows: the driver presses the brake pedal → the controller recognizes the driver's braking intention → the motor on the caliper drives the transmission mechanism to generate braking clamping force.

[0003] However, in related technologies, the pedal travel sensor that identifies the driver's intention only has two channels. When the signals from the two sensors are inconsistent, using the signal with the larger travel distance as the standard for control may result in over-braking, while using the signal with the smaller travel distance as the standard may result in insufficient braking force.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This application provides a control system, method, and vehicle for an electromechanical braking system, which at least solves the technical problem that insufficient braking force or over-braking may occur due to the fact that the driver's braking intention is identified only by two pedal travel sensors in the related art.

[0006] According to one aspect of the embodiments of this application, a control system for an electromechanical braking system is provided, comprising: a first brake controller, a second brake controller, a first pedal travel sensor, a second pedal travel sensor, a pedal sensor, and a plurality of electromechanical braking systems. The first brake controller is connected to the first pedal travel sensor, the second pedal travel sensor, the second brake controller, and the plurality of electromechanical braking systems, respectively, and is used to receive a first signal sent by the first pedal travel sensor and a second signal sent by the second pedal travel sensor, and to control the plurality of electromechanical braking systems according to the first and second signals. The second brake controller is connected to the pedal sensor and the plurality of electromechanical braking systems, respectively, and is used to receive a third signal sent by the pedal sensor, and to control the plurality of electromechanical braking systems according to the third signal. The plurality of electromechanical braking systems are used to brake the wheels of a vehicle.

[0007] Optionally, the multiple electromechanical braking systems include at least: a first electromechanical braking system, a second electromechanical braking system, a third electromechanical braking system, and a fourth electromechanical braking system.

[0008] Optionally, the control system further includes: multiple wheel speed sensors, wherein the multiple wheel speed sensors include at least: a first wheel speed sensor, a second wheel speed sensor, a third wheel speed sensor, a fourth wheel speed sensor, a fifth wheel speed sensor, a sixth wheel speed sensor, a seventh wheel speed sensor, and an eighth wheel speed sensor; wherein a first electromechanical braking system is connected to a first brake controller, a second brake controller, and the first wheel speed sensor respectively, and is used to brake the wheel corresponding to the first wheel speed sensor; a second electromechanical braking system is connected to the first brake controller, the second brake controller, and the second wheel speed sensor respectively, and is used to brake the wheel corresponding to the second wheel speed sensor; a third electromechanical braking system is connected to the first brake controller, the second brake controller, and the third wheel speed sensor respectively, and is used to brake the wheel corresponding to the third wheel speed sensor; a fourth electromechanical braking system is connected to the first brake controller, the second brake controller, and the fourth wheel speed sensor respectively, and is used to brake the wheel corresponding to the fourth wheel speed sensor; the fifth, sixth, seventh, and eighth wheel speed sensors are each connected to the first brake controller to provide wheel speed signals.

[0009] Optionally, the control system further includes: a first automated driving controller, a second automated driving controller, and a gateway, wherein the first automated driving controller is connected to the first brake controller, the second brake controller, the gateway, and the second automated driving controller, respectively, and is used to control the vehicle to perform automated driving; the second automated driving controller is connected to the gateway and is used to control the vehicle to perform automated driving; the gateway is connected to the first brake controller, the second brake controller, the first automated driving controller, and the second automated driving controller, respectively, and is used to send data to the first brake controller, the second brake controller, the first automated driving controller, and the second automated driving controller.

[0010] Optionally, the first brake controller, the second brake controller, multiple electromechanical braking systems, the gateway, and the first automatic driving controller are all powered by a first power supply and a second power supply, wherein the first power supply and the second power supply serve as backups for each other.

[0011] Optionally, the first brake controller and the second brake controller communicate redundantly via a multi-channel CANFD bus.

[0012] According to another aspect of the embodiments of this application, a control method for an electromechanical braking system is also provided, for the control system of the aforementioned electromechanical braking system, comprising: determining whether to brake the vehicle based at least on the operating states of a first pedal travel sensor, a second pedal travel sensor, and a pedal sensor; and, in the event of a single-point failure in the control system of the electromechanical braking system, controlling the vehicle to decelerate using a first automatic driving controller or a second automatic driving controller.

[0013] According to another aspect of the embodiments of this application, a non-volatile storage medium is also provided, the storage medium including a stored program, wherein the program, when running, controls the device where the storage medium is located to execute the control method of the above-mentioned electromechanical braking system.

