Braking system of vehicle and vehicle

Abstract

The embodiment of the present invention provides a vehicle braking system and a vehicle, wherein the system comprises: a central computing platform and a braking execution unit, wherein the central computing platform is used to output a torque distribution instruction according to a sensor signal, and the braking execution unit is used to execute the torque distribution command. By integrating the torque distribution into the central computing platform, the interaction between the braking execution units is transformed into a signal call within the core of the central computing platform, thereby realizing the torque distribution and control functions, and improving the system timeliness and system response speed.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a braking system of a vehicle and a vehicle. Background Art

[0002] The braking system can slow down or stop the vehicle by applying braking force under the operation of the driver. The design and performance of the braking system directly affect the vehicle's handling, stability and safety.

[0003] In the traditional distributed electrical and electronic architecture braking system topology, different units of the braking system communicate and connect based on the CAN (Controller Area Network) bus, and forward signals through a gateway, resulting in slow braking response and poor timeliness. Summary of the invention

[0004] In view of the above problems, embodiments of the present invention are proposed to provide a vehicle braking system, a vehicle braking method, a corresponding electronic device and a corresponding vehicle that overcome the above problems or at least partially solve the above problems.

[0005] The embodiment of the present invention discloses a vehicle braking system, the system comprising: a central computing platform and a braking execution unit,

[0006] The central computing platform is used to output a torque distribution instruction according to the sensor signal, and the brake execution unit is used to execute the torque distribution instruction.

[0007] Optionally, the sensor signal includes at least one of an accelerator pedal signal, a brake travel signal, a wheel speed signal, an acceleration signal, and a gear signal.

[0008] Optionally, the torque distribution instruction is obtained by the central computing platform based on the driver's braking intention and vehicle driving information, and the driver's braking intention and vehicle driving information are obtained by the central computing platform based on the sensor signal.

[0009] Optionally, the braking system further includes an accelerator pedal sensor, and the sensing signal includes an accelerator pedal signal output by the accelerator pedal sensor; and / or the braking system further includes a brake stroke sensor, and the sensing signal includes a brake stroke signal output by the brake stroke sensor;

[0010] The driver's braking intention is calculated by the central computing platform according to at least one of the accelerator pedal signal and the brake travel signal.

[0011] Optionally, the sensor signal includes a wheel speed signal, and / or the sensor signal includes an acceleration signal;

[0012] The vehicle driving information is calculated by the central computing platform according to the wheel speed signal and the acceleration signal.

[0013] Optionally, the brake execution unit includes a brake motor for a wheel of the vehicle.

[0014] Optionally, the wheel brake motors include one or more of a left front brake motor for the left front wheel, a right front brake actuator motor for the right front wheel, a left rear brake motor for the left rear wheel, and a right rear brake motor for the right rear wheel.

[0015] Optionally, the torque distribution instruction is used to instruct the brake motor of each wheel to brake according to the torque distribution instruction.

[0016] Optionally, the braking execution unit further includes one or more drive motors, and the torque distribution instruction is further used to instruct the drive motor to brake according to the torque distribution instruction.

[0017] Optionally, the communication method between the sensor in the braking system and the central computing platform includes optical network communication; and / or,

[0018] The communication method between the braking execution unit and the central computing platform includes optical network communication.

[0019] Optionally, the braking system further includes a first photoelectric conversion unit and a second photoelectric conversion unit, and the first photoelectric conversion unit and the second photoelectric conversion unit are connected via an optical fiber;

[0020] The first photoelectric conversion unit is used to convert the sensing signal output by the sensor and / or the brake execution unit from an electrical signal into an optical signal and send it to the optical fiber; the second photoelectric conversion unit is used to convert the sensing signal transmitted through the optical fiber from an optical signal into an electrical signal and send it to the central computing platform;

[0021] The second photoelectric conversion unit is also used to convert the downlink instructions output by the central computing platform from electrical signals into optical signals and send them to the optical fiber. The first photoelectric conversion unit is also used to convert the downlink instructions transmitted by the optical fiber from optical signals into electrical signals and send them to the sensor and / or the braking execution unit.

[0022] The embodiment of the present invention further discloses a vehicle braking method, which is applied to the braking system of any vehicle described above, and the method comprises:

[0023] Outputting a torque distribution instruction according to the sensor signal through the central computing platform, and sending the torque distribution instruction to the brake execution unit;

[0024] The torque distribution command is executed by the brake execution unit.

[0025] Optionally, the sensor signal includes at least one of an accelerator pedal signal, a brake travel signal, a wheel speed signal, an acceleration signal, and a gear signal.

