Electro-hydraulic control unit dual redundancy system, control method, device and test vehicle

Abstract

This invention discloses a dual-redundant electro-hydraulic control unit system, control method, device, and test vehicle. The system uses two electro-hydraulic control units. When a preset electro-hydraulic control unit malfunctions, the programmable logic controller (PLC) automatically switches between the two control units by supplying power to the other control unit and by powering or de-energizing four two-position three-way solenoid valves. This ensures that the system still has a working, malfunction-free electro-hydraulic control unit, guaranteeing the safety of the test vehicle and improving its overall safety.

Description

Technical Field

[0001] This invention relates to the field of electro-hydraulic control technology, and more specifically, to a dual-redundant electro-hydraulic control unit system, control method, device, and test vehicle. Background Technology

[0002] Currently, the electro-hydraulic control unit, which is standard equipment in passenger cars and light commercial vehicles, plays a crucial role in vehicle driving safety. This electro-hydraulic control unit mainly includes the anti-lock braking system (ABS) and the electronic stability control system (ESC).

[0003] The electro-hydraulic control unit installed in mass-produced vehicles has undergone thorough testing and verification, resulting in an extremely low failure rate.

[0004] However, during the vehicle development phase, hardware failures or software problems can easily occur in the testing and verification of the electro-hydraulic control unit, posing a significant risk to the driving safety of the test vehicle and resulting in poor safety. Summary of the Invention

[0005] This invention provides a dual-redundant electro-hydraulic control unit system, control method, device, and test vehicle, which can improve the safety of the test vehicle. The specific technical solution is as follows.

[0006] In a first aspect, the present invention provides a dual-redundant electro-hydraulic control unit system, the dual-redundant electro-hydraulic control unit system comprising a programmable logic controller (PLC) with integrated Controller Area Network (CAN) bus function, a first electro-hydraulic control unit, a second electro-hydraulic control unit, a first three-way connector, a second three-way connector, and four two-position three-way solenoid valves;

[0007] The first electro-hydraulic control unit, the second electro-hydraulic control unit, and the four two-position three-way solenoid valves are all electrically connected to the programmable logic controller (PLC). The brake master cylinder of the test vehicle is connected to the first electro-hydraulic control unit and the second electro-hydraulic control unit respectively through the first three-way connector. The brake master cylinder is connected to the first electro-hydraulic control unit and the second electro-hydraulic control unit respectively through the second three-way connector.

[0008] For each electro-hydraulic control unit, the electro-hydraulic control unit is connected to the brake calipers of the four wheels of the test vehicle through the four two-position three-way solenoid valves respectively;

[0009] When the programmable logic controller (PLC) is powered on, it supplies power to the preset electro-hydraulic control unit and de-energizes or supplies power to the four two-position three-way solenoid valves. The preset electro-hydraulic control unit is one of the first electro-hydraulic control unit and the second electro-hydraulic control unit.

[0010] The programmable logic controller (PLC) receives the CAN signal from the vehicle controller local area network bus and determines whether the preset electro-hydraulic control unit has malfunctioned based on the CAN signal.

[0011] In the event of a malfunction, power is supplied to another electro-hydraulic control unit other than the preset electro-hydraulic control unit, and power is supplied to or de-energized to the four two-position three-way solenoid valves.

[0012] Optionally, the programmable logic controller (PLC) detects whether the dual-redundant system of the electro-hydraulic control unit is experiencing an overcurrent.

[0013] If so, disconnect the power supply.

[0014] Optionally, the four two-position three-way solenoid valves are respectively a first two-position three-way solenoid valve, a second two-position three-way solenoid valve, a third two-position three-way solenoid valve, and a fourth two-position three-way solenoid valve;

[0015] The first electro-hydraulic control unit is connected to the first input terminal of the first two-position three-way solenoid valve, the second electro-hydraulic control unit is connected to the second input terminal of the first two-position three-way solenoid valve, and the output terminal of the first two-position three-way solenoid valve is connected to the brake caliper of the left front wheel.

[0016] The first electro-hydraulic control unit is connected to the first input terminal of the second two-position three-way solenoid valve, the second electro-hydraulic control unit is connected to the second input terminal of the second two-position three-way solenoid valve, and the output terminal of the second two-position three-way solenoid valve is connected to the brake caliper of the left rear wheel.

[0017] The first electro-hydraulic control unit is connected to the first input terminal of the third two-position three-way solenoid valve, the second electro-hydraulic control unit is connected to the second input terminal of the third two-position three-way solenoid valve, and the output terminal of the third two-position three-way solenoid valve is connected to the brake caliper of the right front wheel.

[0018] The first electro-hydraulic control unit is connected to the first input terminal of the fourth two-position three-way solenoid valve, the second electro-hydraulic control unit is connected to the second input terminal of the fourth two-position three-way solenoid valve, and the output terminal of the fourth two-position three-way solenoid valve is connected to the brake caliper of the right rear wheel.

[0019] Optionally, the aforementioned dual-redundant electro-hydraulic control unit system also includes a manual switch, which is electrically connected to the power supply equipment of the test vehicle.

[0020] The manual switch has four positions. When the manual switch is in position one, the programmable logic controller (PLC) is powered on.

[0021] Optionally, when the manual switch is in position two, one of the two electro-hydraulic control units is energized, and all four two-position three-way solenoid valves are either de-energized or energized.

[0022] When the manual switch is in position three, the other of the two electro-hydraulic control units is energized, and all four two-position three-way solenoid valves are either energized or de-energized.

[0023] When the manual switch is in position four, both electro-hydraulic control units and the four two-position three-way solenoid valves are de-energized.

[0024] Optionally, the programmable logic controller (PLC) receives a switching instruction, supplies power to the electro-hydraulic control unit included in the switching instruction, and supplies or de-energizes the four two-position three-way solenoid valves.

[0025] Optionally, all four two-position three-way solenoid valves are switching solenoid valves, and all four two-position three-way solenoid valves are driven by pulse width modulation (PWM). When each two-position three-way solenoid valve is opened, it is driven by a first duty cycle and the opening phase duration is longer than a preset duration threshold. After each two-position three-way solenoid valve is opened, it is driven by a second duty cycle, wherein the first duty cycle is greater than the second duty cycle.

