A redundant control system and method for brake-by-wire chassis

Abstract

This invention discloses a redundant control system and method for steerable chassis braking, relating to the field of intelligent steerable chassis safety technology. The control system acquires pressure and displacement data through a data acquisition unit and detects faults in the steerable braking unit, electronic control unit, power supply unit, and / or bus through a fault detection unit. When the electronic control unit fails, a backup control unit generates a second control signal; or when a component fails but the electronic control unit does not, a first, third, or fourth control signal is generated based on the specific faulty component. The power supply unit distributes voltage to the steerable steering unit, steerable drive unit, and steerable braking unit according to the first, second, or fourth control signal. The backup power supply unit distributes voltage according to a third control signal. The steerable steering unit, steerable drive unit, and steerable braking unit perform steering, driving, and braking according to the first, second, third, or fourth control signal.

Description

Technical Field

[0001] This invention relates to the field of intelligent drive-by-wire chassis safety technology, and in particular to a drive-by-wire chassis braking redundancy control system and method. Background Technology

[0002] The future development themes of the automotive industry are electrification, intelligentization, connectivity, and sharing. However, traditional vehicle chassis, due to the mechanical connection between the operating and execution units, suffer from slow response time, poor precision, and significant energy loss, making precise and rapid vehicle control impossible. This places higher demands on vehicle chassis control. The core of drive-by-wire chassis, which uses electrical signals instead of mechanical signals for information transmission, lies in its ability to achieve "human-machine decoupling." This type of drive-by-wire chassis boasts advantages such as high precision and high response speed, and will become the future development trend of vehicle chassis.

[0003] Intelligent drive-by-wire chassis uses electronic components and bus to replace traditional mechanical parts to control actuators, greatly compensating for the shortcomings of traditional vehicle chassis such as slow response time and poor precision. However, some problems still exist:

[0004] 1. Due to the susceptibility of electronic components to failure and their limited lifespan, it is necessary to design them with safety redundancy. Existing technologies using chassis with dual wheel-side motors and dual brakes employ costly redundancy methods, which not only fail to effectively reduce vehicle weight but also render the redundant equipment ineffective in most cases, resulting in wasted resources.

[0005] 2. Existing drive-by-wire chassis domains mostly only consider the failure redundancy of controllers and brakes in terms of safety redundancy, and rarely consider the vehicle safety redundancy when the drive-by-wire chassis bus is physically damaged or fails for other reasons.

[0006] 3. Currently, most vehicles do not have four-wheel independent steering, and the components that provide braking force to the vehicle cannot provide additional braking force to stop the vehicle when there is an abnormality. Summary of the Invention

[0007] The purpose of this invention is to provide a redundant control system and method for steerable chassis braking, which can ensure that the vehicle can still brake when the electronic components of the steerable chassis fail.

[0008] To achieve the above objectives, the present invention provides the following solution:

[0009] A steer-by-wire chassis braking redundancy control system is provided, wherein the control system is connected to the vehicle's brake pedal; the control system includes: a data acquisition unit, a steer-by-wire unit, a fault detection unit, an electronic control unit, a communication unit, a power supply unit, a backup control unit, a backup power supply unit, a steer-by-wire unit, and a steer-by-wire drive unit;

[0010] The data acquisition unit is connected to the brake pedal, and the data acquisition unit is used to acquire pressure data and displacement data.

[0011] The fault detection unit is connected to the brake-by-wire unit, the electronic control unit, and the power supply unit via a bus; the communication unit is connected to the fault detection unit and the electronic control unit; the fault detection unit is used to detect whether the brake-by-wire unit, the electronic control unit, the power supply unit, and / or the bus has malfunctioned.

[0012] The backup control unit is connected to the data acquisition unit, electronic control unit, communication unit, and fault detection unit; the electronic control unit is connected to the brake-by-wire unit, steering-by-wire unit, drive-by-wire unit, communication unit, and power supply unit; the power supply unit and the backup power supply unit are both connected to the steering-by-wire unit, drive-by-wire unit, and brake-by-wire unit.

[0013] The backup control unit is used for:

[0014] When the bus fails, the status information of the brake-by-wire unit, electronic control unit, or power supply unit is obtained through the communication unit.

[0015] When the bus is not faulty, if one or more of the brake-by-wire unit, electronic control unit, and power supply unit malfunctions, the status information of the brake-by-wire unit, electronic control unit, and / or power supply unit is obtained through the bus; the status information indicates whether a fault has occurred or not.

[0016] When the status information of the bus indicates a fault, the pressure data and displacement data are sent to the electronic control unit through the communication unit;

[0017] When the brake-by-wire unit, electronic control unit, power supply unit, and bus are all functioning correctly, or when the status information of the power supply unit indicates a fault, or when the status information of the brake-by-wire unit indicates a fault, the pressure data and displacement data are sent to the electronic control unit.

[0018] When the electronic control unit indicates a fault, a second control signal is generated based on the pressure data and displacement data.