[0026] Optionally, the brake execution unit includes a brake motor of a wheel of the vehicle; and executing the torque distribution instruction by the brake execution unit includes:

[0027] braking by using the brake motors of the wheels according to the torque distribution command;

[0028] The wheel brake motors include one or more of a left front brake motor for the left front wheel, a right front brake actuator motor for the right front wheel, a left rear brake motor for the left rear wheel, and a right rear brake motor for the right rear wheel.

[0029] Optionally, the brake execution unit further includes one or more drive motors; and executing the torque distribution instruction by the brake execution unit includes:

[0030] Braking is performed by the drive motor according to the torque distribution instruction.

[0031] An embodiment of the present invention further discloses an electronic device, comprising at least one processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, any one of the vehicle braking methods is implemented.

[0032] An embodiment of the present invention further discloses a vehicle, comprising: a braking system of the vehicle as described in any one of the items.

[0033] The embodiments of the present invention include the following advantages:

[0034] In an embodiment of the present invention, by deploying a signal processing process of integrated sensor signals on a central computing platform of the vehicle, in the case of a braking execution unit, the torque distribution is integrated into the central computing platform, and then the interaction between the braking execution units is converted into an intra-core signal call of the central computing platform, thereby realizing the torque distribution and control functions while improving the system timeliness and system response speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a topological diagram of a traditional distributed electrical and electronic architecture braking system;

[0036] Figure 2 is a schematic diagram of a framework of a braking system for a vehicle provided by an embodiment of the present invention;

[0037] Figure 3is a specific topological schematic diagram of an electronic mechanical braking system based on a central computing platform architecture provided by an embodiment of the present invention;

[0038] Figure 4 is a schematic diagram of the communication topology of a braking system of a vehicle provided by an embodiment of the present invention;

[0039] Figure 5 is a flow chart of steps of an embodiment of a vehicle braking method of the present invention;

[0040] Figure 6 is a schematic diagram of the communication process during the vehicle braking process provided by an embodiment of the present invention;

[0041] Figure 7 It is a structural block diagram of an electronic device embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] Traditional distributed electrical and electronic architecture braking system topology, such as Figure 1As shown, it can mainly include a gateway 101, an integrated power brake control system 102 (Integrated Power Brake, IPB), a vehicle controller 103 (Vehicle Control Unit, VCU), a motor controller 104 (Motor Control Unit, MCU) and sensors and brake actuators, wherein different units are connected to each other through a CAN bus for communication and forward signals through a gateway, the sensors can include a brake travel sensor 105, a wheel speed sensor 106, an accelerator pedal sensor 107, a temperature sensor 108 and a current sensor 109, etc., and the brake actuator can include a brake 110 and a drive motor 111. The IPB is mainly used to collect the brake stroke signal of the brake stroke sensor and the wheel speed signal of the wheel speed sensor; the VCU collects the accelerator pedal sensor signal; the IPB analyzes and calculates the parameters such as the braking deceleration required by the driver based on the current vehicle state (speed, acceleration, etc.), and a part of the calculated parameters sends the target feedback torque based on the feedback capability of the VCU, so that the VCU sends the torque request to the MCU based on the feedback torque, and the drive motor responds; the other part is used to calculate the IPB braking demand torque, so that the IPB achieves braking through motor boosting, which is specifically manifested as after the motor boosting, the piston in the IPB master cylinder is pushed, thereby establishing the required hydraulic pressure, and the established hydraulic pressure is transmitted to the brakes of each wheel through the pipeline. When the hydraulic pressure reaches the brake, the brake, including the pistons in the front left (Front Lef, FL) brake caliper, the front right (Front Right, FR) brake caliper, the rear left (Rear Left, RL) brake caliper, and the rear right (Rear Right, RR) brake caliper are pushed, so that the friction plate presses the brake disc, thereby achieving braking. The master cylinder that the piston pushes is a component in the hydraulic control system. Hydraulic control will result in a slow braking response speed. The distributed electrical and electronic architecture requires the gateway to forward signals from the IPB, which has poor timeliness. In addition, the traditional braking system contains many controllers, which leads to poor overall scalability and high system costs.

[0044] The embodiment of the present invention integrates the signal processing process of the sensor signal by deploying the central computing platform of the vehicle, including but not limited to signal calculation, torque distribution, control and decision-making processes, and converts the interaction between the braking execution units into the signal call in the core of the central computing platform while retaining the smallest unit of the braking execution unit. While realizing the torque distribution and control functions, the system timeliness and system response speed are improved, which is conducive to realizing the decoupling of software and hardware, ensuring the scalability and the simple upgrade of the technology of data transmission through wireless network (Over-The-Air, OTA); and the sensors and the braking execution units can communicate with the central computing platform through optical network, which is more efficient than the communication efficiency of the traditional CAN network, which is conducive to improving the response speed of the braking and ensuring the timeliness of the vehicle braking. Furthermore, the braking system provided by the embodiment of the present invention cancels the hydraulic control in the traditional braking system, directly adopts the motor-driven actuator clamping to realize pure mechanical braking, speeds up the braking response speed, and improves the single response rate of the control link, thereby reducing the braking distance.