[0026] Secondly, the present invention provides a control method for a dual-redundant electro-hydraulic control unit system, wherein the method is applied to a programmable logic controller (PLC) with integrated Controller Area Network (CAN) bus function in the dual-redundant electro-hydraulic control unit system.

[0027] The dual-redundant electro-hydraulic control unit system further includes a first electro-hydraulic control unit, a second electro-hydraulic control unit, a first three-way connector, a second three-way connector, and four two-position three-way solenoid valves. The first electro-hydraulic control unit, the second electro-hydraulic control unit, and the four two-position three-way solenoid valves are all electrically connected to the programmable logic controller (PLC). The master brake cylinder of the test vehicle is connected to both the first and second electro-hydraulic control units via the first three-way connector. The master brake cylinder is also connected to both the first and second electro-hydraulic control units via the second three-way connector. For each electro-hydraulic control unit, it is connected to the brake calipers of the four wheels of the test vehicle via the four two-position three-way solenoid valves. The PLC is energized to supply power to a preset electro-hydraulic control unit and to de-energize or energize the four two-position three-way solenoid valves. The preset electro-hydraulic control unit is one of the first and second electro-hydraulic control units. The method includes:

[0028] Receives CAN signals from the vehicle controller local area network bus;

[0029] The system determines whether the preset electro-hydraulic control unit has malfunctioned based on the CAN signal of the vehicle controller local area network bus.

[0030] In the event of a malfunction, power is supplied to another electro-hydraulic control unit other than the preset electro-hydraulic control unit, and power is supplied to or de-energized to the four two-position three-way solenoid valves.

[0031] Thirdly, the present invention provides a control device for a dual-redundant electro-hydraulic control unit system, wherein the device is applied to a programmable logic controller (PLC) with integrated Controller Area Network (CAN) bus function in the dual-redundant electro-hydraulic control unit system.

[0032] The dual-redundant electro-hydraulic control unit system further includes a first electro-hydraulic control unit, a second electro-hydraulic control unit, a first three-way connector, a second three-way connector, and four two-position three-way solenoid valves. The first electro-hydraulic control unit, the second electro-hydraulic control unit, and the four two-position three-way solenoid valves are all electrically connected to the programmable logic controller (PLC). The master brake cylinder of the test vehicle is connected to both the first and second electro-hydraulic control units via the first three-way connector. The master brake cylinder is also connected to both the first and second electro-hydraulic control units via the second three-way connector. For each electro-hydraulic control unit, it is connected to the brake calipers of the four wheels of the test vehicle via the four two-position three-way solenoid valves. The PLC is energized to supply power to a preset electro-hydraulic control unit and to de-energize or energize the four two-position three-way solenoid valves. The preset electro-hydraulic control unit is one of the first and second electro-hydraulic control units. The device includes:

[0033] The receiving module is used to receive CAN signals from the vehicle controller local area network bus.

[0034] The judgment module is used to determine whether the preset electro-hydraulic control unit has malfunctioned based on the CAN bus signal of the vehicle controller local area network;

[0035] The control module is used to supply power to another electro-hydraulic control unit other than the preset electro-hydraulic control unit in case of a malfunction, and to supply or de-energize the four two-position three-way solenoid valves.

[0036] Fourthly, the present invention provides a test vehicle, including a body and a dual-redundant electro-hydraulic control unit system, wherein the dual-redundant electro-hydraulic control unit system is fixedly installed on the body, and the dual-redundant electro-hydraulic control unit system is the dual-redundant electro-hydraulic control unit system described in any of the first aspects above.

[0037] As can be seen from the above, the dual-redundant electro-hydraulic control unit system, control method, device, and test vehicle provided in this embodiment of the invention, by setting up two electro-hydraulic control units, when the preset electro-hydraulic control unit fails, the programmable logic controller (PLC) automatically switches the electro-hydraulic control unit by supplying power to the other electro-hydraulic control unit other than the preset electro-hydraulic control unit and supplying or de-energizing the four two-position three-way solenoid valves. This ensures that the system still has an unfaulty electro-hydraulic control unit operating normally, thus guaranteeing the safety of the test vehicle and improving its safety.

[0038] The innovative aspects of this invention include:

[0039] 1. The dual-redundant electro-hydraulic control unit system uses two electro-hydraulic control units. When the preset electro-hydraulic control unit fails, the programmable logic controller (PLC) automatically switches the electro-hydraulic control unit by supplying power to the other electro-hydraulic control unit and powering or de-energizing the four two-position three-way solenoid valves. This ensures that the system still has an undamaged electro-hydraulic control unit operating normally, guaranteeing the safety of the test vehicle and improving its overall safety.

[0040] 2. By using a first duty cycle to drive each two-position three-way solenoid valve when it is open, and a second duty cycle to drive each two-position three-way solenoid valve after it is opened, and the first duty cycle is greater than the second duty cycle, the coil heating of each two-position three-way solenoid valve can be reduced after it is opened, so that each two-position three-way solenoid valve can work for a longer period of time without failure.

[0041] 3. By cutting off the power supply when the programmable logic controller (PLC) detects an overcurrent in the dual-redundant electro-hydraulic control unit system, the power supply to each electro-hydraulic control unit is cut off, thereby protecting the dual-redundant electro-hydraulic control unit system.

[0042] 4. By setting up two electro-hydraulic control units and a manual switch, when the manual switch is in position one, the programmable logic controller (PLC) is powered on. Then, when the preset electro-hydraulic control unit malfunctions, the PLC switches the electro-hydraulic control unit by supplying power to the other electro-hydraulic control unit (other than the preset one) and by powering or de-energizing the four two-position three-way solenoid valves. This ensures that the system still has a non-faulty electro-hydraulic control unit operating normally, thus guaranteeing the safety of the test vehicle and improving its overall safety.

[0043] 5. By setting the manual switch to positions two and three respectively, one of the two electro-hydraulic control units can be manually controlled independently. During testing, when a comparison between the two electro-hydraulic control units is needed, the manual switch can be used to directly switch between positions two and three, facilitating quick comparison of different electro-hydraulic control units. Furthermore, compared to installing the same electro-hydraulic control unit on two separate vehicles for testing and comparison, this method can eliminate the influence of other factors such as the brakes, suspension, power steering, and master cylinder when troubleshooting, quickly helping to pinpoint the cause of the problem.