[0019] The electronic control unit is used to generate a first control signal based on the pressure data and displacement data; generate a third control signal based on the pressure data, displacement data and the status information of the power supply unit; and generate a fourth control signal based on the pressure data, displacement data and the status information of the brake-by-wire unit.

[0020] The power supply unit is used to distribute voltage to the steer-by-wire unit, the drive-by-wire unit, and the brake-by-wire unit according to the first control signal, the second control signal, or the fourth control signal; the backup power supply unit is used to distribute voltage to the steer-by-wire unit, the drive-by-wire unit, and the brake-by-wire unit according to the third control signal; the steer-by-wire unit, the drive-by-wire unit, and the brake-by-wire unit are used to steer, drive, and brake according to the first control signal, the second control signal, the third control signal, or the fourth control signal.

[0021] Optionally, the brake-by-wire unit includes two front wheel braking modules and two rear wheel braking modules; the steering-by-wire unit includes two front wheel steering motors and two rear wheel steering motors; the drive-by-wire unit includes two front wheel drive motors and two rear wheel drive motors; and the fourth control signal includes a first control command, a second control command, and a third control command.

[0022] When the status information of the brake-by-wire unit indicates a fault, specifically when the status information of the front wheel braking module or the rear wheel braking module indicates a fault, the backup control unit sends the pressure data and displacement data to the electronic control unit; the electronic control unit generates a third control command based on the pressure data, displacement data, and the status information of the front wheel braking module or the rear wheel braking module; the power supply unit distributes voltage to the rear wheel braking module or the front wheel braking module according to the third control command; the rear wheel braking module or the front wheel braking module performs braking according to the third control command.

[0023] In this context, the status information of the current wheel braking module and the status information of the rear wheel braking module are both in the event of a fault. The backup control unit is used to send the pressure data and displacement data to the electronic control unit. The electronic control unit is used to distinguish between the current vehicle speed and the braking speed threshold.

[0024] When the current vehicle speed is greater than the braking speed threshold, the electronic control unit generates a first control command to control the front wheel steering motor and the rear wheel steering motor so that the front wheels and the rear wheels rotate in opposite directions by the same angle; the power supply unit distributes voltage to the front wheel steering motor and the rear wheel steering motor according to the first control command; the front wheel steering motor and the rear wheel steering motor are used to steer according to the first control command;

[0025] When the current vehicle speed is less than or equal to the braking speed threshold, the electronic control unit generates a second control command to control the rear wheel steering motor to rotate the rear wheels in the opposite direction by the same angle; the power supply unit distributes voltage to the rear wheel steering motor and the front wheel drive motor according to the second control command; the rear wheel steering motor is used to steer according to the second control command; the front wheel drive motor is used to rotate in the opposite direction according to the second control command to generate negative torque and provide braking force.

[0026] Optionally, when one or more of the status information of the brake-by-wire unit, electronic control unit, power supply unit, and bus indicates a fault, the electronic control unit or backup control unit generates a fifth control signal based on the status information to control the power supply unit, brake-by-wire drive unit, brake-by-wire unit, and steering-by-wire unit.

[0027] Optionally, the communication unit includes a fault communication module, a power supply communication module, an electronic control communication module, a backup control communication module, a brake-by-wire communication module, a steering-by-wire communication module, and a drive-by-wire communication module; all communication modules are interconnected; the fault communication module is connected to the fault detection unit; the power supply communication module is connected to the power supply unit; the electronic control communication module is connected to the electronic control unit; the backup control communication module is connected to the backup control unit; the brake-by-wire communication module is connected to the brake-by-wire unit; the steering-by-wire communication module is connected to the steering-by-wire unit; and the drive-by-wire communication module is connected to the drive-by-wire unit.

[0028] Optionally, both the power supply unit and the backup power supply unit are connected to the data acquisition unit, the fault detection unit, the electronic control unit, the communication unit, and the backup control unit, and both the power supply unit and the backup power supply unit are used to supply power to the data acquisition unit, the fault detection unit, the electronic control unit, the communication unit, and the backup control unit.

[0029] To achieve the above objectives, the present invention also provides the following solution:

[0030] A method for redundant control of brakes on a drive-by-wire chassis, the method being applied to the aforementioned redundant control system for brakes on a drive-by-wire chassis; the control method includes:

[0031] Pressure and displacement data are collected using a data acquisition unit;

[0032] The fault detection unit detects whether a fault has occurred in the brake-by-wire unit, electronic control unit, power supply unit, or bus.

[0033] When one or more of the brake-by-wire unit, electronic control unit, power supply unit, or bus fails, the backup control unit obtains the status information of the brake-by-wire unit, electronic control unit, power supply unit, and bus through the communication unit; the status information indicates whether a fault has occurred or not.

[0034] When the status information of the electronic control unit indicates a fault, a second control signal is generated based on the pressure data and displacement data by the backup control unit.

[0035] When the bus status information indicates a fault, or when the brake-by-wire unit, electronic control unit, power supply unit, and bus are all functioning correctly, the electronic control unit generates a first control signal based on pressure data and displacement data.

[0036] When the status information of the power supply unit indicates a fault, the electronic control unit generates a third control signal based on the pressure data, displacement data, and the status information of the power supply unit.

