Wheel side controller taking over method and vehicle

Abstract

The present invention relates to a wheel-side controller takeover method and a vehicle, and to the technical field of vehicle braking. The wheel-side controller takeover method comprises obtaining brake pedal signals respectively through a central controller and a wheel-side controller; the wheel-side controller comprises a first controller, a second controller, a third controller, and a fourth controller; judging whether the central controller fails; if the central controller fails, the first controller sends a fault request signal to other wheel-side controllers; judging whether at least two wheel-side controllers return fault signals; when at least two wheel-side controllers return fault signals, the first controller takes over the function of the central controller, and by setting a controller takeover scheme and designing a failure operation strategy, the safety and reliability of the whole vehicle braking process are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle braking, and in particular to a wheel-side controller takeover method and a vehicle. Background Art

[0002] In recent years, the application of new energy vehicles has become more and more extensive. Braking performance is one of the important performance indicators of automobiles and is directly related to traffic safety. The electronic mechanical brake system (EMB) is one of the hot spots in the field of wire-controlled chassis. It uses electronic controllers and mechanical actuators to directly apply braking force to the wheel end, significantly reducing system components. At the same time, it has faster response speed and higher wheel-end execution flexibility. It is a highly integrated solution for the braking system. The electronic mechanical brake system is one of the hot spots in the field of intelligent vehicles. It uses electronic control to completely replace the traditional hydraulic pipeline, realizes the complete decoupling of the braking system, streamlines the structure, and improves the reaction rate and execution efficiency, which is convenient for the development of chassis domain control and intelligent driving technology. However, due to the cancellation of the original hydraulic backup redundancy and the increasing requirements for vehicle software and hardware functional safety, the safety and reliability of the EMB system have also put forward higher requirements; it is urgent to develop a solution with safety redundancy, determine the EMB system control architecture that meets the safety goals, and design a failure operation strategy based on the system architecture.

[0003] Therefore, it is desired to provide a wheel-side controller takeover method and vehicle to improve the safety of the EMB system and ensure basic braking functions under conditions such as failure of the central controller. By setting up a controller takeover scheme and designing a failure operation strategy, the safety and reliability of the vehicle's braking process can be improved. Summary of the invention

[0004] According to a first aspect of some embodiments of the present invention, a wheel-side controller takeover method is provided, which may include obtaining brake pedal signals through a central controller and a wheel-side controller respectively; the wheel-side controller includes a first controller, a second controller, a third controller, and a fourth controller; judging whether the central controller fails; if the central controller fails, the first controller sends a fault request signal to other wheel-side controllers; judging whether there are at least two wheel-side controllers returning fault signals; when at least two wheel-side controllers return the fault signals, the first controller takes over the function of the central controller.

[0005] In some embodiments, the determining whether the central controller has failed specifically includes determining whether the central controller sends a brake request signal after the central controller obtains the brake pedal signal; if the central controller does not send the brake request signal, determining that the central controller has failed.

[0006] In some embodiments, if the central controller sends the braking request signal, it further includes the central controller sending the braking request signal to the first controller; the first controller determines whether the braking request signal is consistent with the brake pedal signal; if they are inconsistent, the central controller is judged to be invalid; if they are consistent, the central controller is judged to be valid; if the central controller is valid, the first controller sends the braking request signal to other wheel-side controllers.

[0007] In some embodiments, if the first controller determines that the braking request signal is inconsistent with the brake pedal signal, the wheel-side controller performs safety braking; when the inconsistency is the inconsistency between braking and no braking, the safety braking prioritizes executing the braking request corresponding to the braking.

[0008] In some embodiments, after the wheel-side controller performs safety braking, determining that the central controller has failed specifically includes: the first controller generates the fault request signal, and the fault request signal includes information of the brake pedal signal and the brake request signal; the first controller sends the fault request signal to other wheel-side controllers; determining whether there are at least two wheel-side controllers returning the fault signal; when at least two wheel-side controllers return the fault signal, determining that the central controller has failed, and the central controller has failed non-actively.