[0044] 6. When no manual switch is set, the electro-hydraulic control unit can be switched by sending a switching command from the host computer to the programmable logic controller (PLC).

[0045] 7. When setting the manual switch, the switch is set to position one, and then the host computer sends a switching command to the programmable logic controller (PLC) to switch the electro-hydraulic control unit.

[0046] 8. When setting the manual switch, set the manual switch to position one, then modify and rewrite the program of the programmable logic controller (PLC) to switch the electro-hydraulic control unit.

[0047] 9. The control method for the dual-redundant electro-hydraulic control unit system provided in this embodiment of the invention can receive the CAN signal from the vehicle controller local area network bus. Based on the CAN signal, it determines whether a preset electro-hydraulic control unit has malfunctioned. If a malfunction occurs, power is supplied to the other electro-hydraulic control unit besides the preset one, and power is supplied to or de-energized to the four two-position three-way solenoid valves. Thus, by setting two electro-hydraulic control units, when the preset electro-hydraulic control unit malfunctions, the programmable logic controller (PLC) automatically switches the electro-hydraulic control unit by supplying power to the other electro-hydraulic control unit besides the preset one and by supplying or de-energizing the four two-position three-way solenoid valves. This ensures that the system still has a non-malfunctioning electro-hydraulic control unit operating normally, guaranteeing the safety of the test vehicle and improving its safety.

[0048] 10. The control method provided in this embodiment of the invention protects each electro-hydraulic control unit by cutting off the power supply when the programmable logic controller (PLC) detects an overcurrent in the dual-redundant system of the electro-hydraulic control unit, thereby protecting the dual-redundant system of the electro-hydraulic control unit.

[0049] 11. The control device of the dual-redundant electro-hydraulic control unit system provided in this embodiment of the invention can receive the CAN signal from the vehicle controller local area network bus. Based on the CAN signal, it determines whether the preset electro-hydraulic control unit has failed. If a failure occurs, it supplies power to the other electro-hydraulic control unit besides the preset one, and supplies or de-energizes the four two-position three-way solenoid valves. Thus, by setting two electro-hydraulic control units, when the preset electro-hydraulic control unit fails, the programmable logic controller (PLC) automatically switches the electro-hydraulic control unit by supplying power to the other electro-hydraulic control unit and supplying or de-energizing the four two-position three-way solenoid valves. This ensures that the system still has a non-faulty electro-hydraulic control unit operating normally, guaranteeing the safety of the test vehicle and improving its safety.

[0050] 12. The test vehicle provided in this embodiment of the invention includes a dual-redundant electro-hydraulic control unit system. The dual-redundant electro-hydraulic control unit system sets up two electro-hydraulic control units. When the preset electro-hydraulic control unit fails, the programmable logic controller (PLC) automatically switches the electro-hydraulic control unit by supplying power to the other electro-hydraulic control unit other than the preset electro-hydraulic control unit and supplying or de-energizing the four two-position three-way solenoid valves. This ensures that the system still has an unfaulty electro-hydraulic control unit operating normally, thus guaranteeing the safety of the test vehicle and improving its safety.

[0051] Of course, implementing any product or method of the present invention does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0053] Figure 1 A schematic diagram of the hydraulic structure of a dual-redundant electro-hydraulic control unit system provided in an embodiment of the present invention;

[0054] Figure 2 This is a schematic diagram of the electrical structure of a dual-redundant electro-hydraulic control unit system provided in an embodiment of the present invention;

[0055] Figure 3 A schematic flowchart of a control method for a dual-redundant electro-hydraulic control unit system provided in an embodiment of the present invention;

[0056] Figure 4 A schematic diagram of a control device for a dual-redundant electro-hydraulic control unit system provided in an embodiment of the present invention;

[0057] Figure 5 This is a schematic diagram of the structure of a test vehicle provided in an embodiment of the present invention.

[0058] Figures 1-5The system includes: 1. Programmable Controller (PLC) with integrated CAN bus function; 2. First electro-hydraulic control unit; 3. Second electro-hydraulic control unit; 4. First three-way connector; 5. Second three-way connector; 6. Brake master cylinder; 7. First two-position three-way solenoid valve; 8. Second two-position three-way solenoid valve; 9. Third two-position three-way solenoid valve; 10. Fourth two-position three-way solenoid valve; 11. Brake caliper for the left front wheel; 12. Brake caliper for the left rear wheel; 13. Brake caliper for the right front wheel; 14. Brake caliper for the right rear wheel; 15. Manual selector switch; 16. Gear position 1; 17. Gear position 2; 18. Gear position 3; 19. Gear position 4; 20. Split switch; 21. Body; 22. Dual redundancy system of electro-hydraulic control unit. Detailed Implementation

[0059] 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 a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0060] It should be noted that the terms "comprising" and "having," and any variations thereof, in the embodiments and drawings of this invention are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0061] This invention discloses a dual-redundant system for an electro-hydraulic control unit, a control method, an apparatus, and a test vehicle, which can improve the safety of the test vehicle. The embodiments of this invention are described in detail below.

[0062] Figure 1 This is a schematic diagram of the hydraulic structure of a dual-redundant electro-hydraulic control unit system provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the electrical structure of a dual-redundant electro-hydraulic control unit system provided in an embodiment of the present invention.

[0063] See Figures 1-2This invention provides a dual-redundant electro-hydraulic control unit system, comprising a programmable controller (PLC1) with integrated Controller Area Network (CAN) bus functionality, a first electro-hydraulic control unit (2), a second electro-hydraulic control unit (3), a first three-way connector (4), a second three-way connector (5), and four two-position three-way solenoid valves. Here, CAN stands for Controller Area Network, and PLC stands for Programmable Controller.

[0064] Specifically, the programmable controller PLC1 with integrated CAN bus function can receive and process CAN bus signals, and integrates a rich set of digital and analog input / output interfaces to control the energization of the electro-hydraulic control unit and the two-position three-way solenoid valve. It can also automatically switch the electro-hydraulic control unit according to the fault information of the electro-hydraulic control unit on the CAN bus, and monitor the current and perform overcurrent protection.