[0014] According to another aspect of the embodiments of this application, an electronic device is also provided, including: a memory and a processor, the processor being configured to run a program stored in the memory, wherein the program executes the control method of the electromechanical braking system described above when it runs.

[0015] According to another aspect of the embodiments of this application, a vehicle is also provided, wherein the controller of the vehicle is used to execute the control method of the above-described electromechanical braking system.

[0016] In this embodiment, a first brake controller, a second brake controller, a first pedal travel sensor, a second pedal travel sensor, a pedal sensor, and multiple electromechanical braking systems are employed. The first brake controller is connected to the first pedal travel sensor, the second pedal travel sensor, the second brake controller, and the multiple electromechanical braking systems. It receives a first signal from the first pedal travel sensor and a second signal from the second pedal travel sensor, and controls the multiple electromechanical braking systems based on the first and second signals. The second brake controller is connected to the pedal sensor and the multiple electromechanical braking systems. It receives a third signal from the pedal sensor and controls the multiple electromechanical braking systems based on the third signal. The multiple electromechanical braking systems are used to brake the vehicle's wheels. By connecting the first brake controller to the first and second pedal travel sensors, and connecting the second brake controller to the pedal sensor, the driver's braking intention is identified through multiple pedal travel sensors. This achieves precise braking of the vehicle and solves the technical problem of insufficient braking force or over-braking caused by relying on only two pedal travel sensors to identify the driver's braking intention in related technologies. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0018] Figure 1 This is a structural diagram of a control system for an electromechanical braking system according to an embodiment of this application;

[0019] Figure 2 This is a structural diagram of the control system of another electromechanical braking system according to an embodiment of this application;

[0020] Figure 3 This is a structural diagram of the control system of another electromechanical braking system according to an embodiment of this application;

[0021] Figure 4 This is a structural diagram of the control system of another electromechanical braking system according to an embodiment of this application;

[0022] Figure 5 This is a structural diagram of the control system of another electromechanical braking system according to an embodiment of this application;

[0023] Figure 6 This is a flowchart of a control method for an electromechanical braking system according to an embodiment of this application;

[0024] Figure 7 This is a hardware structure block diagram of a computer terminal (or electronic device) of a control system for an electromechanical braking system according to an embodiment of this application. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] Figure 1 This is a structural diagram of a control system for an electromechanical braking system according to an embodiment of this application, as shown below. Figure 1 As shown, the system includes: a first brake controller 1, a second brake controller 2, a first pedal travel sensor 3, a second pedal travel sensor 4, a pedal sensor 5, and multiple electromechanical braking systems 6, wherein...

[0028] The first brake controller 1 is connected to the first pedal travel sensor 3, the second pedal travel sensor 4, the second brake controller 2, and multiple electromechanical braking systems 6, respectively. It is used to receive the first signal sent by the first pedal travel sensor 3 and the second signal sent by the second pedal travel sensor 4, and to control the multiple electromechanical braking systems 6 according to the first signal and the second signal.

[0029] The second brake controller 2 is connected to the pedal sensor 5 and multiple electromechanical braking systems 6 respectively. It is used to receive the third signal sent by the pedal sensor 5 and control the multiple electromechanical braking systems 6 according to the third signal.

[0030] Multiple electromechanical braking systems 6 are used to brake the wheels of the vehicle.

[0031] According to some optional embodiments of this application, a pedal travel sensor is a sensor used to measure the position and travel distance of an automobile accelerator pedal. The pedal travel sensor typically consists of two parts: a base fixed to the vehicle body and a movable rod connected to the accelerator pedal. When the driver depresses or releases the accelerator, the movable rod moves forward or backward, changing the electronic signal output. This electronic signal is sent to the brake controller, which also uses electrical signals to control and adjust parameters such as pressure, speed, and force of the vehicle's or train's braking system, thereby making the entire braking system more stable, accurate, and efficient. The pedal travel sensor can help improve engine combustion efficiency, reduce emissions, and ensure better responsiveness and reliability of the vehicle under different driving conditions.

[0032] It should be noted that pedal sensors include one of the following: pedal travel sensor, pedal pressure sensor, and pedal force sensor. The pedal pressure sensor is an electronic device that measures the pressure of a car's accelerator pedal. It typically consists of a variable resistor and a signal amplifier, converting the mechanical movement of the accelerator pedal into an electrical signal, which is then sent to the vehicle control system for processing. The pedal force sensor detects the pressure applied by the driver to the pedal and converts the pressure signal into a digital signal, which is then sent to the engine control unit or brake controller to adjust engine output power or brake pressure.

