Double-core double-control EPB controller and working method thereof

Abstract

The invention discloses a double-core double-control EPB controller and a working method thereof, and belongs to the field of EPB control, the double-core double-control EPB controller comprises a redundant power supply module, a main controller, a redundant controller, an arbitration switching module, a main driving module, a redundant driving module and a left and right braking module, the redundant power supply module is connected with the main controller and the redundant controller, and the redundant controller is connected with the left and right braking modules. The main controller and the redundant controller communicate with each other, the main controller is connected with the left and right braking modules through the arbitration switching module and the main driving module in sequence, and the redundant controller is connected with the left and right braking modules through the arbitration switching module and the redundant driving module in sequence; wherein the arbitration switching module is used for switching to the redundant controller to control the left and right brake modules to brake or release when the main controller breaks down, and preventing the main controller and the redundant controller from working at the same time. According to the double-core double-control EPB controller and the working method of the double-core double-control EPB controller, 100% parking force can be guaranteed in any failure mode through a double-path braking system with the main controller and the redundant controller.

Description

Technical Field

[0001] The present invention relates to the field of EPB control, and in particular to a dual-core dual-control EPB controller and a working method thereof. Background Art

[0002] With the continuous development of automobile technology, the electronic parking brake system (EPB) has gradually replaced the traditional mechanical handbrake and become the standard configuration of modern automobiles due to its advantages such as convenient operation and reliable performance. However, most of the current EPB controllers adopt a single-chip design. This structural design has the potential safety hazard that once the chip fails, the entire system will not work properly. In addition, the response speed and processing power of the single-chip design are also limited, which is difficult to meet the growing demand for automotive electronic systems.

[0003] To solve the above problems, the existing technology has developed a dual-core single-control design, but this design can only guarantee the parking force on a road with an 8% slope. When facing a road with a larger slope, it cannot meet more stringent requirements.

[0004] With the increasing requirements of ISO26262 functional safety in the automotive industry and the rapid development of the electric vehicle market, it is particularly important to develop an EPB (electronic parking brake) controller with high reliability and safety, making it difficult for traditional single-control designs to meet the growing functional safety and redundancy requirements. Summary of the invention

[0005] To solve the above problems, the present invention provides a dual-core dual-control EPB controller and a working method thereof, which can ensure 100% parking force in any failure mode by adopting a dual-circuit braking system of a main controller and a redundant controller.

[0006] To achieve the above-mentioned object, the present invention provides a dual-core dual-control EPB controller, comprising a redundant power supply module, a main controller, a redundant controller, an arbitration switching module, a main drive module, a redundant drive module and left and right brake modules, wherein the redundant power supply module is respectively connected to the main controller and the redundant controller, the main controller and the redundant controller communicate with each other, the main controller is sequentially connected to the left and right brake modules via the arbitration switching module and the main drive module, and the redundant controller is sequentially connected to the left and right brake modules via the arbitration switching module and the redundant drive module;

[0007] Among them, the arbitration switching module is used to switch to the redundant controller to control the left and right brake modules to brake or release when the main controller fails, and prevent the main controller and the redundant controller from working at the same time.

[0008] Preferably, the arbitration switching module includes a first control loop and a second control loop connected in parallel, the first control loop is connected to a first follower between the main controller and the main drive module, and the second control loop includes a second follower connected between the redundant controller and the redundant drive module;

[0009] A first inverter and a second inverter are connected in parallel between the first control loop and the second control loop, and the phase inversion directions of the first inverter and the second inverter are opposite.

[0010] Preferably, one end of a first feedback resistor is connected between the first control loop and the main driving module, and the other end of the first feedback resistor is connected to the feedback input end of the main controller;

[0011] One end of a second feedback resistor is connected between the second control loop and the redundant driving module, and the other end of the second feedback resistor is connected to the feedback input end of the redundant controller.