[0065] Each tee connector is used to connect the brake oil pipe output from the master cylinder of the test vehicle to the first electro-hydraulic control unit 2 and the second electro-hydraulic control unit 3, respectively.

[0066] Four two-position three-way solenoid valves are used to control the oil circuit connection between each electro-hydraulic control unit and each brake caliper.

[0067] Among them, all four two-position three-way solenoid valves can be switching solenoid valves. All four two-position three-way solenoid valves are driven by PWM (Pulse Width Modulation). When each two-position three-way solenoid valve is opened, it is driven by the first duty cycle and the opening phase duration is longer than the preset duration threshold. After each two-position three-way solenoid valve is opened, it is driven by the second duty cycle. The first duty cycle is greater than the second duty cycle.

[0068] For example, the first duty cycle ranges from 80% to 100%, preferably 90%, the second duty cycle ranges from 40% to 60%, preferably 60%, and the preset duration threshold can be 30ms. Specifically, the duration of the activation phase ranges from 30ms to 150ms, preferably 50ms.

[0069] Therefore, by using a first duty cycle to drive each two-position three-way solenoid valve when it is open, and a second duty cycle to drive each two-position three-way solenoid valve after it is opened, and by using a first duty cycle greater than the second duty cycle, the coil heating of each two-position three-way solenoid valve can be reduced after it is opened, so that each two-position three-way solenoid valve can work for a longer period of time without failure.

[0070] See also Figure 1 and Figure 2The first electro-hydraulic control unit 2, the second electro-hydraulic control unit 3, and four two-position three-way solenoid valves are all electrically connected to the programmable controller PLC1. The brake master cylinder 6 of the test vehicle is connected to the first electro-hydraulic control unit 2 and the second electro-hydraulic control unit 3 respectively through the first three-way connector 4. The brake master cylinder 6 is connected to the first electro-hydraulic control unit 2 and the second electro-hydraulic control unit 3 respectively through the second three-way connector 5.

[0071] See also Figure 2 The dual-redundant electro-hydraulic control unit system also includes a splitter 20. Splitter 20 is used for wiring harness connections of the first electro-hydraulic control unit 2, the second electro-hydraulic control unit 3, and four two-position three-way solenoid valves. Specifically, the programmable logic controller (PLC1) is electrically connected to the first electro-hydraulic control unit 2, the second electro-hydraulic control unit 3, and the four two-position three-way solenoid valves via splitter 20. Splitter 20 is a 1-input-2-output type, meaning one input and two outputs, and has more than 56 input interfaces to meet the system's wiring requirements.

[0072] Each electro-hydraulic control unit is connected to the brake calipers of the four wheels of the test vehicle via four two-position three-way solenoid valves.

[0073] See also Figure 1 and Figure 2 The four two-position three-way solenoid valves can be designated as the first two-position three-way solenoid valve 7, the second two-position three-way solenoid valve 8, the third two-position three-way solenoid valve 9, and the fourth two-position three-way solenoid valve 10.

[0074] The first electro-hydraulic control unit 2 is connected to the first input terminal of the first two-position three-way solenoid valve 7, the second electro-hydraulic control unit 3 is connected to the second input terminal of the first two-position three-way solenoid valve 7, and the output terminal of the first two-position three-way solenoid valve 7 is connected to the brake caliper 11 of the left front wheel.

[0075] The first electro-hydraulic control unit 2 is connected to the first input terminal of the second two-position three-way solenoid valve 8, the second electro-hydraulic control unit 3 is connected to the second input terminal of the second two-position three-way solenoid valve 8, and the output terminal of the second two-position three-way solenoid valve 8 is connected to the brake caliper 12 of the left rear wheel.

[0076] The first electro-hydraulic control unit 2 is connected to the first input terminal of the third two-position three-way solenoid valve 9, the second electro-hydraulic control unit 3 is connected to the second input terminal of the third two-position three-way solenoid valve 9, and the output terminal of the third two-position three-way solenoid valve 9 is connected to the brake caliper 13 of the right front wheel.

[0077] The first electro-hydraulic control unit 2 is connected to the first input terminal of the fourth two-position three-way solenoid valve 10, the second electro-hydraulic control unit 3 is connected to the second input terminal of the fourth two-position three-way solenoid valve 10, and the output terminal of the fourth two-position three-way solenoid valve 10 is connected to the brake caliper 14 of the right rear wheel.

[0078] During operation, the programmable logic controller (PLC1) is powered on, supplying power to the preset electro-hydraulic control unit and de-energizing or energizing the four two-position three-way solenoid valves. The preset electro-hydraulic control unit is one of the first electro-hydraulic control unit and the second electro-hydraulic control unit.

[0079] In other words, the programmable logic controller (PLC1) can be configured to automatically power on the electro-hydraulic control unit upon power-up. Because the connection methods of the two-position three-way solenoid valves differ, the interfaces connected in the energized and de-energized states are different.

[0080] For example, take the first and second position three-way solenoid valve 7 mentioned above as an example:

[0081] When the first two-position three-way solenoid valve 7 is de-energized, the first input end and the output end of the first two-position three-way solenoid valve 7 are connected. At this time, the first electro-hydraulic control unit 2 is connected to the oil circuit of the brake caliper 11 of the left front wheel.

[0082] When the first two-position three-way solenoid valve 7 is energized, the second input terminal and the output terminal of the first two-position three-way solenoid valve 7 are connected. At this time, the second electro-hydraulic control unit 3 is connected to the oil circuit of the brake caliper 11 of the left front wheel.

[0083] or,

[0084] When the first two-position three-way solenoid valve 7 is energized, the first input terminal and the output terminal of the first two-position three-way solenoid valve 7 are connected. At this time, the first electro-hydraulic control unit 2 is connected to the oil circuit of the brake caliper 11 of the left front wheel.

[0085] When the first two-position three-way solenoid valve 7 is de-energized, the second input terminal and the output terminal of the first two-position three-way solenoid valve 7 are connected. At this time, the second electro-hydraulic control unit 3 is connected to the oil circuit of the brake caliper 11 of the left front wheel.

[0086] Therefore, it is necessary to determine whether to de-energize or energize the two-position three-way solenoid valve based on the specific connection method.