[0009] In some embodiments, if the central controller does not send the braking request signal, the determination of the failure of the central controller specifically includes: the central controller performs active failure to generate the fault request signal; the fault request signal includes information of the brake pedal signal and the braking request signal; the central controller sends the fault request signal to the first controller; the first controller sends the fault request signal to other wheel-side controllers; it is determined whether there are at least two wheel-side controllers returning the fault signal; when at least two wheel-side controllers return the fault signal, it is determined that the central controller has failed.

[0010] In some embodiments, when the condition that at least two wheel-side controllers return the fault signal is not met, the first controller does not perform the function of taking over the central controller.

[0011] In some embodiments, the first controller, the second controller, and the third controller are connected via a first CAN line, and the first controller, the second controller, and the fourth controller are connected via a second CAN line; through the first CAN line and the second CAN line, the first controller and the second controller are connected in two lines.

[0012] In some embodiments, when the first controller fails, a first fault request signal is sent to the second controller via the second CAN line, and the second controller sends the first fault request signal to the fourth controller; it is determined whether the second controller and the fourth controller return the first fault signal; when the two wheel-side controllers return the first fault signal, the second controller takes over the functions of the first controller, including receiving the brake pedal signal and the brake request signal.

[0013] According to a vehicle provided by the present invention, the wheel-side controller takeover method of the present application is executed. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] To better understand and illustrate some embodiments of the present invention, the following description of the embodiments will be made with reference to the accompanying drawings, in which like reference numerals indicate corresponding parts throughout the drawings.

[0015] Figure 1 is an exemplary flow chart of a wheel-side controller takeover method provided according to some embodiments of the present invention.

[0016] Figure 2 is an exemplary schematic diagram of an embodiment of a controller system provided according to some embodiments of the present invention. DETAILED DESCRIPTION

[0017] The following description with reference to the accompanying drawings is intended to facilitate a comprehensive understanding of various embodiments of the present invention as defined by the claims and their equivalents. These embodiments include various specific details to facilitate understanding, but these are only considered exemplary. Therefore, it will be appreciated by those skilled in the art that various changes and modifications may be made to the various embodiments described herein without departing from the scope and spirit of the present invention. In addition, in order to briefly and clearly describe the present invention, the present invention will omit the description of known functions and structures.

[0018] The terms and phrases used in the following specification and claims are not limited to the literal meanings, but are only to enable a clear and consistent understanding of the present invention. Therefore, it will be appreciated by those skilled in the art that the description of various embodiments of the present invention is provided only for the purpose of illustration, rather than to limit the present invention defined by the appended claims and their equivalents.

[0019] The following will be combined with the drawings in some embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] It should be noted that the terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms of "one", "a", "a kind of", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in the present invention refers to and includes any or all possible combinations of one or more bound listed items. The expressions "first", "second", "the first" and "the second" are used to modify the corresponding elements without considering the order or importance, and are only used to distinguish one element from another element, without limiting the corresponding elements.

[0021] The embodiment of the present invention provides a wheel-side controller takeover method and a vehicle. To facilitate understanding of the embodiment of the present invention, the embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0022] Figure 1 FIG. 1 is an exemplary flow chart of a wheel controller takeover method according to some embodiments of the present invention. Figure 1 As shown, the process 100 of the wheel-side controller takeover method may include:

[0023] S101, respectively obtain brake pedal signals through the central controller and the wheel-side controller; the wheel-side controller includes a first controller, a second controller, a third controller, and a fourth controller. In some embodiments, the controller system can obtain the brake pedal signal through the brake pedal of the vehicle. The brake pedal may include a pedal feel simulator, a pedal displacement sensor, etc. The brake pedal generates a brake pedal signal based on the pedal feel simulator, the pedal displacement sensor, etc., and sends it to the central controller and the wheel-side controller. It should be noted that the acquisition of the brake pedal signal described in S101 can be a brake pedal signal sent by the brake pedal.