[0045] In addition, the braking system provided by the embodiment of the present invention has high overall integration, fewer controllers, and low cost, and the sensor and the braking execution unit are connected to the electrical / optical conversion unit nearby, which can optimize the length and weight of the wiring harness, thereby reducing the wiring harness cost.

[0046] Reference Figure 2 , showing a schematic framework diagram of a vehicle braking system provided by an embodiment of the present invention, the vehicle braking system 20 may include a central computing platform 201 and a braking execution unit 202 deployed in the vehicle.

[0047] Specifically, the central computing platform 201 can integrate the signal processing processes of controllers such as VCU and IPB, including but not limited to wheel speed calculation, brake torque calculation, drive torque calculation, torque distribution, control and decision-making functions. Taking torque distribution as an example, the central computing platform 201 can output a torque distribution instruction according to the sensor signal so that the brake execution unit executes the torque distribution instruction.

[0048] The sensor signal acquired by the central computing platform 201 may include at least one of an accelerator pedal signal, a brake travel signal, a wheel speed signal, an acceleration signal, and a gear position signal.

[0049] In practical applications, the specific topology diagram of the electronic mechanical braking system based on the central computing platform architecture can be shown as follows: Figure 3As shown, the sensor 203 can be mainly used to collect sensor signals, and may include an accelerator pedal sensor 2031, a brake stroke sensor 2032, and a wheel speed sensor 2033, etc. The collected sensor signals may include an accelerator pedal signal based on the output of the accelerator pedal sensor 2031, a brake stroke signal based on the output of the brake stroke sensor 2032, and a wheel speed signal based on the wheel speed sensor 2033, such as the FL / FR / RL / RR wheel speed sensor output.

[0050] The torque distribution instruction output by the central computing platform 201 may be obtained by the central computing platform 201 based on the driver's braking intention and the vehicle's driving information. The driver's braking intention and the vehicle's driving information are mainly obtained by the central computing platform 201 based on the sensor signal.

[0051] The driver's braking intention may be calculated by the central computing platform 201 according to at least one of the accelerator pedal signal and the brake travel signal. The driver's braking intention may be specifically expressed as a braking demand.

[0052] The accelerator pedal sensor 2031 may also be referred to as a gas pedal sensor, and is used to output an accelerator pedal signal. It can usually be installed on the accelerator pedal to monitor the degree of the driver's stepping on the accelerator pedal. The sensor can convert the displacement of the pedal into an accelerator pedal signal. After outputting the accelerator pedal signal to the central computing platform 201, the central computing platform 201 can calculate the driving torque based on the accelerator pedal signal to obtain the braking demand, such as the required engine torque or motor torque, so as to send the corresponding torque distribution to the corresponding brake execution unit 202 for corresponding execution.

[0053] The brake stroke sensor 2032 is used to output a brake stroke signal. It can usually be installed on the brake pedal to monitor the stroke and force of the driver's brake pedal. The sensor can convert the displacement and force of the pedal into a brake stroke signal. After outputting the brake stroke signal to the central computing platform 201, the central computing platform 201 can perform a brake torque calculation, such as calculating the required brake pressure, obtaining the braking demand, and sending the corresponding torque distribution to the corresponding brake execution unit 202 for corresponding execution.

[0054] Optionally, the vehicle driving information can be calculated by the central computing platform 201 based on the wheel speed signal and the acceleration signal.

[0055] The wheel speed sensor 2033 is used to output a wheel speed signal. It is usually installed on each wheel to monitor the rotation speed of the wheel. The sensor can convert the rotation speed into a wheel speed signal.

[0056] like Figure 3As shown, the braking system 20 also includes a four-wheel brake motor control execution unit 204, which can be used to process the wheel speed signal. After receiving the wheel speed signal collected by the wheel speed sensor 2033, the four-wheel brake motor control execution unit 204 can output the wheel speed signal to the central computing platform 201, so that the central computing platform 201 can calculate the wheel speed based on the wheel speed signal to obtain the required wheel speed information, and determine the vehicle driving information in combination with the wheel speed information and acceleration information.

[0057] The braking execution unit 202 can be used to execute the torque distribution instruction output by the central computing platform 201, which can be specifically manifested as braking according to the torque distribution.

[0058] Specifically, Figure 3 As shown, the brake execution unit 202 may include a brake motor 2021 of the vehicle's wheels. The brake motor 2021 of the wheel may include one or more of a left front brake motor of the left front wheel, a right front brake execution motor of the right front wheel, a left rear brake motor of the left rear wheel, and a right rear brake motor of the right rear wheel.