[0037] The electronic control unit generates a fourth control signal based on the pressure data, displacement data, and status information of the brake-by-wire unit.

[0038] The power supply unit distributes voltage to the steer-by-wire unit, drive-by-wire unit, and brake-by-wire unit according to the first control signal, the second control signal, or the fourth control signal;

[0039] Based on the backup power unit, voltage is distributed to the steer-by-wire unit, drive-by-wire unit, and brake-by-wire unit according to the third control signal;

[0040] The steer-by-wire unit, drive-by-wire unit, and brake-by-wire unit respectively perform steering, driving, and braking based on the first control signal, the second control signal, the third control signal, or the fourth control signal.

[0041] Optionally, the control method further includes:

[0042] The brake-by-wire unit includes two front wheel braking modules and two rear wheel braking modules; the steering-by-wire unit includes two front wheel steering motors and two rear wheel steering motors; the drive-by-wire unit includes two front wheel drive motors and two rear wheel drive motors; the fourth control signal includes a first control command, a second control command, and a third control command; when the status information of the front wheel braking module or the rear wheel braking module indicates a fault, the electronic control unit generates the third control command based on the pressure data, displacement data, and the status information of the front wheel braking module or the rear wheel braking module.

[0043] Based on the power supply unit distributing voltage to the rear wheel braking module or the front wheel braking module according to the third control command;

[0044] Braking is performed based on the third control command by the rear wheel braking module or the front wheel braking module.

[0045] When both the current wheel braking module and the rear wheel braking module malfunction, the electronic control unit determines the current vehicle speed and braking speed threshold.

[0046] When the current vehicle speed is greater than the braking speed threshold, the electronic control unit generates a first control command to control the front wheel steering motor and the rear wheel steering motor so that the front wheel and the rear wheel rotate in opposite directions by the same angle.

[0047] The power supply unit distributes voltage to the front wheel steering motor and the rear wheel steering motor according to the first control command;

[0048] Based on the front wheel steering motor and the rear wheel steering motor, steering is performed according to the first control command;

[0049] When the current vehicle speed is less than or equal to the braking speed threshold, the electronic control unit generates a second control command to control the rear wheel steering motor so that the rear wheels rotate in the opposite direction by the same angle.

[0050] The power supply unit distributes voltage to the rear wheel steering motor and the front wheel drive motor according to the second control command;

[0051] The rear wheel steering motor steers according to the second control command; the front wheel drive motor rotates in the opposite direction according to the second control command to generate negative torque and provide braking force.

[0052] Optionally, the control method further includes:

[0053] When one or more of the status information of the brake-by-wire unit, electronic control unit, power supply unit, and bus indicates a fault, the electronic control unit or backup control unit generates a fifth control signal based on the status information to control the power supply unit, brake-by-wire unit, and steering-by-wire unit.

[0054] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0055] This invention discloses a redundant control system and method for steerable chassis braking. The system acquires pressure and displacement data via a data acquisition unit; a fault detection unit detects whether the steerable braking unit, electronic control unit, power supply unit, and / or bus have malfunctioned; when one or more components of the steerable braking unit, electronic control unit, power supply unit, and / or bus malfunction, a backup control unit or electronic control unit obtains different control signals based on the status information of the component or components, pressure data, and displacement data; the power supply unit distributes voltage to the steerable steering unit, steerable drive unit, and steerable braking unit according to a first control signal, a second control signal, or a fourth control signal; the backup power supply unit distributes voltage to the steerable steering unit, steerable drive unit, and steerable braking unit according to a third control signal; and the steerable steering unit, steerable drive unit, and steerable braking unit perform steering, driving, and braking according to the first, second, third, or fourth control signals.

[0056] Compared with existing intelligent drive-by-wire chassis domains that only consider the failure redundancy design of the controller and brake in terms of safety redundancy, the present invention ensures that the vehicle can still brake when the electronic components of the drive-by-wire chassis fail through hardware redundancy.

[0057] Compared with existing intelligent drive-by-wire chassis, which cannot provide sufficient braking force to brake the vehicle after brake failure, this invention, by using a communication unit, a backup control unit, a backup power supply, and a four-wheel independent drive-by-wire steering system, can still control the vehicle when the electronic control unit, drive-by-wire braking unit, bus, and / or power supply unit of the intelligent drive-by-wire chassis fails, thus achieving braking safety redundancy of the intelligent drive-by-wire chassis. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1 This is a schematic diagram of the redundant control system for the drive-by-wire chassis braking of the present invention;

[0060] Figure 2 This is a schematic diagram of the appearance of the wire-controlled chassis of the present invention;

[0061] Figure 3 This is a schematic diagram of the execution flow of a specific embodiment of the redundant control system for brake-by-wire chassis of the present invention.

