Braking / steering redundancy control method and system based on double-vector driving motor

Abstract

The invention discloses a braking / steering redundancy control method and system based on a double-vector driving motor, and the method is applied to a three-in-one controller, and comprises the steps: responding to a driver braking / steering intention sent by a braking / steering ECU controller, judging whether a braking / steering system is abnormal or not, if yes, further judging the fault type, and if not, judging the fault type; and a braking / steering redundancy control strategy is determined according to the fault type, and braking / steering redundancy control is executed based on the braking / steering redundancy control strategy. When the vehicle runs and the braking system and / or the steering system cannot work normally, the driving motor and the controller of the driving motor can replace basic functions of the braking system and the steering system, it is guaranteed that the vehicle can run by a certain distance normally, and traffic accidents are avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of braking control of new energy vehicles, and in particular relates to a braking / steering redundant control method and system based on a dual vector drive motor. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Vehicles need to be equipped with steering systems and braking systems to steer and brake the wheels. New energy vehicles have eliminated the mechanical connection between the steering wheel and the steering wheel / brake pedal, and control the vehicle's steering and braking through electrical signals. Therefore, when the sensor on the steering wheel or pedal fails, the controller cannot effectively identify the steering or braking intention, which in turn affects driving safety. In addition, there are other components in the steering system and braking system. Although the ECU controller of the steering system and braking system has a self-diagnosis function and can monitor and feedback faults in the system, when the ECU controller itself fails, since the vehicle controller is connected to the steering / brake system through electrical signals, the vehicle controller cannot identify the steering or braking intention, and cannot issue effective control to it, which has a great impact on driving safety. Summary of the invention

[0004] In order to overcome the shortcomings of the above-mentioned prior art, the present invention provides a braking / steering redundant control method and system based on dual vector drive motors. Based on a three-in-one controller and a dual vector drive motor, a braking / steering redundant control method is provided, which can provide a redundant control solution regardless of which link of the braking / steering system is abnormal, so that the vehicle can still drive safely in a fault state.

[0005] To achieve the above object, a first aspect of the present invention provides a braking / steering redundant control method based on a dual vector drive motor, which is applied to a three-in-one controller, comprising:

[0006] In response to the driver's braking intention sent by the brake ECU controller, determine whether the brake system is abnormal, and if so, further determine the fault type, determine a brake redundancy control strategy according to the fault type, and perform brake redundancy control based on the brake redundancy control strategy;

[0007] If the fault type is determined to be brake failure, the required braking torque is determined according to the brake pedal operation and the current driving speed, and a control instruction is sent to the dual vector drive motor so that the dual vector drive motor performs braking according to the braking torque.

[0008] In some embodiments, if the fault type is determined to be a brake pedal sensor failure, the required torque is calculated based on the angle change obtained based on pedal image recognition and according to a preset pedal angle change and torque correspondence, and the torque is sent to the brake ECU controller via the brake booster.

[0009] In some embodiments, if the fault type is determined to be a brake booster failure, a torque sensor on the pedal receives the torque and sends it to a brake ECU controller.

[0010] In some embodiments, if the fault type is determined to be failure of the brake ECU controller, the torque is received by the torque sensor on the pedal, and the required braking force of the front and rear wheels is analyzed according to the load condition and driving state of the vehicle, and the required braking force is transmitted to the brake via the braking force distributor.

[0011] In some embodiments, if the fault type is determined to be a failure of the brake force distributor, the torque is received based on the torque sensor on the pedal, and the required braking force of the front and rear wheels is analyzed according to the vehicle's load condition and driving status, and the braking force is distributed, and a control signal is sent directly to the brake.

[0012] In some embodiments, in response to the driver's steering intention sent by the steering ECU controller, it is determined whether the steering system is abnormal, and if so, the fault type is further determined, a steering redundancy control strategy is determined according to the fault type, and steering redundancy control is performed based on the steering redundancy control strategy;

[0013] Among them, if the fault type is determined to be failure of the steering execution motor controller / steering motor failure, the required driving torque / braking torque of the left and right steering wheels is determined according to the steering operation of the steering wheel and the current driving speed, and a control instruction is sent to the dual vector drive motor so that the dual vector drive motor performs steering according to the braking torque.