[0012] Preferably, the left and right brake modules include a left brake drive motor and a right brake drive motor, and the left brake drive motor and the right brake drive motor are respectively connected to the left EPB caliper and the right EPB caliper;

[0013] The main driving module includes a main H Driver driving unit and a main dual-channel driving unit which are sequentially connected to the output end of the first control loop, the main dual-channel driving unit includes a first H bridge and a second H bridge, and the input end of the main H Driver driving unit is also connected to the output end of the main controller, the output end of the main H Driver driving unit is respectively connected to the first H bridge and the second H bridge, and the first H bridge and the second H bridge are respectively connected to the left-channel brake driving motor and the right-channel brake driving motor;

[0014] The redundant drive module includes a redundant H Driver drive unit and a redundant dual-path drive unit which are connected to the output end of the second control loop in sequence. The redundant dual-path drive unit includes a third H-bridge and a fourth H-bridge. The input end of the redundant H Driver drive unit is also connected to the output end of the redundant controller. The output end of the redundant HDriver drive unit is respectively connected to the third H-bridge and the fourth H-bridge. The third H-bridge and the fourth H-bridge are respectively connected to the left-path brake drive motor and the right-path brake drive motor.

[0015] Preferably, the main controller and the redundant controller are connected via an SPI interface, and both the main controller and the redundant controller are connected to a CAN bus, and the CAN bus is connected to a vehicle power CAN line and a chassis CAN line.

[0016] Preferably, input ends of the main controller and the redundant controller are respectively connected to slope sensors for controlling the parking current according to the slope of the vehicle.

[0017] Preferably, the input ends of the main controller and the redundant controller are respectively connected to the EPB switch for receiving a braking or releasing instruction issued by the driver using the EPB switch.

[0018] Preferably, the redundant power supply module includes a power supply and a main power conversion unit and a redundant power conversion unit respectively connected to the power supply, and the main power conversion unit and the redundant power conversion unit are respectively connected to the main controller and the redundant controller.

[0019] The working method of the dual-core dual-control EPB controller is as follows: in the initial state, the main controller sends a high-level signal to the arbitration switching module, the first follower outputs a high-level signal, wakes up the H Driver driving unit, and the H Driver driving unit drives the left brake driving motor and the right brake driving motor through the first H bridge and the second H bridge, respectively acting on the left EPB caliper and the right EPB caliper to brake or release, and at the same time the first inverter outputs a low-level signal, and the redundant HDriver driving unit is disabled;

[0020] When the main controller fails, the redundant controller sends a high-level signal to the arbitration switching module, and the second follower outputs a high-level signal to wake up the redundant H Driver drive unit. The redundant H Driver drive unit drives the left brake drive motor and the right brake drive motor through the third H bridge and the fourth H bridge, respectively acting on the left EPB caliper and the right EPB caliper to brake or release, thereby realizing redundant braking.

[0021] During braking or releasing, the slope sensor is used to detect the slope of the vehicle in real time, and the slope is compared with a preset slope grade range to determine the slope grade, and the output current is used as the parking current based on the corresponding relationship between the determined slope grade and the output current.

[0022] Preferably, when the main power conversion unit supplying power to the main controller fails, the main controller loses power and switches to the redundant controller for brake control;

[0023] When the SPI interface between the main controller and the redundant controller fails, the SPI interface fault is reported, and the communication between the main controller and the redundant controller is switched to the CAN bus;

[0024] When the main H Driver unit fails, the main controller reports the H Driver unit failure, disables the main HDriver unit, shuts down the main controller, and turns on the redundant controller;

[0025] When the arbitration switching module fails, the arbitration switching module failure is reported by using the feedback signals fed back to the main controller and the redundant controller, and the main controller directly controls the main H Driver drive unit to enable, brake or release, and disable the redundant controller;

[0026] When the first H-bridge or the second H-bridge fails, the main H Driver drive unit is disabled, the main controller is turned off, and the redundant controller is turned on;

[0027] When the third H-bridge or the fourth H-bridge fails, the redundant H Driver drive unit is disabled, the redundant controller is turned off, and the main controller is turned on.

[0028] The present invention has the following beneficial effects:

[0029] 1. Improve reliability: The dual-controller design ensures that when one controller fails, the other controller can still ensure normal operation, which greatly improves the reliability of the EPB system. The dual control mechanism increases the redundancy of the system and improves the fault tolerance of the system, ensuring that the vehicle can brake safely under any circumstances.

[0030] 2. Improve safety: The H Driver drive unit adopts dual control mode (controller direct control, or arbitration switching module control), which can effectively prevent safety accidents caused by failure of a single control mode; at the same time, the mutual monitoring and diagnosis function between the two controllers can detect faults in time and take corresponding measures to repair them, thus improving the safety of the system;

[0031] 3. Improve response speed: Two controllers work at the same time, which can process sensor signals and perform braking operations faster, improving the response speed of the system. Each controller controls two EPB calipers at the same time, eliminating the delay and difference in the action of the two calipers.