[0033] Optionally, the number of pedal sensors may be one or more. In the case of multiple pedal sensors, the pedal sensors may also be connected to the first brake controller.

[0034] According to the above system, the first pedal travel sensor 3 and the second pedal travel sensor 4 are connected to the first brake controller 1, and the pedal sensor 5 is connected to the second brake controller 2. This achieves the purpose of identifying the driver's braking intention through multiple pedal travel sensors, thereby realizing the technical effect of precise braking of the vehicle.

[0035] Figure 2 This is a structural diagram of the control system of another electromechanical braking system according to an embodiment of this application, such as... Figure 2 As shown, the multiple electromechanical braking systems 6 include at least: a first electromechanical braking system 60, a second electromechanical braking system 61, a third electromechanical braking system 62, and a fourth electromechanical braking system 63.

[0036] An electronic mechanical braking system (EMB) is a new type of vehicle braking system that combines traditional hydraulic braking with electronic control technology. It utilizes advanced computer technology, sensor technology, and actuators. The EMB mainly consists of the following components:

[0037] 1. Power Module: Provides a stable DC or AC power supply for the entire system; 2. Control Unit: Responsible for receiving signals from various sensors and controlling the actuators to perform braking operations according to the program; 3. Sensor Module: Includes various types such as speed sensors, torque sensors, and steering angle sensors, used to detect driving status and the magnitude of torque applied by the driver to the steering wheel and pedals; 4. Actuator Unit: Includes the drive generator built into the brake drum or wheel hub and the connecting circuitry attached to and connected to it during operation. It generates commands after performing calculations and outputs them to functional objects involving on or off states to achieve the control of the functional objectives.

[0038] EMB (Electronic Braking System) utilizes advanced electronic computer technology to achieve multiple braking modes and anti-skid control functions, and can respond quickly and effectively slow down the vehicle in emergencies. Furthermore, the EMB braking system eliminates hydraulic lines, avoiding oil leaks and reducing the risk of environmental pollution. In addition, EMB offers better fuel economy, reducing vehicle emissions and fuel consumption to some extent.

[0039] Figure 3 This is a structural diagram of the control system of another electromechanical braking system according to an embodiment of this application, such as... Figure 3As shown, the system also includes: multiple wheel speed sensors 7, wherein the multiple wheel speed sensors 7 include at least: a first wheel speed sensor 70, a second wheel speed sensor 71, a third wheel speed sensor 72, a fourth wheel speed sensor 73, a fifth wheel speed sensor 74, a sixth wheel speed sensor 75, a seventh wheel speed sensor 76, and an eighth wheel speed sensor 77, wherein,

[0040] The first electromechanical braking system 60 is connected to the first brake controller 1, the second brake controller 2 and the first wheel speed sensor 70 respectively, and is used to brake the wheel corresponding to the first wheel speed sensor 70;

[0041] The second electromechanical braking system 61 is connected to the first brake controller 1, the second brake controller 2, and the second wheel speed sensor 71, respectively, and is used to brake the wheel corresponding to the second wheel speed sensor 71.

[0042] The third electromechanical braking system 62 is connected to the first brake controller 1, the second brake controller 2 and the third wheel speed sensor 72 respectively, and is used to brake the wheel corresponding to the third wheel speed sensor 72.

[0043] The fourth electromechanical braking system 63 is connected to the first brake controller 1, the second brake controller 2 and the fourth wheel speed sensor 73 respectively, and is used to brake the wheel corresponding to the fourth wheel speed sensor 73;

[0044] The fifth wheel speed sensor 74, the sixth wheel speed sensor 75, the seventh wheel speed sensor 76 and the eighth wheel speed sensor 77 are respectively connected to the first brake controller 1 to provide wheel speed signals.

[0045] A wheel speed sensor is a device used to measure the rotational speed of a vehicle's tires and the vehicle's speed. It is typically mounted on the vehicle's wheels or fixed to the suspension system. Its main functions are as follows:

[0046] 1. Measuring vehicle speed: By detecting the rotation of each wheel, the speed of the entire vehicle can be calculated.

[0047] 2. Control of Anti-lock Braking System (ABS): When sensors detect that a single wheel is decelerating or even coming to a stop, the ABS anti-lock braking system can be triggered to avoid excessive braking and causing danger.