[0062] Symbol explanation:

[0063] Drive-by-wire chassis - 100, Drive-by-wire steering unit - 101, Drive-by-wire braking unit - 102, Brake pedal - 103, Fault detection unit - 104, Electronic control unit - 105, Communication unit - 106, Battery management unit - 107, Drive-by-wire drive unit - 108, Backup control unit - 109, Backup control communication module - 110, Bus - 111, Communication sub-modules of electronic control unit - A, B, C, D, E, F, Communication sub-modules of fault detection unit - b0, e, f0, g, Power supply communication module - f1, Communication sub-modules of drive-by-wire unit - a1, a2, a3, a4, Communication sub-modules of brake-by-wire unit - b1, b2, b3, b4, Communication sub-modules of steering-by-wire unit - c1, c2, c3, c4. Detailed Implementation

[0064] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0065] The purpose of this invention is to provide a redundant control system and method for steerable chassis braking, which can ensure that the vehicle can still brake when the electronic components of the steerable chassis fail.

[0066] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0067] like Figure 1 and Figure 2 As shown, the steer-by-wire chassis braking redundancy control system of the present invention is connected to the vehicle's brake pedal 103; the control system includes: a data acquisition unit, a steer-by-wire unit 102, a fault detection unit 104, an electronic control unit 105, a communication unit 106, a power supply unit, a backup control unit 109, a backup power supply unit, a steer-by-wire unit 101, and a steer-by-wire drive unit 108.

[0068] The data acquisition unit is connected to the brake pedal 103, and the data acquisition unit is used to acquire pressure data and displacement data.

[0069] The fault detection unit 104 is connected to the brake-by-wire unit 102, the electronic control unit 105, and the power supply unit via a bus 111; the communication unit 106 is connected to the fault detection unit 104 and the electronic control unit 105; the fault detection unit 104 is used to detect whether the brake-by-wire unit 102, the electronic control unit 105, the power supply unit, and / or the bus 111 has malfunctioned.

[0070] The backup control unit 109 is connected to the data acquisition unit, electronic control unit 105, communication unit 106, and fault detection unit 104; the electronic control unit 105 is connected to the brake-by-wire unit 102, steering-by-wire unit 101, drive-by-wire unit 108, communication unit 106, and power supply unit; the power supply unit and the backup power supply unit are both connected to the steering-by-wire unit 101, drive-by-wire unit 108, and brake-by-wire unit 102.

[0071] The backup control unit 109 is used for:

[0072] When the bus fails, the status information of the brake-by-wire unit 102, the electronic control unit 105, or the power supply unit is obtained through the communication unit 106.

[0073] When the bus is not faulty, if one or more of the brake-by-wire unit 102, electronic control unit 105, and power supply unit malfunctions, the status information of the brake-by-wire unit 102, electronic control unit 105, and power supply unit is obtained through the bus 111; the status information indicates whether a fault has occurred or not.

[0074] When the status information of the bus 111 indicates a fault, the pressure data and displacement data are sent to the electronic control unit 105 through the communication unit 106;

[0075] When the brake-by-wire unit 102, electronic control unit 105, power supply unit and bus 111 are all functioning correctly, or when the status information of the power supply unit indicates a fault, or when the status information of the brake-by-wire unit 102 indicates a fault, the pressure data and displacement data are sent to the electronic control unit 105.

[0076] When the status information of the electronic control unit 105 indicates a fault, a second control signal is generated based on the pressure data and displacement data.

[0077] The electronic control unit 105 is used to generate a first control signal based on the pressure data and displacement data; generate a third control signal based on the pressure data, displacement data and the status information of the power supply unit; and generate a fourth control signal based on the pressure data, displacement data and the status information of the brake-by-wire unit 102.

[0078] The power supply unit is used to distribute voltage to the steer-by-wire unit 101, the drive-by-wire unit 108, and the brake-by-wire unit 102 according to the first control signal, the second control signal, or the fourth control signal; the backup power supply unit is used to distribute voltage to the steer-by-wire unit 101, the drive-by-wire unit 108, and the brake-by-wire unit 102 according to the third control signal; the steer-by-wire unit 101, the drive-by-wire unit 108, and the brake-by-wire unit 102 are used to steer, drive, and brake according to the first control signal, the second control signal, the third control signal, or the fourth control signal.

[0079] The battery management unit 107 includes the power supply unit and the backup power supply unit.

[0080] Furthermore, the brake-by-wire unit 102 includes two front-wheel braking modules and two rear-wheel braking modules; the steering-by-wire unit 101 includes two front-wheel steering motors and two rear-wheel steering motors; the drive-by-wire unit 108 includes two front-wheel drive motors and two rear-wheel drive motors; the fourth control signal includes a first control command, a second control command, and a third control command. Both the two front-wheel braking modules and the two rear-wheel braking modules are electromechanical brakes; preferably, the electromechanical brake is an electronic brake (EMB); electronic brakes (EMBs) have the advantages of fast braking response time and simple structure.

[0081] When the status information of the brake-by-wire unit 102 indicates a fault, wherein the status information of the front wheel braking module or the rear wheel braking module indicates a fault, the backup control unit 109 is used to send the pressure data and displacement data to the electronic control unit 105; the electronic control unit 105 is used to generate a third control command based on the pressure data, displacement data, and the status information of the front wheel braking module or the rear wheel braking module; the power supply unit is used to distribute voltage to the rear wheel braking module or the front wheel braking module according to the third control command; the rear wheel braking module or the front wheel braking module is used to brake according to the third control command.