[0024] S102, determine whether the central controller has failed. In some embodiments, the failure of the central controller may include active failure and inactive failure. In some embodiments, the determination of whether the central controller has failed may include determining whether the central controller sends a brake request signal after the central controller obtains the brake pedal signal; if the central controller does not send the brake request signal, the central controller is determined to be failed. Further, if the central controller sends the brake request signal, it includes the central controller sending the brake request signal to the first controller; the first controller determines whether the brake request signal is consistent with the brake pedal signal; if they are inconsistent, the central controller is determined to be failed; for example, if the first controller determines that the brake request signal is consistent with the brake pedal signal, the central controller is determined to be valid. In some embodiments, if the central controller is valid, the first controller sends the brake request signal to other wheel-side controllers.

[0025] According to some embodiments of the present application, if the first controller determines that the brake request signal is inconsistent with the brake pedal signal, the wheel-side controller performs safety braking; when the inconsistency is the inconsistency between braking and no braking, the safety braking is to give priority to the brake request corresponding to the braking. In some embodiments, when the inconsistency is the inconsistency of the braking force, the safety braking is to give priority to the larger braking force.

[0026] In some embodiments, if the central controller does not send the braking request signal, determining that the central controller has failed may include: the central controller performs active failure to generate the fault request signal; the fault request signal includes information of the brake pedal signal and the braking request signal; the central controller sends the fault request signal to the first controller; the first controller sends the fault request signal to other wheel-side controllers; determining whether there are at least two wheel-side controllers returning the fault signal; and determining that the central controller has failed when at least two wheel-side controllers return the fault signal.

[0027] In some embodiments, if the first controller determines that the braking request signal is inconsistent with the brake pedal signal, determining that the central controller has failed may include: the first controller generates the fault request signal, and the fault request signal includes information of the brake pedal signal and the braking request signal; the first controller sends the fault request signal to other wheel-side controllers; determines whether there are at least two wheel-side controllers returning the fault signal; when at least two wheel-side controllers return the fault signal, determines that the central controller has failed, and the central controller has failed non-actively.

[0028] S103, if the central controller fails, the first controller sends a fault request signal to other wheel-side controllers. In some embodiments, if the central controller fails actively, the first controller sends the fault request signal of the central controller to other wheel-side controllers. In some embodiments, if the central controller fails inactively, the first controller sends the generated fault request signal to other wheel-side controllers.

[0029] S104, determine whether at least two wheel-side controllers return fault signals. In some embodiments, the other wheel-side controllers of the wheel-side controller include a second controller, a third controller, and a fourth controller, and determine whether two or three of the other wheel-side controllers return fault signals. As an example, when two or three controllers return fault signals, it can be confirmed that the central controller has failed; for another example, when one controller or no controller returns a fault signal, the central controller is not determined to have failed, the first controller does not take over, and the braking request signal of the central controller is sent to other wheel-side controllers.

[0030] According to some embodiments of the present application, when the condition that at least two wheel-side controllers return the fault signal is not met, it may include that the first controller does not perform the function of taking over the central controller.

[0031] S105, when at least two wheel-side controllers return the fault signal, the first controller takes over the function of the central controller. In some embodiments, when two or three controllers return the fault signal, it can be determined that the central controller has failed, and the first controller can take over the function of the central controller.

[0032] According to some embodiments of the present application, the first controller, the second controller, and the third controller are connected via a first CAN line, and the first controller, the second controller, and the fourth controller are connected via a second CAN line; through the first CAN line and the second CAN line, the first controller and the second controller are connected in two lines.

[0033] According to some embodiments of the present application, when the first controller fails, a first fault request signal is sent to the second controller via the second CAN line, and the second controller sends the first fault request signal to the fourth controller; it is determined whether the second controller and the fourth controller return the first fault signal; when the two wheel-side controllers return the first fault signal, the second controller takes over the function of the first controller, including receiving the brake pedal signal and the brake request signal. In some embodiments, the fault request signal includes information of the brake pedal signal and the brake request signal; before the second controller takes over the function of the first controller, safety braking is performed first. The second controller can preferentially perform braking according to the brake pedal signal and the brake request signal, and after completing the safety braking, it takes over the function of the first controller.