[0048] 3. Traction Control System (TCS): When the car is driving on a low-friction surface, this system automatically adjusts the engine output power and individually balances the torque of each steering wheel to ensure maximum driving safety.

[0049] 4. In conjunction with the Electronic Stability Program (ESP): This program also relies on these sensor data to ensure accurate calculation and correction of any instability, and to help the driver maintain a stable state.

[0050] For example, the first wheel speed sensor 70 and the fifth wheel speed sensor 74 are wheel speed sensors for the left front wheel, the second wheel speed sensor 71 and the sixth wheel speed sensor 75 are wheel speed sensors for the right front wheel, the third wheel speed sensor 72 and the seventh wheel speed sensor 76 are wheel speed sensors for the left rear wheel, and the fourth wheel speed sensor 73 and the eighth wheel speed sensor 77 are wheel speed sensors for the right rear wheel.

[0051] The first electromechanical braking system 60 is the electromechanical braking system for the left front wheel, the second electromechanical braking system 61 is the electromechanical braking system for the right front wheel, the third electromechanical braking system 62 is the electromechanical braking system for the left rear wheel, and the fourth electromechanical braking system 63 is the electromechanical braking system for the right rear wheel.

[0052] Optionally, the first wheel speed sensor 70, the second wheel speed sensor 71, the third wheel speed sensor 72, the fourth wheel speed sensor 73, the fifth wheel speed sensor 74, the sixth wheel speed sensor 75, the seventh wheel speed sensor 76, and the eighth wheel speed sensor 77 are dual-chip wheel speed sensors. A dual-chip wheel speed sensor is a sensor used to measure the wheel speed of a vehicle. The dual-chip wheel speed sensor consists of two chips: one is a Hall element, and the other is a microprocessor. When the vehicle is moving, a magnet fixed to the wheel rotates and passes through the Hall element of the sensor, thereby generating an electrical signal. By using two chips to measure vehicle speed, the dual-chip wheel speed sensor can provide more accurate and reliable data and has a higher anti-interference capability than a single-chip sensor.

[0053] Figure 4 This is a structural diagram of the control system of another electromechanical braking system according to an embodiment of this application, such as... Figure 4 As shown, the system also includes: a first autonomous driving controller 8, a second autonomous driving controller 9, and a gateway 10, wherein,

[0054] The first automatic driving controller 8 is connected to the first brake controller 1, the second brake controller 2, the gateway 10, and the second automatic driving controller 9, respectively, and is used to control the vehicle to perform automatic driving.

[0055] The second autonomous driving controller 9 is connected to the gateway 10 and is used to control the vehicle to perform autonomous driving.

[0056] Gateway 10 is connected to the first brake controller 1, the second brake controller 2, the first autopilot controller 8, and the second autopilot controller 9 respectively, and is used to send data to the first brake controller 1, the second brake controller 2, the first autopilot controller 8, and the second autopilot controller 9.

[0057] According to some optional embodiments of this application, the first brake controller 1, the second brake controller 2, the multiple electromechanical braking systems 6, the gateway 10, and the first automatic driving controller 8 are all powered by a first power supply and a second power supply, wherein the first power supply and the second power supply are backups for each other.

[0058] Understandably, when one of the first and second power supplies fails, the other can automatically take over its operation.

[0059] Alternatively, the second autonomous driving controller 9 can also be powered by a dual power supply.

[0060] According to some alternative embodiments of this application, the first brake controller 1 and the second brake controller 2 communicate redundantly via a multiplexed CANFD bus.

[0061] CANFD is a newer CAN bus standard that offers significant improvements over traditional CAN buses in terms of data transmission rate, payload size, and bandwidth. Traditional CAN buses have a maximum transmission rate of only 1 Mbps, and each message can only carry 8 bytes of data. In contrast, CANFD can increase the transmission rate to 8 Mbps, and each message can carry 64 bytes of data. This allows for faster communication and supports more complex and diverse application scenarios.

[0062] Figure 5 This is a structural diagram of the control system of another electromechanical braking system according to an embodiment of this application, such as... Figure 5 As shown, the system includes a first brake controller 1, a second brake controller 2, a first pedal travel sensor 3, a second pedal travel sensor 4, a pedal sensor 5, a first electromechanical braking system 60, a second electromechanical braking system 61, a third electromechanical braking system 62, a fourth electromechanical braking system 63, a first wheel speed sensor 70, a second wheel speed sensor 71, a third wheel speed sensor 72, a fourth wheel speed sensor 73, a fifth wheel speed sensor 74, a sixth wheel speed sensor 75, a seventh wheel speed sensor 76, an eighth wheel speed sensor 77, a first automatic driving controller 8, a second automatic driving controller 9, a gateway 10, a chassis CAN other controller 11, and other vehicle controllers 12.