[0082] When both the current wheel braking module and the rear wheel braking module are in a fault state, the backup control unit 109 sends the pressure data and displacement data to the electronic control unit 105; the electronic control unit 105 is used to distinguish between the current vehicle speed and the braking speed threshold.

[0083] When the current vehicle speed is greater than the braking speed threshold, the electronic control unit 105 generates a first control command to control the front wheel steering motor and the rear wheel steering motor so that the front wheels and the rear wheels rotate in opposite directions by the same angle; the power supply unit distributes voltage to the front wheel steering motor and the rear wheel steering motor according to the first control command; the front wheel steering motor and the rear wheel steering motor are used to steer according to the first control command.

[0084] When the current vehicle speed is less than or equal to the braking speed threshold, the electronic control unit 105 generates a second control command to control the rear wheel steering motor to rotate the rear wheels in the opposite direction by the same angle. The power supply unit distributes voltage to the rear wheel steering motor and the front wheel drive motor according to the second control command. The rear wheel steering motor steers according to the second control command. The front wheel drive motor rotates in the opposite direction to generate negative torque to provide braking force. Specifically, the front wheel drive motor changes its operating mode according to the second control command, rotating in the opposite direction under the influence of the original rotation of the front wheels to generate negative torque and provide partial braking force to the vehicle.

[0085] Furthermore, when one or more of the status information of the brake-by-wire unit 102, electronic control unit 105, power supply unit, and bus 111 indicates a fault, the electronic control unit 105 or backup control unit 109 generates a fifth control signal based on the status information to control the power supply unit, brake-by-wire drive unit 108, brake-by-wire unit 102, and steering-by-wire unit 101.

[0086] The communication unit 106 includes a fault communication module, a power supply communication module, an electronic control communication module, a backup control communication module 110, a brake-by-wire communication module, a steering-by-wire communication module, and a drive-by-wire communication module; all communication modules are interconnected; the fault communication module is connected to the fault detection unit 104; the power supply communication module is connected to the power supply unit; the electronic control communication module is connected to the electronic control unit 105; the backup control communication module 110 is connected to the backup control unit 109; the brake-by-wire communication module is connected to the brake-by-wire unit 102; the steering-by-wire communication module is connected to the steering-by-wire unit 101; and the drive-by-wire communication module is connected to the drive-by-wire unit 108.

[0087] The electronic control communication module includes six communication sub-modules: A, B, C, D, E, and F. The fault detection communication module includes four communication sub-modules: b0, e, f0, and g. The drive-by-wire communication module includes four communication sub-modules: a1, a2, a3, and a4. The brake-by-wire communication module includes four communication sub-modules: b1, b2, b3, and b4. The steering-by-wire communication module includes four communication sub-modules: c1, c2, c3, and c4. The power supply communication sub-module f1 is used in the power supply unit; when the power supply fails, the power supply communication sub-module f1 can also be used in the backup power supply unit. All of the above communication modules or sub-modules are Wi-Fi signal devices.

[0088] The power supply unit and the backup power supply unit are both connected to the data acquisition unit, the fault detection unit 104, the electronic control unit 105, the communication unit 106 and the backup control unit 109. The power supply unit and the backup power supply unit are both used to supply power to the data acquisition unit, the fault detection unit 104, the electronic control unit 105, the communication unit 106 and the backup control unit 109. Specific Implementation

[0090] like Figure 3 As shown, pressure data and displacement data are collected through the data acquisition unit; at the same time, the fault detection unit 104 detects faulty components.

[0091] When no device fails, or when the power supply unit fails, or when the line-controlled brake unit 102 fails, the backup control unit 109 sends pressure data and displacement data to the electronic control unit 105. The electronic control unit 105 generates a first control signal, a third control signal, or a fourth control signal according to the device failure information.

[0092] When the electronic control unit 105 malfunctions, the backup control unit 109 generates a second control signal based on the pressure data and displacement data.

[0093] The power supply unit distributes voltage according to the first control signal, or the second control signal, or the fourth control signal; the backup power supply unit distributes voltage according to the third control signal.

[0094] The steer-by-wire unit 101, the drive-by-wire unit 108, and the brake-by-wire unit 102 perform steering, driving, and braking according to the first control signal, or the second control signal, or the third control signal, or the fourth control signal.

[0095] To achieve the above objectives, the present invention also provides the following solution:

[0096] A steerable chassis braking redundancy control method is applied to the aforementioned steerable chassis braking redundancy control system; the control method includes:

[0097] S1: Acquire pressure and displacement data based on the data acquisition unit.

[0098] S2: Based on the fault detection unit 104, detect whether the linear control braking unit 102, electronic control unit 105, power supply unit or bus 111 has failed.

[0099] S3: When one or more of the brake-by-wire unit 102, electronic control unit 105, power supply unit or bus 111 fails, the backup control unit 109 obtains the status information of the brake-by-wire unit 102, electronic control unit 105, power supply unit and bus 111 through the communication unit 106; the status information indicates whether a fault has occurred or not.