[0087] Simultaneously, the programmable logic controller (PLC1) receives the CAN signal from the vehicle controller local area network (VLAN). Based on the CAN signal, it determines whether the preset electro-hydraulic control unit has malfunctioned. The CAN signal contains fault information for the preset electro-hydraulic control unit, indicating whether the anti-lock braking system (ABS) or the electronic stability control system (ESC) has malfunctioned. If either malfunctions, it indicates that the preset electro-hydraulic control unit has malfunctioned. In this case, power is supplied to the other electro-hydraulic control unit besides the preset one, and power is supplied to or de-energized to the four two-position three-way solenoid valves. ABS stands for anti-lock brake system, and ESC stands for Electronic Stability Controller.

[0088] For example: Assume that the preset electro-hydraulic control unit is the first electro-hydraulic control unit 2. When the first electro-hydraulic control unit 2 is energized, the corresponding four two-position three-way solenoid valves are de-energized.

[0089] Then the programmable logic controller (PLC) is powered on, supplying power to the first electro-hydraulic control unit 2, and de-energizing the four two-position three-way solenoid valves;

[0090] The programmable logic controller (PLC1) receives the CAN signal from the vehicle controller local area network bus. Based on the CAN signal, it determines whether the first electro-hydraulic control unit 2 has malfunctioned. If a malfunction occurs, it supplies power to the second electro-hydraulic control unit 3 and the four two-position three-way solenoid valves. At this time, it automatically cuts off power to the first electro-hydraulic control unit 2.

[0091] As can be seen from the above, the dual-redundant electro-hydraulic control unit system provided in this embodiment of the invention sets up two electro-hydraulic control units. When the preset electro-hydraulic control unit fails, the programmable logic controller (PLC) automatically switches the electro-hydraulic control unit by supplying power to the other electro-hydraulic control unit (other than the preset electro-hydraulic control unit) and supplying or de-energizing the four two-position three-way solenoid valves. This ensures that the system still has an unfaulty electro-hydraulic control unit operating normally, thus guaranteeing the safety of the test vehicle and improving its safety.

[0092] Because the system current may exceed the predetermined maximum value during normal operation of the dual-redundant electro-hydraulic control unit system, the programmable logic controller (PLC1) needs to detect whether the dual-redundant electro-hydraulic control unit system is overcurrent after powering on the preset electro-hydraulic control unit, powering off or on the four two-position three-way solenoid valves, and after automatically switching the electro-hydraulic control unit (i.e., powering on another electro-hydraulic control unit other than the preset electro-hydraulic control unit), powering on or powering off the four two-position three-way solenoid valves.

[0093] If so, disconnect the power supply.

[0094] Therefore, by cutting off the power supply when the programmable logic controller (PLC1) detects an overcurrent in the dual-redundant electro-hydraulic control unit system, the power supply to each electro-hydraulic control unit is cut off, thereby protecting the dual-redundant electro-hydraulic control unit system.

[0095] When power is supplied to the preset electro-hydraulic control unit and power is cut off or supplied to the four two-position three-way solenoid valves, the programmable controller PLC1 detects that the dual-redundant system of the electro-hydraulic control unit has no overcurrent, and then continues to execute the step of receiving the CAN signal of the vehicle controller local area network bus.

[0096] When the electro-hydraulic control unit is automatically switched, that is, when power is supplied to another electro-hydraulic control unit other than the preset electro-hydraulic control unit, and power is supplied to or de-energized to the four two-position three-way solenoid valves, the programmable controller PLC1 detects that the dual-redundant system of the electro-hydraulic control unit has no overcurrent and then stops operating.

[0097] The above method is for automatically switching the electro-hydraulic control unit. The following embodiment of the present invention provides a method for manually switching the electro-hydraulic control unit.

[0098] See also Figure 2 The dual-redundant electro-hydraulic control unit system also includes a manual switch 15, which is electrically connected to the power supply equipment of the test vehicle.

[0099] The manual switch 15 is used to manually switch the on / off state of the electro-hydraulic control unit and the two-position three-way solenoid valve.

[0100] Specifically, the manual switch 15 has four positions. When the manual switch is in position one 16, the programmable logic controller (PLC1) is powered on. Then, power is supplied to the preset electro-hydraulic control unit, and power is de-energized or de-energized to the four two-position three-way solenoid valves. The preset electro-hydraulic control unit is one of the first and second electro-hydraulic control units. Simultaneously, the PLC1 receives the vehicle controller's local area network (CAN) bus signal and determines whether the preset electro-hydraulic control unit has malfunctioned based on the CAN bus signal. If a malfunction occurs, power is supplied to the other electro-hydraulic control unit (excluding the preset electro-hydraulic control unit), and power is de-energized or de-energized to the four two-position three-way solenoid valves. This achieves the switching of the electro-hydraulic control unit.

[0101] Therefore, by setting up two electro-hydraulic control units and a manual switch 15, when the manual switch is in position one 16, the programmable controller PLC1 is powered on. Then, when the preset electro-hydraulic control unit fails, the programmable controller PLC switches the electro-hydraulic control unit by supplying power to the other electro-hydraulic control unit other than the preset electro-hydraulic control unit, and by supplying or de-energizing the four two-position three-way solenoid valves. This ensures that the system still has an unfaulty electro-hydraulic control unit operating normally, thus guaranteeing the safety of the test vehicle and improving its safety.

[0102] See also Figure 2 When the manual switch 15 is in position two 17, one of the two electro-hydraulic control units is energized, and all four two-position three-way solenoid valves are either de-energized or energized. When the manual switch 15 is in position three 18, the other of the two electro-hydraulic control units is energized, and all four two-position three-way solenoid valves are either energized or de-energized.

[0103] In other words, gear 2 (17) and gear 3 (18) are gears that control the operation of one of the two electro-hydraulic control units respectively.

[0104] When the manual selector switch is in position four (19), both electro-hydraulic control units and four two-position three-way solenoid valves are de-energized. In other words, position four (19) is the off position; when the manual selector switch is in position four (19), neither of the two electro-hydraulic control units operates.