[0063] The first electromechanical braking system 60 is connected to the first brake controller 1, the second brake controller 2 and the first wheel speed sensor 70 respectively, and is used to brake the wheel corresponding to the first wheel speed sensor 70;

[0064] The second electromechanical braking system 61 is connected to the first brake controller 1, the second brake controller 2, and the second wheel speed sensor 71, respectively, and is used to brake the wheel corresponding to the second wheel speed sensor 71.

[0065] The third electromechanical braking system 62 is connected to the first brake controller 1, the second brake controller 2 and the third wheel speed sensor 72 respectively, and is used to brake the wheel corresponding to the third wheel speed sensor 72.

[0066] The fourth electromechanical braking system 63 is connected to the first brake controller 1, the second brake controller 2 and the fourth wheel speed sensor 73 respectively, and is used to brake the wheel corresponding to the fourth wheel speed sensor 73;

[0067] The fifth wheel speed sensor 74, the sixth wheel speed sensor 75, the seventh wheel speed sensor 76 and the eighth wheel speed sensor 77 are respectively connected to the first brake controller 1 to provide wheel speed signals.

[0068] The first automatic driving controller 8 is connected to the first brake controller 1, the second brake controller 2, the gateway 10, and the second automatic driving controller 9, respectively, and is used to control the vehicle to perform automatic driving.

[0069] The second autonomous driving controller 9 is connected to the gateway 10 and is used to control the vehicle to perform autonomous driving.

[0070] Gateway 10 is connected to the first brake controller 1, the second brake controller 2, the first automatic driving controller 8, the second automatic driving controller 9, the chassis CAN other controller 11, and the vehicle other controller 12, respectively.

[0071] Used to send data to the first brake controller 1, the second brake controller 2, the first automatic driving controller 8, the second automatic driving controller 9, the chassis CAN other controllers 11, and the vehicle other controllers 12.

[0072] Gateway 10 is connected to the first brake controller 1, the second brake controller 2, and other chassis CAN controllers 11 via a first CANFD bus; the first automatic driving controller 8 is connected to the first brake controller 1 and the second brake controller 2 via a second CANFD bus; the first brake controller 1 is connected to the first electromechanical braking system 60, the second electromechanical braking system 61, the third electromechanical braking system 62, and the fourth electromechanical braking system 63 via a third CANFD bus; gateway 10 is also connected to the first automatic driving controller 8 and the second automatic driving controller 9 via a fifth CANFD bus; the first brake controller 1 transmits... The sensor hardwire is connected to the first pedal travel sensor 3 and the second pedal travel sensor 4. The second brake controller is connected to the pedal sensor 5 through the sensor hardwire. The first brake controller 1 is also connected to the fifth wheel speed sensor 74, the sixth wheel speed sensor 75, the seventh wheel speed sensor 76 and the eighth wheel speed sensor 77 through the sensor hardwire. The first electromechanical braking system 60 is connected to the first wheel speed sensor 70, the second wheel speed sensor 71, the third wheel speed sensor 72 and the fourth wheel speed sensor 73 through the sensor hardwire, respectively.

[0073] Figure 6 This is a flowchart of a control method for an electromechanical braking system according to an embodiment of this application. The method is applied to... Figures 1 to 5 The control system of any electromechanical braking system shown, such as Figure 6 As shown, the method includes the following steps:

[0074] Step S602: Determine whether to brake the vehicle based on at least the operating states of the first pedal travel sensor 3, the second pedal travel sensor 4, and the pedal sensor 5.

[0075] In step S604, if a single point of failure occurs in the control system of the electromechanical braking system, the vehicle is decelerated by using the first automatic driving controller 8 or the second automatic driving controller 9.

[0076] It is understandable that a single point of failure is the failure of any one of the following: the first brake controller 1, the second brake controller 2, multiple electromechanical braking systems 6, multiple wheel speed sensors 7, the first automatic driving controller 8, the second automatic driving controller 9, the gateway 10, the first power supply, and the second power supply.