[0032] 4. Powerful fault diagnosis capability: The dual-controller dual-control design can achieve more accurate fault diagnosis. By monitoring and comparing the status of the two controllers, the fault point can be quickly located, which is convenient for taking appropriate measures to repair it. The two controllers exchange information through SPI, and transmit EPB switch status, EPB control status and each detected fault (power conversion unit fault, H Driver drive unit fault, power supply fault, H bridge fault, etc.) to each other, so as to facilitate the implementation of corresponding failure strategies according to different faults.

[0033] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 The present invention is a circuit schematic diagram of a dual-core dual-control EPB controller. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages disclosed in the embodiments of the present invention clearer, the embodiments of the present invention are further described in detail in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present invention and are not intended to limit the embodiments of the present invention. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions.

[0036] It should be noted that the terms "include", "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or devices.

[0037] Like reference numerals and letters denote similar items in the following drawings, and thus, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0038] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0039] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] like Figure 1As shown, a dual-core dual-control EPB controller includes a redundant power supply module, a main controller, a redundant controller, an arbitration switching module, a main drive module, a redundant drive module and left and right brake modules. The redundant power supply module is connected to the main controller and the redundant controller respectively, and the main controller and the redundant controller communicate with each other. The main controller is connected to the left and right brake modules via the arbitration switching module and the main drive module in turn, and the redundant controller is connected to the left and right brake modules via the arbitration switching module and the redundant drive module in turn;

[0041] Among them, the arbitration switching module is used to switch to the redundant controller to control the left and right brake modules to brake or release when the main controller fails, and prevent the main controller and the redundant controller from working at the same time.

[0042] The arbitration switching module includes a first control loop and a second control loop connected in parallel, the first control loop is connected to a first follower between the main controller and the main drive module, and the second control loop includes a second follower connected between the redundant controller and the redundant drive module; a first inverter and a second inverter are also connected in parallel between the first control loop and the second control loop, and the phase inversion directions of the first inverter and the second inverter are opposite.

[0043] One end of a first feedback resistor is connected between the first control loop and the main driving module, and the other end of the first feedback resistor is connected to the feedback input end of the main controller; one end of a second feedback resistor is connected between the second control loop and the redundant driving module, and the other end of the second feedback resistor is connected to the feedback input end of the redundant controller, which is used to determine whether the arbitration switching module fails according to the feedback signal.

[0044] The left and right brake modules include a left brake drive motor and a right brake drive motor, which are connected to the left EPB caliper and the right EPB caliper respectively; the main drive module includes a main H Driver drive unit and a main dual-channel drive unit connected to the output end of the first control loop in sequence, the main dual-channel drive unit includes a first H bridge and a second H bridge, and the input end of the main H Driver drive unit is also connected to the output end of the main controller, which is used to directly control the main H Driver drive unit to be enabled when the arbitration switching module fails, and the output end of the main H Driver drive unit is respectively connected to the first H bridge and the second H bridge, and the first H bridge and the second H bridge are respectively connected to the left brake drive motor and the right brake drive motor; the redundant drive module includes a redundant H Driver drive unit and a redundant dual-channel drive unit connected to the output end of the second control loop in sequence, the redundant dual-channel drive unit includes a third H bridge and a fourth H bridge, and the input end of the redundant H Driver drive unit is also connected to the output end of the redundant controller, which is used to directly control the redundant HDriver drive unit to be enabled when the arbitration switching module fails, and the redundant H The output end of the Driver driving unit is connected to the third H-bridge and the fourth H-bridge respectively, and the third H-bridge and the fourth H-bridge are connected to the left-way brake driving motor and the right-way brake driving motor respectively.

[0045] The main controller and the redundant controller are connected via an SPI interface, and both the main controller and the redundant controller are connected to a CAN bus, and the CAN bus is connected to a vehicle power CAN line and a chassis CAN line.

[0046] Input ends of the main controller and the redundant controller are respectively connected to the slope sensor for controlling the parking current according to the slope of the vehicle.

[0047] The input ends of the main controller and the redundant controller are respectively connected to the EPB switch for receiving a braking or releasing instruction issued by the driver using the EPB switch.