[0100] S3 also includes:

[0101] S301: When the status information of the electronic control unit 105 indicates a fault, the backup control unit 109 generates a second control signal based on the pressure data and displacement data.

[0102] S302: When the status information of bus 111 indicates a fault, or when the brake-by-wire unit 102, electronic control unit 105, power supply unit and bus 111 are all functioning correctly, the electronic control unit 105 generates a first control signal based on pressure data and displacement data.

[0103] S303: When the status information of the power supply unit indicates a fault, the electronic control unit 105 generates a third control signal based on the pressure data, displacement data, and status information of the power supply unit.

[0104] S304: The electronic control unit 105 generates a fourth control signal based on the pressure data, displacement data and the status information of the brake-by-wire unit 102.

[0105] S4: The power supply unit distributes voltage to the steer-by-wire unit 101, the drive-by-wire unit 108, and the brake-by-wire unit 102 according to the first control signal, the second control signal, or the fourth control signal.

[0106] S5: Based on the backup power unit, the voltage is distributed to the steer-by-wire unit 101, the drive-by-wire unit 108 and the brake-by-wire unit 102 according to the third control signal.

[0107] S6: Steering, driving, and braking are performed respectively based on the first control signal, the second control signal, the third control signal, or the fourth control signal by the steer-by-wire unit 101, the drive-by-wire unit 108, and the brake-by-wire unit 102.

[0108] Furthermore, the control method further includes:

[0109] The brake-by-wire unit 102 includes two front wheel brake modules and two rear wheel brake modules; the steering-by-wire unit 101 includes two front wheel steering motors and two rear wheel steering motors; the drive-by-wire unit includes two front wheel drive motors and two rear wheel drive motors; the fourth control signal includes a first control command, a second control command, and a third control command; when the status information of the front wheel brake module or the rear wheel brake module indicates a fault, the electronic control unit 105 generates the third control command based on the pressure data, displacement data, and the status information of the front wheel brake module or the rear wheel brake module.

[0110] The power supply unit distributes voltage to the rear wheel braking module or the front wheel braking module according to the third control command.

[0111] Braking is performed based on the third control command by either the rear wheel braking module or the front wheel braking module.

[0112] When both the current wheel braking module and the rear wheel braking module are faulty, the electronic control unit 105 determines the current vehicle speed and braking speed threshold.

[0113] When the current vehicle speed is greater than the braking speed threshold, the electronic control unit 105 generates a first control command to control the front wheel steering motor and the rear wheel steering motor so that the front wheel and the rear wheel rotate in opposite directions by the same angle.

[0114] The power supply unit distributes voltage to the rear wheel steering motor and the front wheel drive motor according to the second control command.

[0115] The front wheel steering motor and the rear wheel steering motor steer according to the first control command.

[0116] When the current vehicle speed is less than or equal to the braking speed threshold, the electronic control unit 105 generates a second control command to control the rear wheel steering motor so that the rear wheels rotate in the opposite direction by the same angle.

[0117] The power supply unit distributes voltage to the rear wheel steering motor and the front wheel drive motor according to the second control command.

[0118] The rear wheel steering motor steers according to the second control command; the front wheel drive motor rotates in the opposite direction according to the second control command to generate negative torque and provide braking force.

[0119] In addition, the control method further includes:

[0120] When one or more of the status information of the brake-by-wire unit 102, electronic control unit 105, power supply unit and bus 111 indicates a fault, a fifth control signal is generated based on the status information by the electronic control unit 105 or backup control unit 109 to control the power supply unit, the drive-by-wire unit 108, the brake-by-wire unit 102 and the steering-by-wire unit 101.

[0121] In the redundancy scheme for the failure of bus 111 in the wire-controlled chassis 100 of the present invention, data transmission between various devices in the wire-controlled chassis 100 is realized through a low-cost WiFi signal device, so as to ensure that the vehicle can still brake according to the driver's braking intention when bus 111 fails.

[0122] In the redundancy scheme for the failure of the electronic control unit 105, the backup control unit 109 does not process the data collected by the data acquisition unit when the electronic control unit 105 is working normally, but only sends the data collected by the data acquisition unit to the electronic control unit 105; only when the electronic control unit 105 fails does it send control commands to each device involved in braking based on the data collected by the data acquisition unit, thereby reducing the requirements on the underlying controller.

[0123] In the redundancy scheme for power supply unit failure, the present invention supplies power to each device involved in braking through a backup power supply unit, ensuring that each device involved in braking in the chassis domain can work normally when the vehicle is braking.

[0124] This invention employs a four-wheel electromechanical brake to shorten braking response time, and achieves independent steering for all four wheels of the vehicle by arranging four steering motors. In the redundancy scheme for the failure of the online control braking unit 102, braking force can be provided through the wheel hub drive motor and the EMB of the unfailed wheels. Even in the dangerous situation where the EMBs of all four wheels fail, emergency braking force can still be provided by rotating the left and right wheels at a certain angle to allow the tires to slide and rub against the ground.