[0077] In some optional embodiments, the control methods of the following electromechanical braking systems are all based on... Figure 5 The control system of the electromechanical braking system shown is used as an example, where, based on a single-point failure, the driver's braking intention is determined using the following algorithm to decide whether to brake the vehicle:

[0078]

[0079]

[0080] exist Figure 5 In the system shown, the deceleration commands issued by the first autopilot controller 8 and the second autopilot controller 9 include at least three channels, among which,

[0081] 1: First automatic driving controller 8 → Fifth CANFD bus → Gateway 10 → First CANFD bus → First brake controller 1 and Second brake controller 2 receive;

[0082] 2: The first automatic driving controller 8 → the second CANFD bus → the first brake controller 1 and the second brake controller 2 receive the data;

[0083] 3: Second automatic driving controller 9 → Fifth CANFD bus → Gateway 10 → First CANFD bus → First brake controller 1 and Second brake controller 2 receive.

[0084] It should be noted that the priority of the three-way instructions is 1 > 2 > 3.

[0085] Both the first brake controller 1 and the second brake controller 2 can be divided into 6 levels of degradation mode, as shown in the table below:

[0086]

[0087]

[0088] It should be noted that when the degradation modes of the first brake controller 1 and the second brake controller 2 are the same, the first brake controller 1 performs the braking action; when the degradation modes of the first brake controller 1 and the second brake controller 2 are different, the controller with the lower degradation mode level performs the braking action.

[0089] Based on the above principles, the analysis of single-point failure in the system is as follows:

[0090] 1. If the first power supply or the second power supply fails, the controllers with dual power supplies can work normally. The first brake driving controller sends a deceleration command. The command is transmitted through the fifth CANFD bus → gateway 10 → first CANFD bus. The first brake controller 1 controls the electromechanical braking system to perform braking.

[0091] 2. When any electromechanical braking system fails, the first braking driving controller sends a deceleration command. The command is transmitted through the fifth CANFD bus → gateway 10 → first CANFD bus. The first braking controller 1 controls the three electromechanical braking systems to perform braking, wherein the braking efficiency is >65%.

[0092] 3. Failure of any sensor in wheel speed sensor-1: The sensor path is: wheel speed sensor → electromechanical braking system → second brake controller 2. The first brake driving controller sends a deceleration command, which is transmitted through the fifth CANFD bus → gateway 10 → first CANFD bus. The second brake controller 2 controls the electromechanical braking system to perform braking.

[0093] 4. Failure of any sensor in wheel speed sensor-2: The sensor path is: wheel speed sensor → main brake actuator, the first brake driving controller sends a deceleration command, the command passes through the fifth CANFD bus → gateway 10 → first CANFD bus, and the first brake controller 1 controls the electromechanical braking system to perform braking.

[0094] 5. First brake controller 1 fails: The first brake driving controller sends a deceleration command, which is transmitted through the fifth CANFD bus → gateway 10 → first CANFD bus. The second brake controller 2 controls the electromechanical braking system to perform braking.

[0095] 6. Second brake controller 2 fails: The first brake driving controller sends a deceleration command, which is transmitted through the fifth CANFD bus → gateway 10 → first CANFD bus. The first brake controller 1 controls the electromechanical braking system to perform braking.

[0096] 7. Gateway 10 failure: The first brake driving controller sends a deceleration command, which is sent to the second CANFD bus. The first brake controller 1 controls the electromechanical braking system to perform braking.

[0097] 8. First automatic driving controller 8 fails: Second automatic driving controller 9 sends a deceleration command. The command is transmitted through the fifth CANFD bus → gateway 10 → first CANFD bus. First brake controller 1 controls the electromechanical braking system to perform braking.

[0098] 9. Second automatic driving controller 9 fails: The first braking driving controller sends a deceleration command, which is transmitted through the fifth CANFD bus → gateway 10 → first CANFD bus. The first braking controller 1 controls the electromechanical braking system to perform braking.

[0099] 10. First CANFD bus failure: The first brake driving controller sends a deceleration command, which is sent to the second CANFD bus. The first brake controller 1 controls the electromechanical braking system to perform braking.

[0100] 11. Second CANFD bus failure: The first brake driving controller sends a deceleration command. The command passes through the fifth CANFD bus → gateway 10 → first CANFD bus. The first brake controller 1 controls the electromechanical braking system to perform braking.

[0101] 12. Third CANFD bus failure: The first brake driving controller sends a deceleration command, which is transmitted through the fifth CANFD bus → gateway 10 → first CANFD bus. The second brake controller 2 controls the electromechanical braking system to perform braking.