[0105] Therefore, by setting the manual switch 15 to positions two and three respectively, one of the two electro-hydraulic control units can be manually controlled separately. During testing, when a comparison between the two electro-hydraulic control units is needed, the manual switch 15 can be used to directly switch between positions two and three, facilitating quick comparison of different electro-hydraulic control units. Furthermore, compared to installing the same electro-hydraulic control unit on two separate vehicles for testing and comparison, this method can eliminate the influence of other factors such as the brakes, suspension, power steering, and master cylinder when troubleshooting, quickly helping to pinpoint the cause of the problem.

[0106] Of course, during the testing process, when there is a need to compare two electro-hydraulic control units, the following methods can also be used:

[0107] The first method:

[0108] When the manual switch 15 is not set, the host computer can send a switching command to the programmable controller PLC1. The programmable controller PLC1 receives the switching command, supplies power to the electro-hydraulic control unit included in the switching command, and supplies or de-energizes the four two-position three-way solenoid valves.

[0109] Therefore, when the manual switch 15 is not set, the switching of the electro-hydraulic control unit is achieved by sending a switching command from the host computer to the programmable controller PLC1.

[0110] The second method:

[0111] When setting the manual switch 15, set the manual switch 15 to position one, and then use the host computer to send a switching command to the programmable controller PLC1. The programmable controller PLC1 receives the switching command, supplies power to the electro-hydraulic control unit included in the switching command, and supplies or de-energizes the four two-position three-way solenoid valves.

[0112] Therefore, when setting the manual switch 15, the switching of the electro-hydraulic control unit is achieved by setting the manual switch 15 to position one and then sending a switching command from the host computer to the programmable controller PLC1.

[0113] The third method:

[0114] When setting the manual switch 15, set the manual switch 15 to position one, and then modify and rewrite the program of the programmable controller PLC1 to switch the electro-hydraulic control unit.

[0115] Figure 3This is a flowchart illustrating a control method for a dual-redundant electro-hydraulic control unit system provided in an embodiment of the present invention. The method is applied to a programmable logic controller (PLC) with integrated CAN bus functionality in the dual-redundant electro-hydraulic control unit system.

[0116] The dual-redundant electro-hydraulic control unit system also includes a first electro-hydraulic control unit, a second electro-hydraulic control unit, a first three-way connector, a second three-way connector, and four two-position three-way solenoid valves. All four units are electrically connected to a programmable logic controller (PLC). The test vehicle's master brake cylinder is connected to both the first and second electro-hydraulic control units via the first three-way connector, and vice versa. For each electro-hydraulic control unit, it is connected to the brake calipers of the four wheels of the test vehicle via the four two-position three-way solenoid valves. The PLC is energized to supply power to a preset electro-hydraulic control unit and to de-energize or energize the four two-position three-way solenoid valves. The preset electro-hydraulic control unit is one of the first or second electro-hydraulic control units. For details, please refer to the above description of the dual-redundant electro-hydraulic control unit system; further details will not be repeated here.

[0117] The method specifically includes the following steps.

[0118] S110: Receives CAN signals from the vehicle controller local area network bus.

[0119] S120: Determines whether a preset electro-hydraulic control unit has malfunctioned based on the vehicle controller local area network bus CAN signal.

[0120] S130: In case of a malfunction, power is supplied to another electro-hydraulic control unit other than the preset electro-hydraulic control unit, and power is supplied to or de-energized to the four two-position three-way solenoid valves.

[0121] The programmable logic controller (PLC) receives the CAN bus signal from the vehicle controller local area network (VLAN). Based on the CAN bus signal, it determines whether the preset electro-hydraulic control unit has malfunctioned. The CAN bus signal contains fault information for the preset electro-hydraulic control unit, indicating whether the anti-lock braking system (ABS) or the electronic stability control system (ESC) has malfunctioned. If either malfunctions, it indicates that the preset electro-hydraulic control unit has malfunctioned. In this case, power is supplied to the other electro-hydraulic control unit (excluding the preset electro-hydraulic control unit), and power is supplied to or de-energized to the four two-position three-way solenoid valves. ABS stands for anti-lock brake system, and ESC stands for Electronic Stability Controller.

[0122] For details, please refer to the introduction of the dual redundancy system of the electro-hydraulic control unit above, which will not be repeated here.

[0123] As described above, the control method for the dual-redundant electro-hydraulic control unit system provided in this embodiment of the invention can receive the CAN signal from the vehicle controller local area network bus. Based on the CAN signal, it determines whether a preset electro-hydraulic control unit has malfunctioned. If a malfunction occurs, power is supplied to the other electro-hydraulic control unit besides the preset one, and power is supplied to or de-energized to the four two-position three-way solenoid valves. Therefore, by setting two electro-hydraulic control units, when the preset electro-hydraulic control unit malfunctions, the programmable logic controller (PLC) automatically switches the electro-hydraulic control unit by supplying power to the other electro-hydraulic control unit and powering or de-energizing the four two-position three-way solenoid valves. This ensures that the system still has a non-malfunctioning electro-hydraulic control unit operating normally, guaranteeing the safety of the test vehicle and improving its overall safety.

[0124] In one implementation, the control method for the aforementioned dual-redundant electro-hydraulic control unit system further includes:

[0125] Check for overcurrent in the dual-redundant system of the electro-hydraulic control unit;

[0126] If so, disconnect the power supply.

[0127] Therefore, the control method provided in this embodiment of the invention protects each electro-hydraulic control unit by cutting off the power supply when the programmable controller PLC1 detects an overcurrent in the dual-redundant electro-hydraulic control unit system, thereby protecting the dual-redundant electro-hydraulic control unit system.

[0128] If the programmable controller PLC1 detects that the dual-redundant system of the electro-hydraulic control unit has no overcurrent before step S110, then step S110 continues.

[0129] After step S130, if the programmable controller PLC1 detects that the dual-redundant system of the electro-hydraulic control unit has no overcurrent, it will no longer operate.

[0130] The above method embodiments correspond to the system embodiments and have the same technical effects. For details, please refer to the system embodiments. The method embodiments are based on the system embodiments, and for details, please refer to the system embodiments section, which will not be repeated here.

[0131] Figure 4 This is a schematic diagram of a control device for a dual-redundant electro-hydraulic control unit system provided in an embodiment of the present invention. See also... Figure 4 This device is applied to a programmable logic controller (PLC) with integrated CAN bus functionality in a dual-redundant electro-hydraulic control unit system.