[0125] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. Regarding the methods disclosed in the embodiments, since they correspond to the systems disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the system section description.

[0126] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A by-wire chassis brake redundant control system, characterized by, The control system is connected with a brake pedal of the vehicle; the control system comprises a data acquisition unit, a brake-by-wire unit, a fault detection unit, an electronic control unit, a communication unit, a power supply unit, a backup control unit, a backup power supply unit, a steer-by-wire unit and a drive-by-wire unit; The data acquisition unit is connected with the brake pedal, and the data acquisition unit is used for acquiring pressure data and displacement data; The fault detection unit is connected with the brake-by-wire unit, the electronic control unit and the power supply unit through a bus; the communication unit is connected with the fault detection unit and the electronic control unit; the fault detection unit is used for detecting whether the brake-by-wire unit, the electronic control unit, the power supply unit and / or the bus is faulty; The backup control unit is connected with the data acquisition unit, the electronic control unit, the communication unit and the fault detection unit; the electronic control unit is connected with the brake-by-wire unit, the steer-by-wire unit, the drive-by-wire unit, the communication unit and the power supply unit; the power supply unit and the backup power supply unit are both connected with the steer-by-wire unit, the drive-by-wire unit and the brake-by-wire unit; The backup control unit is used for: When the bus is faulty, acquiring state information of the brake-by-wire unit, the electronic control unit or the power supply unit through the communication unit; When the bus is not faulty, acquiring state information of the brake-by-wire unit, the electronic control unit and / or the power supply unit through the bus when one or more of the brake-by-wire unit, the electronic control unit, the power supply unit is faulty; the state information is that the fault occurs or does not occur; When the state information of the bus is that the fault occurs, sending the pressure data and the displacement data to the electronic control unit through the communication unit; When the brake-by-wire unit, the electronic control unit, the power supply unit and the bus are all not faulty, or when the state information of the power supply unit is that the fault occurs, or when the state information of the brake-by-wire unit is that the fault occurs, sending the pressure data and the displacement data to the electronic control unit; When the state information of the electronic control unit is that the fault occurs, generating a second control signal according to the pressure data and the displacement data; The electronic control unit is used for generating a first control signal according to the pressure data and the displacement data, generating a third control signal according to the pressure data, the displacement data and the state information of the power supply unit, and generating a fourth control signal according to the pressure data, the displacement data and the state information of the brake-by-wire unit; The power supply unit is used for distributing voltage to the steer-by-wire unit, the drive-by-wire unit and the brake-by-wire unit according to the first control signal, or the second control signal, or the fourth control signal; the backup power supply unit is used for distributing voltage to the steer-by-wire unit, the drive-by-wire unit and the brake-by-wire unit according to the third control signal; and the steer-by-wire unit, the drive-by-wire unit and the brake-by-wire unit are used for steering, driving and braking according to the first control signal, or the second control signal, or the third control signal, or the fourth control signal.

2. A by-wire chassis brake redundancy control system according to claim 1, characterised in that, The line control brake unit comprises two front wheel brake modules and two rear wheel brake modules; the line control steering unit comprises two front wheel steering motors and two rear wheel steering motors; the line control drive unit comprises two front wheel drive motors and two rear wheel drive motors; the fourth control signal comprises a first control instruction, a second control instruction and a third control instruction; When the state information of the line control brake unit is faulty, the backup control unit sends the pressure data and displacement data to the electronic control unit when the state information of the front wheel brake module or the rear wheel brake module is faulty; the electronic control unit generates a third control instruction according to the pressure data, displacement data, and the state information of the front wheel brake module or the rear wheel brake module; the power supply unit allocates voltage to the rear wheel brake module or the front wheel brake module according to the third control instruction; and the rear wheel brake module or the front wheel brake module brakes according to the third control instruction. When the state information of the front wheel brake module and the state information of the rear wheel brake module are both faulty, the backup control unit sends the pressure data and displacement data to the electronic control unit; the electronic control unit discriminates the current vehicle speed and a brake speed threshold value; When the current vehicle speed is greater than the brake speed threshold value, the electronic control unit generates a first control instruction to control the front wheel steering motor and the rear wheel steering motor to rotate the front wheel and the rear wheel by the same angle in opposite directions; the power supply unit allocates voltage to the front wheel steering motor and the rear wheel steering motor according to the first control instruction; and the front wheel steering motor and the rear wheel steering motor steer according to the first control instruction. When the current vehicle speed is less than or equal to the brake speed threshold value, the electronic control unit generates a second control instruction to control the rear wheel steering motor to rotate the rear wheel by the same angle in opposite directions; the power supply unit allocates voltage to the rear wheel steering motor and the front wheel drive motor according to the second control instruction; the rear wheel steering motor steers according to the second control instruction; and the front wheel drive motor reversely rotates to generate negative torque to provide braking force according to the second control instruction.