[0102] 13. Fourth CANFD bus failure: The first brake driving controller sends a deceleration command, which is transmitted through the fifth CANFD bus → gateway 10 → first CANFD bus. The first brake controller 1 controls the electromechanical braking system to perform braking.

[0103] 14. Fifth CANFD bus failure: The first brake driving controller sends a deceleration command, which is sent to the second CANFD bus. The first brake controller 1 controls the electromechanical braking system to perform braking.

[0104] Figure 7 A hardware block diagram of a computer terminal (or mobile device) for implementing a control system of an electromechanical braking system is shown. Figure 7 As shown, a computer terminal 70 (or mobile device 70) may include one or more processors 702 (shown as 702a, 702b, ..., 702n in the figure) 702 (processor 702 may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 704 for storing data, and a transmission module 706 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of a BUS bus), a network interface, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 7 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, the computer terminal 70 may also include... Figure 7 The more or fewer components shown, or having the same Figure 7 The different configurations shown.

[0105] It should be noted that the aforementioned one or more processors 702 and / or other data processing circuits are generally referred to herein as "data processing circuits". These data processing circuits may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuits may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the computer terminal 70 (or mobile device). As involved in the embodiments of this application, the data processing circuits serve as a processor control mechanism (e.g., selection of a variable resistor termination path connected to an interface).

[0106] The memory 704 can be used to store software programs and modules for application software, such as the program instructions / data storage device corresponding to the control system of the electromechanical braking system in this embodiment of the application. The processor 702 executes various functional applications and data processing by running the software programs and modules stored in the memory 704, thereby realizing the control system of the aforementioned electromechanical braking system. The memory 704 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 704 may further include memory remotely located relative to the processor 702, and these remote memories can be connected to the computer terminal 70 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0107] The transmission module 706 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the computer terminal 70. In one example, the transmission module 706 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission module 706 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0108] The display can be, for example, a touchscreen liquid crystal display (LCD) that allows the user to interact with the user interface of the computer terminal 70 (or mobile device).

[0109] It should be noted here that, in some optional embodiments, the above... Figure 7 The computer device (or electronic device) shown may include hardware elements (including circuitry), software elements (including computer code stored on a computer-readable medium), or a combination of both hardware and software elements. It should be noted that... Figure 7This is only one instance of a particular specific instance, and is intended to illustrate the types of components that may exist in the aforementioned computer equipment (or electronic equipment).

[0110] It should be noted that, Figure 7 The electronic device shown is used to perform Figure 6 The control method of the electromechanical braking system shown above is also applicable to this electronic device, and will not be repeated here.

[0111] This application also provides a non-volatile storage medium, which includes a stored program. When the program runs, it controls the device containing the storage medium to execute the control method of the electromechanical braking system described above. The program of the non-volatile storage medium performs the following functions: determining whether to brake the vehicle based at least on the operating states of the first pedal travel sensor, the second pedal travel sensor, and the pedal sensor; and, in the event of a single-point failure in the control system of the electromechanical braking system, controlling the vehicle to decelerate using the first or second automatic driving controller.

[0112] This application also provides an electronic device, including a memory and a processor, wherein the processor is used to run a program stored in the memory, wherein the program executes the control method of the electromechanical braking system described above when it runs.

[0113] The processor is used to run a program that performs the following functions: determining whether to brake the vehicle based on at least the operating states of the first pedal travel sensor, the second pedal travel sensor, and the pedal sensor; and controlling the vehicle to decelerate using the first or second automatic driving controller in the event of a single point failure in the control system of the electromechanical braking system.

[0114] This application also provides a vehicle whose controller is used to perform... Figure 6 The control method of the electromechanical braking system shown above is also applicable to the controller of this vehicle, and will not be repeated here.