[0059] Optionally, the wheel brake motor 2021 can be controlled via the four-wheel brake motor control execution unit 204, that is, based on the four-wheel brake motor control execution unit 204 responding to the torque distribution instruction output by the central computing platform 201, the wheel brake motor 2021 is controlled to execute the torque distribution instruction to brake according to the torque distribution in the torque distribution instruction.

[0060] Among them, the four-wheel brake motor control execution unit 204 can be used in an electromechanical braking system (EMB) or an integrated brake control system IPB to cancel the traditional hydraulic braking system and instead use an electric motor to directly drive the clamping action of the brake motor. The four-wheel brake motor control execution unit 204 can also control the brake motor 2021 of each wheel to perform independent braking control on each wheel, which is more conducive to realizing anti-lock braking system (ABS), traction control system (TCS), vehicle dynamics control system (VDC) and other safety braking functions.

[0061] Exemplarily, the four-wheel brake motor control execution unit 204 may include a front left electric mechanical brake motor control execution unit (FL-EMB-MCU) for controlling the left front brake motor (FL-EMB) of the left front wheel, a right front brake motor control execution unit (FR-EMB-MCU) for controlling the right front brake execution motor FR-EMB of the right front wheel, a left rear brake motor control execution unit (Rear Left Electric Mechanical Braking Motor Control Unit, RL-EMB-MCU) for controlling the left rear brake motor RL-EMB of the left rear wheel, and a right rear brake motor control execution unit (Rear Right Electric Mechanical Braking Motor Control Unit, RL-EMB-MCU) for controlling the right rear brake motor RR-EMB of the right rear wheel. At this time, the four-wheel brake motor control execution unit FL / FR / RL / RR-EMB-MCU can respond to the torque distribution instruction output by the central computing platform, and control the corresponding brake execution unit to brake according to the torque distribution instruction. Specifically, it can be manifested as controlling the brake motors on each wheel separately, that is, the FL / FR / RL / RR-EMB-motor drives the clamping mechanism of the brake.

[0062] Optional, such as Figure 3 As shown, the braking execution unit 202 may also include one or more drive motors 2022. The drive motor 2022 may be controlled via a drive motor control execution unit 205, such as a motor controller MCU, that is, based on the drive motor control execution unit 205 responding to the torque distribution instruction output by the central computing platform 201, the drive motor 2022 of the wheel is controlled to execute the torque distribution instruction to brake according to the torque distribution instruction in the torque distribution instruction. Specifically, the drive motor control execution unit 205, such as the motor controller MCU, may respond to the torque distribution instruction output by the central computing platform 201, and control the drive motor 2022 to brake according to the torque distribution. In addition, the drive motor control execution unit 205 may also be used to implement signal processing such as temperature, rotation speed, and rotor position, which is not limited by the embodiments of the present invention.

[0063] In the braking mode, that is, when the vehicle is decelerating or braking, the drive motor control execution unit 205 can control the drive motor 2022 to work in a direction, convert the kinetic energy of the vehicle into electrical energy, and realize energy recovery or regenerative braking. In the above case, the drive motor can reduce or reverse the torque output according to the torque distribution instruction to help the vehicle decelerate.

[0064] In practical applications, the central computing platform 201 can be mainly used to obtain the driver's braking intention and vehicle driving information based on the sensor signal, and then perform braking torque calculation, driving torque calculation, torque distribution and other processing processes based on the driver's braking intention and vehicle driving information, generate a torque distribution instruction carrying torque distribution, and output the torque distribution instruction to the braking execution unit 202.

[0065] Specifically, the wheel speeds of FL, FR, RL, and RR are calculated based on the received wheel speed signals, and the vehicle driving information is calculated by combining the wheel speed signals and the acceleration signals; and the driver's braking intention, that is, the braking demand, is calculated based on at least one of the accelerator pedal signal and the brake stroke signal. Exemplarily, the braking torque is calculated based on the received brake stroke signal, the driving torque is calculated based on the received accelerator pedal signal, and the torque is distributed to each wheel through a preset control decision based on the aforementioned wheel speed, braking torque, driving torque, etc.

[0066] In a specific implementation, the sensor and the brake execution unit can communicate directly with the central computing platform. After the sensor completes the information collection of the driver's intention, that is, the sensor signal is collected through the accelerator pedal sensor, the brake stroke sensor, etc., it can be sent to the central computing platform. At the same time, the brake execution unit can collect wheel speed information and send it to the central computing platform; the central computing platform can perform wheel speed calculation, driver required deceleration calculation, torque distribution and control functions in combination with the current vehicle status (such as gear, speed, acceleration, etc.), and send the control instruction containing the torque distribution information, that is, the torque distribution instruction directly to the brake execution unit, so that the brake execution unit executes the corresponding control command after completing the analysis of the control signal, so as to realize the corresponding response of the drive motor.