[0048] The redundant power supply module includes a power supply and a main power conversion unit and a redundant power conversion unit respectively connected to the power supply. The main power conversion unit and the redundant power conversion unit are respectively connected to the main controller and the redundant controller.

[0049] The working method of the dual-core dual-control EPB controller is as follows: in the initial state, the main controller sends a high-level signal to the arbitration switching module, the first follower outputs a high-level signal, wakes up the H Driver driving unit, and the H Driver driving unit drives the left brake driving motor and the right brake driving motor through the first H bridge and the second H bridge, respectively acting on the left EPB caliper and the right EPB caliper to brake or release, and at the same time the first inverter outputs a low-level signal, and the redundant HDriver driving unit is disabled;

[0050] When the main controller fails, the redundant controller sends a high-level signal to the arbitration switching module, and the second follower outputs a high-level signal to wake up the redundant H Driver drive unit. The redundant H Driver drive unit drives the left brake drive motor and the right brake drive motor through the third H bridge and the fourth H bridge, respectively acting on the left EPB caliper and the right EPB caliper to brake or release, thereby realizing redundant braking.

[0051] During the braking or releasing process, the slope sensor is used to detect the slope of the vehicle in real time, and the slope is compared with the preset slope level range to determine the slope level, and the output current is used as the parking current according to the corresponding relationship between the determined slope level and the output current. In this embodiment, the slope level is divided into three levels: 0-10%, 11%-20%, and above 20%, and each level is divided into different output currents.

[0052] When the main power conversion unit that supplies power to the main controller fails, the main controller loses power, there is no communication between the main controller and the redundant controller, and the redundant controller is switched to perform brake control;

[0053] When the SPI interface between the main controller and the redundant controller fails, the SPI interface fault is reported, and the communication between the main controller and the redundant controller is switched to the CAN bus;

[0054] When the main H Driver unit fails, the main controller reports the H Driver unit failure, disables the main HDriver unit, shuts down the main controller, turns on the redundant controller, and disables the redundant controller;

[0055] When the arbitration switching module fails, the arbitration switching module failure is reported by using the feedback signal fed back to the main controller and the redundant controller, and the main controller directly controls the main H Driver drive unit to enable, brake or release;

[0056] When the first H-bridge or the second H-bridge fails, the main H Driver drive unit is disabled, the main controller is turned off, and the redundant controller is turned on;

[0057] When the third H-bridge or the fourth H-bridge fails, the redundant H Driver drive unit is disabled, the redundant controller is turned off, and the main controller is turned on.

[0058] In this embodiment, when the power supply fails, both the left and right channels collect KL30 (monitoring signals of two input power supplies). If the KL30_V power supply is open, the redundant controller reports the KL30_V open circuit fault and takes over the EPB control.

[0059] Therefore, the present invention adopts the above-mentioned dual-core dual-control EPB controller and its working method, and through a dual-circuit braking system using a main controller and a redundant controller, 100% parking force can be guaranteed in any failure mode.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A dual-core dual-control EPB controller, characterized in that: It includes a redundant power supply module, a main controller, a redundant controller, an arbitration switching module, a main drive module, a redundant drive module and left and right brake modules. The redundant power supply module is connected to the main controller and the redundant controller respectively. The main controller and the redundant controller communicate with each other. The main controller is connected to the left and right brake modules via the arbitration switching module and the main drive module in turn. The redundant controller is connected to the left and right brake modules via the arbitration switching module and the redundant drive module in turn. Among them, the arbitration switching module is used to switch to the redundant controller to control the left and right brake modules to brake or release when the main controller fails, and prevent the main controller and the redundant controller from working at the same time.

2. A dual-core dual-control EPB controller according to claim 1, characterized in that: The arbitration switching module includes a first control loop and a second control loop connected in parallel, the first control loop is connected to a first follower between the main controller and the main drive module, and the second control loop includes a second follower connected between the redundant controller and the redundant drive module; A first inverter and a second inverter are connected in parallel between the first control loop and the second control loop, and the phase inversion directions of the first inverter and the second inverter are opposite.

3. A dual-core dual-control EPB controller according to claim 2, characterized in that: One end of a first feedback resistor is connected between the first control loop and the main driving module, and the other end of the first feedback resistor is connected to a feedback input end of the main controller; One end of a second feedback resistor is connected between the second control loop and the redundant driving module, and the other end of the second feedback resistor is connected to the feedback input end of the redundant controller.