[0115] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0116] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0117] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0118] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0119] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0120] If the integrated unit is implemented as a software functional unit 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 this application, in essence, or the part that contributes to related technologies, or all or part of the 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 to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0121] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A control method for an electromechanical braking system, applied to the control system of an electromechanical braking system, characterized in that, The system includes: a first brake controller, a second brake controller, a first pedal travel sensor, a second pedal travel sensor, a pedal sensor, and multiple electromechanical braking systems. The first brake controller is connected to the first pedal travel sensor, the second pedal travel sensor, the second brake controller, and the multiple electromechanical braking systems, respectively, and is used to receive a first signal sent by the first pedal travel sensor and a second signal sent by the second pedal travel sensor, and to control the multiple electromechanical braking systems according to the first and second signals. The second brake controller is connected to the pedal sensor and the multiple electromechanical braking systems, respectively, and is used to receive a third signal sent by the pedal sensor, and to control the multiple electromechanical braking systems according to the third signal. The multiple electromechanical braking systems are used to brake the wheels of the vehicle. The control system further includes: a first autonomous driving controller, a second autonomous driving controller, and a gateway, wherein the first autonomous driving controller is connected to the first brake controller, the second brake controller, the gateway, and the second autonomous driving controller, respectively, and is used to control the vehicle to perform autonomous driving; the second autonomous driving controller is connected to the gateway, and is used to control the vehicle to perform autonomous driving; the gateway is connected to the first brake controller, the second brake controller, the first autonomous driving controller, and the second autonomous driving controller, respectively, and is used to send data to the first brake controller, the second brake controller, the first autonomous driving controller, and the second autonomous driving controller; The method includes: Whether to apply the brakes to the vehicle is determined based at least on the operating status of the first pedal travel sensor, the second pedal travel sensor, and the pedal sensor. In the event of a single-point failure in the control system of the electromechanical braking system, determining whether to brake the vehicle based on the failure point and the braking algorithm includes: in response to the failure point being the first pedal travel sensor, determining the braking algorithm as a weighted average of the signals from the second pedal travel sensor and the pedal sensor; in response to the failure point being the second pedal travel sensor, determining the braking algorithm as a weighted average of the signals from the first pedal travel sensor and the pedal sensor; in response to the failure point being the first power supply or the second power supply, determining the braking algorithm as a weighted average of the signals from the first pedal travel sensor, the second pedal travel sensor, and the pedal sensor; in response to the failure point being the first brake controller, determining the braking algorithm as the signal from the pedal sensor; and in response to the failure point being the second brake controller, determining the braking algorithm as a weighted average of the signals from the first pedal travel sensor and the second pedal travel sensor.

2. The control method for the electromechanical braking system according to claim 1, characterized in that, The plurality of electromechanical braking systems include at least: a first electromechanical braking system, a second electromechanical braking system, a third electromechanical braking system, and a fourth electromechanical braking system.

3. The control method for the electromechanical braking system according to claim 2, characterized in that, The control system further includes: multiple wheel speed sensors, wherein the multiple wheel speed sensors include at least: a first wheel speed sensor, a second wheel speed sensor, a third wheel speed sensor, a fourth wheel speed sensor, a fifth wheel speed sensor, a sixth wheel speed sensor, a seventh wheel speed sensor, and an eighth wheel speed sensor. The first electromechanical braking system is connected to the first brake controller, the second brake controller and the first wheel speed sensor respectively, and is used to brake the wheel corresponding to the first wheel speed sensor; The second electromechanical braking system is connected to the first brake controller, the second brake controller and the second wheel speed sensor respectively, and is used to brake the wheel corresponding to the second wheel speed sensor; The third electromechanical braking system is connected to the first brake controller, the second brake controller and the third wheel speed sensor respectively, and is used to brake the wheel corresponding to the third wheel speed sensor; The fourth electromechanical braking system is connected to the first brake controller, the second brake controller and the fourth wheel speed sensor respectively, and is used to brake the wheel corresponding to the fourth wheel speed sensor; The fifth wheel speed sensor, the sixth wheel speed sensor, the seventh wheel speed sensor, and the eighth wheel speed sensor are respectively connected to the first brake controller to provide wheel speed signals.

4. The control method for the electromechanical braking system according to claim 1, characterized in that, The first brake controller, the second brake controller, the plurality of electromechanical braking systems, the gateway, and the first automatic driving controller are all powered by a first power supply and a second power supply, wherein the first power supply and the second power supply are backups for each other.

5. The control method for the electromechanical braking system according to claim 1, characterized in that, The first brake controller and the second brake controller communicate redundantly via a multi-channel CANFD bus.

6. A non-volatile storage medium, characterized in that, The non-volatile storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the non-volatile storage medium to perform the control method of the electromechanical braking system according to any one of claims 1-5.

7. An electronic device, characterized in that, include: A memory and a processor, the processor being configured to run a program stored in the memory, wherein the program, when running, executes the control method of the electromechanical braking system according to any one of claims 1-5.

8. A vehicle, characterized in that, The vehicle controller is used to execute the control method of the electromechanical braking system according to any one of claims 1-5.

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