[0067] Preferably, the communication method between the sensor in the brake system and the central computing platform includes optical network communication; and / or the communication method between the brake execution unit and the central computing platform includes optical network communication. That is, the sensor and the brake execution unit can communicate with the central computing platform through an optical network.

[0068] Specifically, the braking system may further include a first photoelectric conversion unit and a second photoelectric conversion unit, and the first photoelectric conversion unit and the second photoelectric conversion unit are connected via an optical fiber. The first photoelectric conversion unit may be mainly used to convert the sensing signal output by the sensor and / or the braking execution unit from an electrical signal to an optical signal and send it to the optical fiber; the second photoelectric conversion unit may be mainly used to convert the sensing signal transmitted via the optical fiber from an optical signal to an electrical signal and send it to the central computing platform; and the second photoelectric conversion unit may also be used to convert the downlink instruction output by the central computing platform from an electrical signal to an optical signal and send it to the optical fiber, and the first photoelectric conversion unit may also be used to convert the downlink instruction transmitted by the optical fiber from an optical signal to an electrical signal and send it to the sensor and / or the conversion unit.

[0069] like Figure 4 As shown, the electronic mechanical brake communication topology based on the central computing platform architecture may include a central computing platform 201, a sensor 203 / brake execution unit 202, a first photoelectric conversion unit 206, a second photoelectric conversion unit 207 and an optical fiber 208. The aforementioned electronic mechanical brake communication topology uses an improved version of the CAN communication protocol (Controller Area Network Flexible Data-rate, CAN FD). Its communication process may be manifested as the sensor and / or the brake execution unit converting the collected sensor signal into a CAN FD signal and sending the CAN FD signal to the first photoelectric conversion unit, the first photoelectric conversion unit converting the CAN FD signal into an optical signal, the optical signal is transmitted to the second photoelectric conversion unit through the optical fiber, the second photoelectric conversion unit converts the optical signal into an electrical signal and sends it to the central computing platform for processing by the central computing platform; after the central computing platform completes processing the electrical signal, it may send the processed control signal, i.e., the electrical signal of the torque distribution instruction to the second photoelectric conversion unit, the second photoelectric conversion unit converts the electrical signal into an optical signal, the optical signal is transmitted through the optical fiber and then converted into a CAN FD signal in the first photoelectric conversion unit, i.e., a control signal and sent to the brake execution unit, and the brake execution unit may execute the torque distribution instruction after receiving the CAN FD signal.

[0070] In practical applications, sensors and brake actuators can be connected to the photoelectric conversion unit nearby to optimize the length and weight of the wiring harness, thereby reducing the cost of the wiring harness.

[0071] It should be noted that, in some other embodiments, the CAN FD communication between the sensor, the brake execution unit and the photoelectric conversion unit can be changed to Ethernet communication, and the CAN FD communication between the central computing platform and the photoelectric conversion unit can be changed to Ethernet communication. This is not limited by the embodiments of the present invention. In some other embodiments, all communications between the sensor, the brake execution unit and the central computing platform can be changed to Ethernet communication, and the photoelectric conversion module can be removed. This is not limited by the embodiments of the present invention.

[0072] Reference Figure 5 , shows a flow chart of steps of a vehicle braking method embodiment of the present invention, involving such Figure 2 and Figure 3 The vehicle braking system shown, and the Figure 4 The communication topology shown may specifically include the following steps:

[0073] Step S501, sending a torque distribution instruction to a brake execution unit by outputting a torque distribution instruction according to a sensor signal;

[0074] Specifically, it can be manifested as acquiring the sensor signals collected by the sensors through the central computing platform, obtaining the driver's braking intention and vehicle driving information based on the sensor signals, and then performing the braking torque calculation, driving torque calculation, torque distribution and other processing processes according to the driver's braking intention and vehicle driving information, generating a torque distribution instruction carrying the torque distribution, and outputting the torque distribution instruction to the execution unit. The central computing platform acquires the sensor signals, which can be specifically manifested as collecting the sensor signals through the sensors and transmitting the sensor signals to the central computing platform.

[0075] The sensors can be mainly used to collect sensor signals. The sensors may include brake stroke sensors, accelerator pedal sensors, wheel speed sensors, etc. The collected sensor signals may include accelerator pedal signals based on the output of the accelerator pedal sensor, brake stroke signals based on the output of the brake stroke sensor, wheel speed signals collected via wheel speed sensors based on the output of the four-wheel brake motor control execution unit, as well as brake pressure signals, brake motor current signals, temperature signals, speed and position signals, etc.