[0014] In some embodiments, if the fault type is determined to be a steering wheel sensor failure, the required torque is calculated based on the rotation direction and rotation angle obtained based on steering wheel image recognition and according to a preset steering wheel rotation angle and torque correspondence, and a control signal is generated based on the torque and direction and sent to the steering actuator motor controller via the steering ECU controller.

[0015] In some embodiments, if the fault type is determined to be ECU controller failure, the required torque is calculated based on the rotation direction and rotation angle obtained based on steering wheel image recognition and the preset steering wheel rotation angle and torque correspondence, and a control signal is generated based on the torque and direction, and the control signal is directly sent to the steering actuator motor controller.

[0016] A second aspect of the present invention provides a braking / steering redundant control system based on a dual vector drive motor, applied to a three-in-one controller, comprising:

[0017] The brake system fault monitoring module is configured to: in response to the driver's braking intention sent by the brake ECU controller, determine whether the brake system is abnormal, and if so, further determine the fault type;

[0018] A brake redundancy control module is configured to: determine a brake redundancy control strategy according to a fault type, and perform brake redundancy control based on the brake redundancy control strategy;

[0019] If the fault type is determined to be brake failure, the required braking torque is determined according to the brake pedal operation and the current driving speed, and a control instruction is sent to the dual vector drive motor so that the dual vector drive motor performs braking according to the braking torque.

[0020] A third aspect of the present invention provides a three-in-one controller, which is respectively communicated with various components in the braking system and the steering system, and is configured to execute the braking / steering redundant control method based on the dual vector drive motor.

[0021] One or more of the above technical solutions can enable the drive motor and its controller to replace the basic functions of the braking system and steering system when the braking system and / or steering system cannot work normally while the vehicle is driving, ensuring that the vehicle can run normally for a certain distance and avoiding traffic accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0023] Figure 1 The working principle of the braking system in the embodiment of the present invention;

[0024] Figure 2 The working principle of the steering system in the embodiment of the present invention;

[0025] Figure 3 A schematic diagram of brake redundancy control logic when a brake pedal sensor fails in an embodiment of the present invention;

[0026] Figure 4 A schematic diagram of brake redundancy control logic when a brake booster fails in an embodiment of the present invention;

[0027] Figure 5 A schematic diagram of brake redundancy control logic when a brake ECU controller fails in an embodiment of the present invention;

[0028] Figure 6 A schematic diagram of brake redundancy control logic when a brake force distributor fails in an embodiment of the present invention;

[0029] Figure 7 A schematic diagram of brake redundancy control logic when the brake fails in an embodiment of the present invention;

[0030] Figure 8 This is a schematic diagram of brake redundancy control logic when the steering wheel sensor fails in an embodiment of the present invention;

[0031] Fig. 9 This is a schematic diagram of brake redundancy control logic when the steering ECU controller fails in an embodiment of the present invention;

[0032] Fig.10 It is a schematic diagram of brake redundancy control logic when the steering execution motor controller fails in an embodiment of the present invention;

[0033] Fig.11 The figure is a schematic diagram of brake redundancy control logic when the steering execution motor fails in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present application. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes and are not intended to limit the scope of protection of the present application.

[0035] In the description of the embodiments of the present application, the term “including” and similar terms should be understood as open inclusion, that is, “including but not limited to.” The term “based on” should be understood as “based at least in part on.”

[0036] Figure 1 The working principle of the braking system is shown. A torque sensor is provided on the brake pedal. When the torque sensor senses the braking torque, the torque is sent to the brake ECU controller via the brake booster. The brake ECU controller analyzes the required braking force of the front and rear wheels according to the vehicle's load and driving state, and transmits the required braking force to the brake via the brake force distributor, thereby achieving braking.

[0037] Figure 2 The working principle of the steering system is shown. A torque sensor is provided on the steering wheel. When the torque sensor senses the rotation torque, the torque is sent to the steering ECU controller, parsed into a control instruction of the steering execution motor, and sent to the steering execution motor via the steering ECU controller.

[0038] To avoid the vehicle losing control due to the sudden failure of the braking system and / or steering system to work properly when the vehicle is running. One or more embodiments of the present invention provide a braking / steering redundant control method based on a dual vector drive motor, which is applied to a three-in-one controller and communicates with the braking ECU controller and the steering ECU controller, as well as other components in the braking system and the steering system. Both the braking ECU controller and the steering ECU controller have a self-diagnosis function and can perform fault monitoring for the circuits, sensors and actuators (such as solenoid valves, etc.) in the braking system. When the braking ECU controller / the steering ECU controller detects a fault, a fault signal is sent to the three-in-one controller, and the fault signal indicates the fault object. The overall idea of ​​the braking and steering redundant method is: when the vehicle is running, the braking ECU controller and the steering ECU controller respectively monitor the braking system and the steering system in real time, and when the braking ECU controller and / or the steering ECU controller detects a fault, the fault signal is fed back to the three-in-one controller; the three-in-one controller determines the corresponding redundant control method according to the fault type, thereby ensuring the safety of vehicle operation.