[0132] The dual-redundant electro-hydraulic control unit system also includes a first electro-hydraulic control unit, a second electro-hydraulic control unit, a first three-way connector, a second three-way connector, and four two-position three-way solenoid valves. The first electro-hydraulic control unit, the second electro-hydraulic control unit, and the four two-position three-way solenoid valves are all electrically connected to a programmable logic controller (PLC). The master brake cylinder of the test vehicle is connected to both the first and second electro-hydraulic control units via the first three-way connector, and also to both the first and second electro-hydraulic control units via the second three-way connector. For each electro-hydraulic control unit, it is connected to the brake calipers of the four wheels of the test vehicle via the four two-position three-way solenoid valves. The PLC is energized to supply power to a preset electro-hydraulic control unit and to de-energize or energize the four two-position three-way solenoid valves. The preset electro-hydraulic control unit is one of the first and second electro-hydraulic control units. The device includes:

[0133] Receiver module 410 is used to receive CAN signals from the vehicle controller local area network bus;

[0134] The judgment module 420 is used to determine whether the preset electro-hydraulic control unit has malfunctioned based on the vehicle controller local area network bus CAN signal;

[0135] The control module 430 is used to supply power to another electro-hydraulic control unit other than the preset electro-hydraulic control unit in case of a failure, and to supply or de-energize the four two-position three-way solenoid valves.

[0136] As described above, the control device of the dual-redundant electro-hydraulic control unit system provided in this embodiment of the invention can receive the CAN signal from the vehicle controller local area network bus. Based on the CAN signal, it determines whether the preset electro-hydraulic control unit has malfunctioned. If a malfunction occurs, it supplies power to the other electro-hydraulic control unit besides the preset one, and supplies or de-energizes the four two-position three-way solenoid valves. Therefore, by setting two electro-hydraulic control units, when the preset electro-hydraulic control unit malfunctions, the programmable logic controller (PLC) automatically switches the electro-hydraulic control unit by supplying power to the other electro-hydraulic control unit and supplying or de-energizing the four two-position three-way solenoid valves. This ensures that the system still has a non-malfunctioning electro-hydraulic control unit operating normally, guaranteeing the safety of the test vehicle and improving its overall safety.

[0137] In one implementation, the control device for the aforementioned dual-redundant electro-hydraulic control unit system further includes:

[0138] The detection module is used to detect whether the dual-redundant system of the electro-hydraulic control unit is overcurrent.

[0139] If so, trigger the cut-off module, which is used to cut off the power supply.

[0140] The above-described apparatus embodiments correspond to the method embodiments and have the same technical effects. For detailed explanations, please refer to the method embodiments. The apparatus embodiments are derived from the method embodiments; detailed explanations can be found in the method embodiments section, and will not be repeated here.

[0141] Figure 5 This is a schematic diagram of the structure of a test vehicle provided in an embodiment of the present invention. See also: Figure 5 The present invention provides a test vehicle, including a body 21 and an electro-hydraulic control unit dual redundancy system 22. The electro-hydraulic control unit dual redundancy system 22 is fixedly installed on the body 21. The electro-hydraulic control unit dual redundancy system 22 is the electro-hydraulic control unit dual redundancy system provided in any of the above embodiments.

[0142] Therefore, the test vehicle provided in this embodiment of the invention includes a dual-redundant electro-hydraulic control unit system 22. The dual-redundant electro-hydraulic control unit system 22 sets up two electro-hydraulic control units. When the preset electro-hydraulic control unit fails, the programmable logic controller (PLC) automatically switches the electro-hydraulic control unit by supplying power to the other electro-hydraulic control unit other than the preset electro-hydraulic control unit and by supplying or de-energizing the four two-position three-way solenoid valves. This ensures that there is still an unfaulty electro-hydraulic control unit in the system operating normally, thus guaranteeing the safety of the test vehicle and improving its safety.

[0143] The test vehicle embodiment is similar to Figure 1 The system embodiment shown Figure 3 The illustrated method embodiments are based on the same inventive concept, and related aspects can be referred to each other. The above test vehicle embodiments correspond to the system embodiments and method embodiments, and have the same technical effects as the system embodiments and method embodiments. For detailed descriptions, please refer to the system embodiments and method embodiments.

[0144] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing the present invention.

[0145] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0146] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dual-redundant electro-hydraulic control unit system, characterized in that, The dual-redundant electro-hydraulic control unit system includes a programmable logic controller (PLC) with integrated CAN bus function, a first electro-hydraulic control unit, a second electro-hydraulic control unit, a first three-way connector, a second three-way connector, and four two-position three-way solenoid valves. The first electro-hydraulic control unit, the second electro-hydraulic control unit, and the four two-position three-way solenoid valves are all electrically connected to the programmable logic controller (PLC). The brake master cylinder of the test vehicle is connected to the first electro-hydraulic control unit and the second electro-hydraulic control unit respectively through the first three-way connector. The brake master cylinder is connected to the first electro-hydraulic control unit and the second electro-hydraulic control unit respectively through the second three-way connector. For each electro-hydraulic control unit, the electro-hydraulic control unit is connected to the brake calipers of the four wheels of the test vehicle through the four two-position three-way solenoid valves respectively; When the programmable logic controller (PLC) is powered on, it supplies power to the preset electro-hydraulic control unit and de-energizes or supplies power to the four two-position three-way solenoid valves. The preset electro-hydraulic control unit is one of the first electro-hydraulic control unit and the second electro-hydraulic control unit. The programmable logic controller (PLC) receives the CAN signal from the vehicle controller local area network bus and determines whether the preset electro-hydraulic control unit has malfunctioned based on the CAN signal. In the event of a malfunction, power is supplied to another electro-hydraulic control unit other than the preset electro-hydraulic control unit, and power is supplied to or de-energized to the four two-position three-way solenoid valves.

2. The dual-redundant electro-hydraulic control unit system as described in claim 1, characterized in that, The programmable logic controller (PLC) detects whether the dual-redundant system of the electro-hydraulic control unit is overcurrent. If so, disconnect the power supply.