[0076] The sensing signals collected by the sensor can usually be accelerator pedal signals, brake travel signals, wheel speed signals, brake pressure signals, etc. in the form of electrical signals. When optical network communication is adopted between the sensor and the central computing platform, the sensor needs to use optical conversion units and electrical conversion units in the process of transmitting the sensing signals in the form of electrical signals to the central computing platform.

[0077] Specifically, the sensor can be connected to the photoelectric conversion unit nearby, and its communication process can be expressed as follows Figure 6As shown, in step S601, a sensor signal is collected by a sensor, and the sensor signal in the form of an electrical signal is sent to a first photoelectric conversion unit, and then the electrical signal of the sensor signal is converted into a first optical signal by the first photoelectric conversion unit, wherein, in step S602, the sensor can first convert the sensor signal into a CAN FD signal, and then send the CAN FD signal to the first photoelectric conversion unit, and the first photoelectric conversion unit converts the CAN FD signal into an optical signal; after the first optical signal is transmitted through the optical fiber, the first optical signal can be converted into an electrical signal of the sensor signal by the second photoelectric conversion unit, and the electrical signal of the sensor signal is transmitted to the central computing platform, wherein, as Figure 6 As shown, in step S603, the optical signal is transmitted through the optical fiber to the second photoelectric conversion unit, and the second photoelectric conversion unit converts the optical signal into an electrical signal and sends it to the central computing platform to execute step S604, and the central computing platform processes the electrical signal.

[0078] In some embodiments of the present invention, after receiving the electrical signal of the sensor signal, the central computing platform can process the received electrical signal, which can be specifically manifested as calculating the FL, FR, RL, and RR wheel speeds based on the received wheel speed signal, and obtaining the vehicle driving information by combining the wheel speed signal and the acceleration signal; and obtaining the driver's braking intention based on at least one of the accelerator pedal signal and the brake stroke signal, such as obtaining the vehicle's required acceleration / deceleration, and then calculating the output torque based on the aforementioned vehicle's required acceleration / deceleration and combined with the vehicle's driving information through the central computing platform, so as to distribute the output torque, obtain relevant information about the torque distribution, and generate a torque distribution instruction.

[0079] Specifically, the central computing platform calculates the wheel speed based on the wheel speed signal, calculates the driver's required deceleration based on the brake travel sensor signal and the accelerator pedal signal, and calculates the vehicle's required acceleration / deceleration based on the vehicle's current speed, vehicle acceleration / deceleration and other information. Taking the vehicle's required deceleration as an example, the central computing platform can distribute torque based on the vehicle's required deceleration to distribute it to the brake execution unit.

[0080] Specifically, the calculated output torque may include braking torque and driving torque. Among them, braking torque may refer to the torque used to slow down or stop the vehicle. In an electronic braking system (such as regenerative braking), braking torque is usually the reverse torque generated by a four-wheel brake motor; driving torque may refer to the torque used to propel the vehicle forward, and driving torque is usually generated by a motor. At this time, the torque distribution performed by the central computing platform can distribute the total driving torque or braking torque to each wheel of the vehicle, thereby obtaining torque distribution information for braking torque and torque distribution information for driving torque.

[0081] In actual applications, the central computing platform can distribute torque according to the required deceleration, and issue the target feedback torque based on the current VCU feedback capability, which is sent by the central computing unit of the central computing platform to the MCU of the drive motor. The other part can be allocated to the braking torque, which is sent by the central computing unit of the central computing platform to the four-wheel brake motor control execution unit FL / FR / RL / RR-EMB-MCU.

[0082] In some embodiments of the present invention, the torque distribution instruction can be transmitted in the form of a control signal. When optical network communication is adopted between the sensor and the central computing platform, the central computing platform needs to use the optoelectronic conversion unit when transmitting relevant information of the torque distribution to the braking execution unit.

[0083] Specifically, the brake execution unit can be connected to the photoelectric conversion unit nearby, and its communication process can be manifested as processing the electrical signal on the central computing platform, and after completing the decision and control in combination with the current state of the vehicle, the control signal can be sent to the second photoelectric conversion unit through the central computing platform, and then the control signal is converted into a second optical signal through the second photoelectric conversion unit, wherein, Figure 6 As shown, after the central computing platform completes processing of the electrical signal, in step S605, the processed control signal can be sent to the second photoelectric conversion unit, and the second photoelectric conversion unit converts the electrical signal into an optical signal; after the second optical signal is transmitted through the optical fiber, the second optical signal can be converted into a control signal by the first photoelectric conversion unit, and the control signal is transmitted to the brake execution unit, so that the brake execution unit receives the torque distribution information, wherein, Figure 6 As shown, in step S606, the optical signal is converted into a CAN FD signal, i.e., a control signal, in the first photoelectric conversion unit after being transmitted through the optical fiber. Then, after the brake execution unit receives the CAN FD signal, in step S607, the control instruction corresponding to the control signal can be executed, and specifically the torque distribution carried by the control signal can be obtained, so that the brake execution unit can brake according to the torque distribution.