[0034] As an example, when the first controller fails, a first fault request signal can be sent to the third controller via the first CAN line, and it can be determined whether the third controller, the second controller, and the fourth controller return the first fault signal; when at least two of the three wheel-side controllers return the first fault signal, it is determined that the first controller has failed.

[0035] In some embodiments, the wheel-side controller can take over according to preset rules, for example, it can take over according to the controller number. When the first controller fails, the second controller, the third controller, and the fourth controller take over the functions of the first controller in turn. For another example, when the first controller fails, if the central controller is valid, any of the other wheel-side controllers can take over the first controller to receive the brake request signal from the central controller, receive the brake pedal signal, and send the aforementioned signal to other valid wheel-side controllers. For another example, when the first controller fails, and the central controller fails, the controller system fails, and the fault can be prompted through the human-computer interaction interface.

[0036] Figure 2 is an exemplary schematic diagram of a controller system embodiment provided according to some embodiments of the present invention. Figure 2As shown, the controller system may include a brake pedal, a central controller, a wheel-side controller, etc. The brake pedal may be integrated with a pedal feel simulator, a pedal displacement sensor, etc., for generating a brake pedal signal. The central controller may receive or obtain the brake pedal signal, and generate a brake request signal, and send the brake request signal to the wheel-side controller. The wheel-side controller may include a first controller, a second controller, a third controller, and a fourth controller. As an example, the wheel-side controller may include a left front wheel-side controller, a left rear wheel-side controller, a right front wheel-side controller, and a right rear wheel-side controller. It should be noted that the first controller does not specifically refer to the left front wheel-side controller, and may be any wheel-side controller among the left front wheel-side controller, the left rear wheel-side controller, the right front wheel-side controller, and the right rear wheel-side controller.

[0037] In some embodiments, the first controller, the second controller, and the third controller are connected via a first CAN line, and the first controller, the second controller, and the fourth controller are connected via a second CAN line; through the first CAN line and the second CAN line, the first controller and the second controller are connected in two lines.

[0038] According to some embodiments of the present application, when the central controller fails, the first controller can take over the functions of the central controller. In some embodiments, when the first controller fails, any one of the second controller, the third controller, and the fourth controller can take over the functions of the first controller; the functions include receiving the brake pedal signal, the brake request signal, etc.

[0039] In some embodiments, when the central controller receives pedal displacement (brake pedal signal) but no braking command, the central controller performs active failure and sends a fault request signal to the first controller, and the first controller sends the fault request signal to the three other wheel-side controllers. In some embodiments, when the braking force corresponding to the braking command sent by the central controller is 500N, the first controller determines that the braking force is 600N according to the pedal displacement, and the actual braking force is 600N, the first controller determines that the central controller fails, and the central controller is non-active failure.

[0040] According to some embodiments of the present application, the vehicle of the present application may include a braking system applying the present application, and execute the above-mentioned wheel-side controller takeover method. The controller system may include a brake pedal, a central controller, a wheel-side controller, etc. The wheel-side controller takeover method includes obtaining brake pedal signals through the central controller and the wheel-side controller respectively; the wheel-side controller includes a first controller, a second controller, a third controller, and a fourth controller; judging whether the central controller fails; if the central controller fails, the first controller sends a fault request signal to other wheel-side controllers; judging whether there are at least two wheel-side controllers returning fault signals; when at least two wheel-side controllers return fault signals, the first controller takes over the function of the central controller.

[0041] It should be noted that the above description of the braking system and the wheel-side controller takeover method is only for the convenience of description and does not limit the present invention to the scope of the embodiments. It can be understood that for those skilled in the art, based on the principle of the present device, it is possible to arbitrarily combine the various structures, or to form a substructure and combine it with other structures without departing from the principle, and to make various modifications and changes in form and details to the functions of implementing the above-mentioned devices and operations. For example, the wheel-side controller takeover method may further include the function of any wheel-side controller taking over the central controller. Such variations are all within the scope of protection of the present invention.