3. A by-wire chassis brake redundancy control system according to claim 2, characterised in that, When the state information of the line control brake unit, the electronic control unit, the power supply unit and the bus is faulty, the electronic control unit or the backup control unit generates a fifth control signal to control the power supply unit, the line control drive unit, the line control brake unit and the line control steering unit according to the state information.

4. The by-wire chassis brake redundancy control system of claim 1, wherein, The communication unit comprises a fault communication module, a power supply communication module, an electronic control communication module, a backup control communication module, a brake-by-wire communication module, a steer-by-wire communication module and a drive-by-wire communication module; each communication module is connected with each other; the fault communication module is connected with the fault detection unit; the power supply communication module is connected with the power supply unit; the electronic control communication module is connected with the electronic control unit; the backup control communication module is connected with the backup control unit; the brake-by-wire communication module is connected with the brake-by-wire unit; the steer-by-wire communication module is connected with the steer-by-wire unit; the drive-by-wire communication module is connected with the drive-by-wire unit.

5. The by-wire chassis brake redundancy control system of claim 1, wherein, The power supply unit and the backup power supply unit are connected with the data acquisition unit, the fault detection unit, the electronic control unit, the communication unit and the backup control unit, and are used for supplying power to the data acquisition unit, the fault detection unit, the electronic control unit, the communication unit and the backup control unit.

6. A by-wire chassis brake redundancy control method, characterized by, The control method is applied to the brake redundancy control system of the brake-by-wire chassis of any one of claims 1-5; the control method comprises: acquiring pressure data and displacement data based on the data acquisition unit; detecting whether the brake-by-wire unit, the electronic control unit, the power supply unit or the bus has a fault based on the fault detection unit; when one or more of the brake-by-wire unit, the electronic control unit, the power supply unit or the bus has a fault, acquiring state information of the brake-by-wire unit, the electronic control unit, the power supply unit and the bus by the backup control unit through the communication unit; the state information is whether a fault occurs or not; when the state information of the electronic control unit is that a fault occurs, generating a second control signal based on the backup control unit according to the pressure data and the displacement data; when the state information of the bus is that a fault occurs, or when none of the brake-by-wire unit, the electronic control unit, the power supply unit and the bus has a fault, generating a first control signal based on the electronic control unit according to the pressure data and the displacement data; when the state information of the power supply unit is that a fault occurs, generating a third control signal based on the electronic control unit according to the pressure data, the displacement data and the state information of the power supply unit; generating a fourth control signal based on the electronic control unit according to the pressure data, the displacement data and the state information of the brake-by-wire unit; distributing voltage to the steer-by-wire unit, the drive-by-wire unit and the brake-by-wire unit based on the power supply unit according to the first control signal, or the second control signal, or the fourth control signal; distributing voltage to the steer-by-wire unit, the drive-by-wire unit and the brake-by-wire unit based on the backup power supply unit according to the third control signal; steering, driving and braking based on the steer-by-wire unit, the drive-by-wire unit and the brake-by-wire unit according to the first control signal, or the second control signal, or the third control signal, or the fourth control signal, respectively.

7. A by-wire chassis brake redundancy control method according to claim 6, characterised in that, The control method further comprises: The line control brake unit comprises two front wheel brake modules and two rear wheel brake modules; the line control steering unit comprises two front wheel steering motors and two rear wheel steering motors; the line control drive unit comprises two front wheel drive motors and two rear wheel drive motors; the fourth control signal comprises a first control instruction, a second control instruction and a third control instruction; when the state information of the front wheel brake module or the rear wheel brake module is faulty, the electronic control unit generates the third control instruction based on the pressure data, the displacement data and the state information of the front wheel brake module or the state information of the rear wheel brake module; The power supply unit allocates voltage to the rear wheel brake module or the front wheel brake module based on the third control instruction; The rear wheel brake module or the front wheel brake module brakes based on the third control instruction; When the state information of the front wheel brake module and the state information of the rear wheel brake module are both faulty, the electronic control unit discriminates the current vehicle speed and a brake speed threshold value; When the current vehicle speed is greater than the brake speed threshold value, the electronic control unit generates the first control instruction to control the front wheel steering motor and the rear wheel steering motor to rotate the front wheel and the rear wheel by the same angle in opposite directions; The power supply unit allocates voltage to the front wheel steering motor and the rear wheel steering motor based on the first control instruction; The front wheel steering motor and the rear wheel steering motor steer based on the first control instruction; When the current vehicle speed is less than or equal to the brake speed threshold value, the electronic control unit generates the second control instruction to control the rear wheel steering motor to rotate the rear wheel by the same angle in opposite directions; The power supply unit allocates voltage to the rear wheel steering motor and the front wheel drive motor based on the second control instruction; The rear wheel steering motor steers based on the second control instruction; the front wheel drive motor is used to generate negative torque to provide braking force by reverse rotation.

8. A by-wire chassis brake redundancy control method according to claim 7, characterised in that, The control method further comprises: When one or more of the state information of the line control brake unit, the electronic control unit, the power supply unit and the bus is faulty, the electronic control unit or the backup control unit generates a fifth control signal based on the state information to control the power supply unit, the line control drive unit, the line control brake unit and the line control steering unit.

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