[0084] It should be noted that, in some other embodiments, the CAN FD communication between the sensor, the brake execution unit and the photoelectric conversion unit can be changed to Ethernet communication, and the CAN FD communication between the central computing platform and the photoelectric conversion unit can be changed to Ethernet communication. This is not limited by the embodiments of the present invention. In some other embodiments, all communications between the sensor, the brake execution unit and the central computing platform can be changed to Ethernet communication, and the photoelectric conversion unit can be removed. This is not limited by the embodiments of the present invention.

[0085] Step S502: executing the torque distribution instruction through the brake execution unit.

[0086] The torque distribution instruction may carry relevant information of the torque distribution, and specifically, braking may be performed according to the torque distribution by the brake execution unit.

[0087] The brake execution unit may include brake motors of the wheels. The brake motors of the wheels may include one or more of a left front brake motor of the left front wheel, a right front brake execution motor of the right front wheel, a left rear brake motor of the left rear wheel, and a right rear brake motor of the right rear wheel, and the brake motors of the respective wheels may brake according to the torque distribution of the torque distribution instruction.

[0088] Specifically, the four-wheel brake motor control execution unit can respond to the torque distribution command output by the central computing platform, control the wheel brake motor to execute the torque distribution command, and brake according to the torque distribution in the torque distribution command. Specifically, it can be manifested as controlling the brake motors of the brakes on each wheel to push the brake clamping mechanism to cancel the traditional hydraulic brake system, and directly use the motor to drive the actuator to clamp to achieve pure mechanical braking, speed up the braking response, and increase the single response rate of the control link, thereby reducing the braking distance. It should be noted that the four-wheel brake motor control execution unit can also control the brakes of each wheel to independently control the braking of each wheel, which is more conducive to realizing safety braking functions such as anti-lock braking system ABS, traction control system TCS, and vehicle dynamic control system VDC.

[0089] In actual applications, the brake execution unit (MCU, FL / FR / RL / RR-EMB-MCU) can combine the current motor status (temperature, rotor position and speed, etc.), respond to the required torque allocation, complete the motor execution of the drive / brake system, and obtain the required target deceleration of the vehicle.

[0090] Optionally, the brake execution unit may also include one or more drive motors, and the brake motors of each wheel may brake according to the torque distribution of the torque distribution instruction. In the braking mode, that is, when the vehicle is decelerating or braking, the drive motor control execution unit may control the drive motor to work in the direction, convert the kinetic energy of the vehicle into electrical energy, and realize energy recovery or regenerative braking. In the aforementioned case, the drive motor may reduce or reverse the torque output according to the torque distribution instruction to help the vehicle decelerate.

[0091] In an embodiment of the present invention, by deploying a signal processing process of an integrated sensor signal on a central computing platform of a vehicle, while retaining the smallest unit of the brake execution unit, the interaction between the brake execution units is converted into a signal call within the core of the central computing platform, thereby realizing the torque distribution and control functions while improving the system timeliness and system response speed; and, the sensors and brake execution units used to provide sensor signals can communicate with the central computing platform through an optical network, which improves the communication efficiency compared to the traditional CAN network, is beneficial to improving the braking response speed and ensuring the timeliness of vehicle braking.

[0092] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0093] Optionally, an embodiment of the present invention further provides an electronic device, which may include at least one processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, any one of the vehicle braking methods is implemented. Figure 7 , shows a structural block diagram of an electronic device embodiment of the present invention, the electronic device can be specifically a vehicle braking device; the vehicle braking device can specifically include the following modules:

[0094] The torque distribution instruction output module 701 is used to output the torque distribution instruction according to the sensor signal through the central computing platform;

[0095] The torque distribution instruction execution module 702 is used to execute the torque distribution instruction through a brake execution unit.

[0096] In an embodiment of the present invention, the sensor signal includes at least one of an accelerator pedal signal, a brake travel signal, a wheel speed signal, an acceleration signal, and a gear position signal.

[0097] In one embodiment of the present invention, the brake execution unit includes a brake motor of a wheel of the vehicle; the torque distribution instruction execution module 702 may include the following submodules:

[0098] A first torque distribution instruction execution submodule, configured to brake the wheels according to the torque distribution instruction through the brake motors of the wheels;

[0099] Wherein, the brake motor of the vehicle includes one or more of a left front brake motor of the left front wheel, a right front brake actuator motor of the right front wheel, a left rear brake motor of the left rear wheel and a right rear brake motor of the right rear wheel.