[0042] In summary, the wheel-side controller takeover method and vehicle of the present invention, the wheel-side controller takeover method includes obtaining brake pedal signals through a central controller and a wheel-side controller respectively; the wheel-side controller includes a first controller, a second controller, a third controller, and a fourth controller; judging whether the central controller fails; if the central controller fails, the first controller sends a fault request signal to other wheel-side controllers; judging whether at least two wheel-side controllers return fault signals; when at least two wheel-side controllers return fault signals, the first controller takes over the function of the central controller, and by setting a controller takeover scheme and designing a failure operation strategy, the safety and reliability of the braking process of the entire vehicle are improved.

[0043] It should be noted that the above-described embodiments are merely examples, and the present invention is not limited to such examples but can be variously modified.

[0044] It should be noted that, in this specification, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0045] The above disclosures are only some preferred embodiments of the present invention, which cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the structures of the above embodiments and equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A wheel-side controller takeover method, characterized in that: The brake pedal signal is obtained through the central controller and the wheel side controller respectively; the wheel side controller includes a first controller, a second controller, a third controller, and a fourth controller; Determining whether the central controller is invalid: after the central controller obtains the brake pedal signal, determining whether the central controller sends a brake request signal; if the central controller does not send the brake request signal, determining that the central controller is invalid; If the central controller sends the brake request signal, the central controller sends the brake request signal to the first controller; The first controller determines whether the brake request signal is consistent with the brake pedal signal; If they are inconsistent, it is determined that the central controller is invalid; if they are consistent, it is determined that the central controller is valid; if the central controller is valid, the first controller sends the braking request signal to other wheel-side controllers; If the first controller determines that the brake request signal is inconsistent with the brake pedal signal, the wheel-side controller performs safety braking; when the inconsistency is the inconsistency between braking and no braking, the safety braking is to give priority to the brake request corresponding to the braking; If the central controller fails, the first controller sends a fault request signal to other wheel-side controllers; Determine whether at least two wheel-side controllers return fault signals; When at least two wheel-side controllers return the fault signal, the first controller takes over the function of the central controller; After the wheel-side controller performs safety braking, determining that the central controller fails includes: The first controller generates a fault request signal, the fault request signal includes information of a brake pedal signal and a brake request signal; the brake request signal is sent by the central controller; The first controller sends the fault request signal to other wheel-side controllers; Determining whether at least two wheel-side controllers return the fault signal; When at least two wheel-side controllers return the fault signal, it is determined that the central controller has failed, and the central controller has failed inactively.

2. The method according to claim 1, characterized in that If the central controller does not send the braking request signal, determining that the central controller is failed specifically includes: The central controller performs active failure to generate the fault request signal; the fault request signal includes information of the brake pedal signal and the brake request signal; The central controller sends the fault request signal to the first controller; The first controller sends the fault request signal to other wheel-side controllers; Determining whether at least two wheel-side controllers return the fault signal; When at least two wheel-side controllers return the fault signal, it is determined that the central controller has failed.

3. The method according to claim 1 or 2, characterized in that: When at least two wheel-side controllers fail to return the fault signal, the method specifically includes: The first controller does not perform the function of taking over the central controller.

4. The method according to claim 1, characterized in that: Further including: The first controller, the second controller, and the third controller are connected via a first CAN line, and the first controller, the second controller, and the fourth controller are connected via a second CAN line; the first controller and the second controller are connected in two lines via the first CAN line and the second CAN line.

5. The method according to claim 4, characterized in that Further including: When the first controller fails, sending a first fault request signal to the second controller through the second CAN line, and the second controller sending the first fault request signal to the fourth controller; Determine whether the second controller and the fourth controller return a first fault signal; When the two wheel-side controllers return the first fault signal, the second controller takes over the function of the first controller, including receiving the brake pedal signal and the brake request signal.

6. A vehicle, characterized in that: Execute the wheel-side controller takeover method described in any one of claims 1 to 5.

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