3. The dual-redundant electro-hydraulic control unit system as described in claim 1 or 2, characterized in that, The four two-position three-way solenoid valves are respectively the first two-position three-way solenoid valve, the second two-position three-way solenoid valve, the third two-position three-way solenoid valve, and the fourth two-position three-way solenoid valve; The first electro-hydraulic control unit is connected to the first input terminal of the first two-position three-way solenoid valve, the second electro-hydraulic control unit is connected to the second input terminal of the first two-position three-way solenoid valve, and the output terminal of the first two-position three-way solenoid valve is connected to the brake caliper of the left front wheel. The first electro-hydraulic control unit is connected to the first input terminal of the second two-position three-way solenoid valve, the second electro-hydraulic control unit is connected to the second input terminal of the second two-position three-way solenoid valve, and the output terminal of the second two-position three-way solenoid valve is connected to the brake caliper of the left rear wheel. The first electro-hydraulic control unit is connected to the first input terminal of the third two-position three-way solenoid valve, the second electro-hydraulic control unit is connected to the second input terminal of the third two-position three-way solenoid valve, and the output terminal of the third two-position three-way solenoid valve is connected to the brake caliper of the right front wheel. The first electro-hydraulic control unit is connected to the first input terminal of the fourth two-position three-way solenoid valve, the second electro-hydraulic control unit is connected to the second input terminal of the fourth two-position three-way solenoid valve, and the output terminal of the fourth two-position three-way solenoid valve is connected to the brake caliper of the right rear wheel.

4. The dual-redundant electro-hydraulic control unit system as described in claim 1 or 2, characterized in that, The dual-redundant system of the electro-hydraulic control unit also includes a manual switch, which is electrically connected to the power supply equipment of the test vehicle. The manual switch has four positions. When the manual switch is in position one, the programmable logic controller (PLC) is powered on.

5. The dual-redundant electro-hydraulic control unit system as described in claim 4, characterized in that, When the manual switch is in position two, one of the two electro-hydraulic control units is energized, and all four two-position three-way solenoid valves are either de-energized or energized. When the manual switch is in position three, the other of the two electro-hydraulic control units is energized, and all four two-position three-way solenoid valves are either energized or de-energized. When the manual switch is in position four, both electro-hydraulic control units and the four two-position three-way solenoid valves are de-energized.

6. The dual-redundant electro-hydraulic control unit system as described in claim 1, characterized in that, The programmable logic controller (PLC) receives a switching command, supplies power to the electro-hydraulic control unit included in the switching command, and supplies or de-energizes the four two-position three-way solenoid valves.

7. The dual-redundant electro-hydraulic control unit system as described in claim 1, characterized in that, All four two-position three-way solenoid valves are switching solenoid valves. All four two-position three-way solenoid valves are driven by pulse width modulation (PWM). When each two-position three-way solenoid valve is opened, it is driven by a first duty cycle and the opening phase duration is greater than a preset duration threshold. After each two-position three-way solenoid valve is opened, it is driven by a second duty cycle. The first duty cycle is greater than the second duty cycle.

8. A control method for a dual-redundant electro-hydraulic control unit system, characterized in that, The method is applied to a programmable controller (PLC) with integrated CAN bus function in the dual-redundant system of the electro-hydraulic control unit. The dual-redundant electro-hydraulic control unit system further includes a first electro-hydraulic control unit, a second electro-hydraulic control unit, a first three-way connector, a second three-way connector, and four two-position three-way solenoid valves. The first electro-hydraulic control unit, the second electro-hydraulic control unit, and the four two-position three-way solenoid valves are all electrically connected to the programmable logic controller (PLC). The master brake cylinder of the test vehicle is connected to both the first and second electro-hydraulic control units via the first three-way connector. The master brake cylinder is also connected to both the first and second electro-hydraulic control units via the second three-way connector. For each electro-hydraulic control unit, it is connected to the brake calipers of the four wheels of the test vehicle via the four two-position three-way solenoid valves. The PLC is energized to supply power to a preset electro-hydraulic control unit and to de-energize or energize the four two-position three-way solenoid valves. The preset electro-hydraulic control unit is one of the first and second electro-hydraulic control units. The method includes: Receives CAN signals from the vehicle controller local area network bus; The system determines whether the preset electro-hydraulic control unit has malfunctioned based on the CAN signal of the vehicle controller local area network bus. In the event of a malfunction, power is supplied to another electro-hydraulic control unit other than the preset electro-hydraulic control unit, and power is supplied to or de-energized to the four two-position three-way solenoid valves.

9. A control device for a dual-redundant electro-hydraulic control unit system, characterized in that, The device is applied to a programmable controller (PLC) with integrated CAN bus function in the dual-redundant system of the electro-hydraulic control unit. The dual-redundant electro-hydraulic control unit system further includes a first electro-hydraulic control unit, a second electro-hydraulic control unit, a first three-way connector, a second three-way connector, and four two-position three-way solenoid valves. The first electro-hydraulic control unit, the second electro-hydraulic control unit, and the four two-position three-way solenoid valves are all electrically connected to the programmable logic controller (PLC). The master brake cylinder of the test vehicle is connected to both the first and second electro-hydraulic control units via the first three-way connector. The master brake cylinder is also connected to both the first and second electro-hydraulic control units via the second three-way connector. For each electro-hydraulic control unit, it is connected to the brake calipers of the four wheels of the test vehicle via the four two-position three-way solenoid valves. The PLC is energized to supply power to a preset electro-hydraulic control unit and to de-energize or energize the four two-position three-way solenoid valves. The preset electro-hydraulic control unit is one of the first and second electro-hydraulic control units. The device includes: The receiving module is used to receive CAN signals from the vehicle controller local area network bus. The judgment module is used to determine whether the preset electro-hydraulic control unit has malfunctioned based on the CAN bus signal of the vehicle controller local area network; The control module is used to supply power to another electro-hydraulic control unit other than the preset electro-hydraulic control unit in case of a malfunction, and to supply or de-energize the four two-position three-way solenoid valves.

10. A test vehicle, characterized in that, The system includes a dual-redundant system for the vehicle body and an electro-hydraulic control unit, wherein the dual-redundant system for the electro-hydraulic control unit is fixedly installed on the vehicle body, and the dual-redundant system for the electro-hydraulic control unit is the dual-redundant system for the electro-hydraulic control unit as described in any one of claims 1-7.

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