[0100] In an embodiment of the present invention, the brake execution unit further includes one or more drive motors; the torque distribution instruction execution module 702 may include the following submodules:

[0101] The second torque distribution instruction execution submodule is used to brake the drive motor according to the torque distribution instruction.

[0102] In an embodiment of the present invention, the electronic device provided by the embodiment of the present invention integrates the signal processing process of the sensor signal by being deployed on the central computing platform of the vehicle, and converts the interaction between the brake execution units into the core signal call of the central computing platform while retaining the minimum unit of the brake execution unit, thereby improving the system timeliness and system response speed while realizing the torque distribution and control functions; and the sensors used to provide the sensor signals and the brake execution units can communicate with the central computing platform through an optical network, which has an improved communication efficiency compared to the traditional CAN network, which is beneficial to improving the braking response speed and ensuring the timeliness of vehicle braking.

[0103] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0104] An embodiment of the present invention further provides a vehicle, comprising:

[0105] The braking system of the above-mentioned vehicle, the vehicle can implement each process of the above-mentioned vehicle braking method embodiment, and can achieve the same technical effect. In order to avoid repetition, it will not be repeated here.

[0106] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned vehicle braking method embodiment are implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0107] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0108] It should be understood by those skilled in the art that the embodiments of the present invention can be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0109] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0110] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0111] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0112] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0113] Finally, it should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0114] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal 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 terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0115] The above is a detailed introduction to the braking system and vehicle of a vehicle provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A braking system for a vehicle, characterized in that: The system comprises: a central computing platform, a sensor and a brake execution unit, wherein the brake execution unit and the sensor communicate directly with the central computing platform, and the central computing platform is integrated with torque distribution and control functions, so as to perform interaction between the brake execution units based on the in-core signal call of the central computing platform; wherein the communication method between the brake execution unit and the central computing platform comprises optical network communication, the communication method between the sensor and the central computing platform comprises optical network communication, and the brake execution unit and the sensor are connected to a photoelectric conversion unit nearby; The central computing platform is used to output a torque distribution instruction according to the driver's braking intention and the vehicle driving information, wherein the driver's braking intention and the vehicle driving information are obtained by the central computing platform according to sensor signals, and the sensor signals at least include an accelerator pedal signal, a brake stroke signal, a wheel speed signal and an acceleration signal, the driver's braking intention is calculated by the central computing platform according to at least one of the accelerator pedal signal and the brake stroke signal, and the vehicle driving information is calculated by the central computing platform according to the wheel speed signal and the acceleration signal; The brake execution unit is used to execute the torque distribution instruction, and the brake execution unit includes a brake motor of the wheel of the vehicle. The torque distribution instruction is used to instruct the brake motor of each wheel to independently brake each wheel according to the torque distribution instruction. The brake motor is used to directly drive the clamping action of the brake motor to push the clamping mechanism of the brake on the wheel to perform pure mechanical braking.

2. The system according to claim 1, characterized in that The sensor signal also includes a gear position signal.

3. The system according to claim 1, characterized in that The braking system further includes an accelerator pedal sensor and a brake stroke sensor. The accelerator pedal sensor is used to output the accelerator pedal signal, and the brake stroke sensor is used to output the brake stroke signal.

4. The system according to claim 1, characterized in that The wheel brake motors include one or more of a left front brake motor for a left front wheel, a right front brake actuating motor for a right front wheel, a left rear brake motor for a left rear wheel, and a right rear brake motor for a right rear wheel.

5. The system according to claim 1, characterized in that The brake execution unit further includes one or more drive motors, and the torque distribution instruction is further used to instruct the drive motor to brake according to the torque distribution instruction.

6. The system according to claim 5, characterized in that The braking system further includes a first photoelectric conversion unit and a second photoelectric conversion unit, wherein the first photoelectric conversion unit and the second photoelectric conversion unit are connected via an optical fiber; The first photoelectric conversion unit is used to convert the sensing signal output by the sensor and / or the brake execution unit from an electrical signal into an optical signal and send it to the optical fiber; the second photoelectric conversion unit is used to convert the sensing signal transmitted through the optical fiber from an optical signal into an electrical signal and send it to the central computing platform; The second photoelectric conversion unit is also used to convert the downlink instructions output by the central computing platform from electrical signals into optical signals and send them to the optical fiber. The first photoelectric conversion unit is also used to convert the downlink instructions transmitted by the optical fiber from optical signals into electrical signals and send them to the sensor and / or the braking execution unit.

7. A vehicle, characterized in that: include: A vehicle braking system as claimed in any one of claims 1 to 6.

Images