4. A dual-core dual-control EPB controller according to claim 3, characterized in that: The left and right brake modules include a left brake drive motor and a right brake drive motor, and the left brake drive motor and the right brake drive motor are connected to the left EPB caliper and the right EPB caliper respectively; The main driving module includes a main H Driver driving unit and a main dual-channel driving unit which are sequentially connected to the output end of the first control loop, the main dual-channel driving unit includes a first H bridge and a second H bridge, and the input end of the main H Driver driving unit is also connected to the output end of the main controller, the output end of the main H Driver driving unit is respectively connected to the first H bridge and the second H bridge, and the first H bridge and the second H bridge are respectively connected to the left-channel brake driving motor and the right-channel brake driving motor; The redundant drive module includes a redundant H Driver drive unit and a redundant dual-path drive unit which are connected to the output end of the second control loop in sequence. The redundant dual-path drive unit includes a third H-bridge and a fourth H-bridge. The input end of the redundant H Driver drive unit is also connected to the output end of the redundant controller. The output end of the redundant HDriver drive unit is respectively connected to the third H-bridge and the fourth H-bridge. The third H-bridge and the fourth H-bridge are respectively connected to the left-path brake drive motor and the right-path brake drive motor.

5. A dual-core dual-control EPB controller according to claim 4, characterized in that: The main controller and the redundant controller are connected via an SPI interface, and both the main controller and the redundant controller are connected to a CAN bus, and the CAN bus is connected to a vehicle power CAN line and a chassis CAN line.

6. A dual-core dual-control EPB controller according to claim 4, characterized in that: Input ends of the main controller and the redundant controller are respectively connected to the slope sensor for controlling the parking current according to the slope of the vehicle.

7. A dual-core dual-control EPB controller according to claim 4, characterized in that: The input ends of the main controller and the redundant controller are respectively connected to the EPB switch for receiving a braking or releasing instruction issued by the driver using the EPB switch.

8. A dual-core dual-control EPB controller according to claim 4, characterized in that: The redundant power supply module includes a power supply and a main power conversion unit and a redundant power conversion unit respectively connected to the power supply. The main power conversion unit and the redundant power conversion unit are respectively connected to the main controller and the redundant controller.

9. A working method of a dual-core dual-control EPB controller as claimed in any one of claims 4 to 8, characterized in that: In the initial state, the main controller sends a high-level signal to the arbitration switching module, and the first follower outputs a high-level signal to wake up the H Driver drive unit. The H Driver drive unit drives the left brake drive motor and the right brake drive motor through the first H bridge and the second H bridge, respectively acting on the left EPB caliper and the right EPB caliper to brake or release. At the same time, the first inverter outputs a low-level signal, and the redundant H Driver drive unit is disabled; When the main controller fails, the redundant controller sends a high-level signal to the arbitration switching module, and the second follower outputs a high-level signal to wake up the redundant H Driver drive unit. The redundant H Driver drive unit drives the left brake drive motor and the right brake drive motor through the third H bridge and the fourth H bridge, respectively acting on the left EPB caliper and the right EPB caliper to brake or release, thereby realizing redundant braking. During braking or releasing, the slope sensor is used to detect the slope of the vehicle in real time, and the slope is compared with a preset slope grade range to determine the slope grade, and the output current is used as the parking current based on the corresponding relationship between the determined slope grade and the output current.

10. The working method of the dual-core dual-control EPB controller according to claim 9, characterized in that: When the main power conversion unit that supplies power to the main controller fails, the main controller loses power and switches to the redundant controller for brake control; When the SPI interface between the main controller and the redundant controller fails, the SPI interface fault is reported, and the communication between the main controller and the redundant controller is switched to the CAN bus; When the main H Driver unit fails, the main controller reports the H Driver unit failure, disables the main HDriver unit, shuts down the main controller, and turns on the redundant controller; When the arbitration switching module fails, the arbitration switching module failure is reported by using the feedback signals fed back to the main controller and the redundant controller, and the main controller directly controls the main H Driver drive unit to enable, brake or release, and disable the redundant controller; When the first H-bridge or the second H-bridge fails, the main H Driver drive unit is disabled, the main controller is turned off, and the redundant controller is turned on; When the third H-bridge or the fourth H-bridge fails, the redundant H Driver drive unit is disabled, the redundant controller is turned off, and the main controller is turned on.

Images