[0039] Specifically, the braking / steering redundancy control method includes: a braking redundancy control method and a steering redundancy control method.

[0040] Wherein, the braking redundancy control method comprises:

[0041] In response to the driver's braking intention sent by the brake ECU controller, determine whether the brake system is abnormal. If so, further determine the fault type, determine the brake redundancy control strategy according to the fault type, and perform brake redundancy control based on the brake redundancy control strategy; wherein the fault types include brake pedal sensor failure, brake booster failure, brake ECU controller failure, brake force distributor failure and brake failure.

[0042] If the fault type is determined to be brake pedal sensor failure, such as Figure 3 As shown, based on the angle change obtained by pedal image recognition and according to the preset pedal angle change and torque correspondence, the required torque is calculated, and the torque is sent to the brake ECU controller via the brake booster. The brake ECU controller analyzes the required braking force of the front and rear wheels according to the vehicle's load condition and driving state, and transmits the required braking force to the brake via the brake force distributor, thereby achieving braking.

[0043] If the fault type is determined to be brake booster failure, such as Figure 4As shown, the torque is received by the torque sensor on the pedal and sent to the brake ECU controller, which analyzes the required braking force of the front and rear wheels according to the vehicle's load condition and driving status, and transmits the required braking force to the brake via the brake force distributor, thereby achieving braking.

[0044] If the fault type is determined to be a brake ECU controller failure, such as Figure 5 As shown, based on the torque sensor on the pedal receiving the torque, the required braking force of the front and rear wheels is analyzed according to the vehicle's load condition and driving state, and the required braking force is transmitted to the brake via the braking force distributor, thereby achieving braking.

[0045] If the fault type is determined to be brake force distributor failure, such as Figure 6 As shown, the torque sensor on the pedal receives the torque, analyzes the required braking force of the front and rear wheels according to the vehicle's load and driving conditions, distributes the braking force, and sends a control signal directly to the brake.

[0046] If the fault type is determined to be brake failure, such as Figure 7 As shown, the braking redundancy strategy is activated, and the torque sensor on the pedal receives the torque. According to the load condition and driving state of the vehicle, the braking force required by the front and rear wheels is analyzed, and a control signal is sent to the vector motor controller, requiring the drive motor to execute the reverse torque to increase the vehicle's braking deceleration and ensure the safety of the vehicle operation.

[0047] It can be understood that if the fault type is failure of the brake ECU controller, the three-in-one controller cannot obtain the braking intention. Therefore, the three-in-one brake also monitors the braking intention in real time. As an example, the vehicle is provided with a device for collecting braking operations. As an example, a first camera is used to collect braking images in real time, and the first camera is connected to the vehicle three-in-one controller. Based on the foot pedal image data obtained in real time, it is determined whether there is a braking intention. When the three-in-one brake detects the braking intention and does not receive the braking intention signal sent by the brake ECU controller, it is considered that the brake ECU controller has failed.

[0048] Similarly, the pedal angle change is identified based on the pedal image. If the angle change is less than the set threshold, it is considered that there is no braking intention. Otherwise, it is considered that there is a braking intention. When there is a braking intention, the pedal angle change is used to obtain the wheel speed change; the theoretical braking force is obtained based on the pedal angle change and the preset brake transmission ratio, and the actual braking force is obtained at the same time; it is determined whether the difference between the actual wheel braking force and the theoretical braking force is greater than the set first braking force threshold. If so, it is considered that the brake pedal sensor is failed.

[0049] The steering redundancy control method comprises:

[0050] In response to the driver's steering intention sent by the steering ECU controller, determine whether the steering system is abnormal. If so, further determine the fault type, determine the steering redundancy control strategy according to the fault type, and perform steering redundancy control based on the steering redundancy control strategy; wherein the fault types include steering wheel sensor failure, steering ECU controller, steering execution motor controller failure and steering execution motor failure.

[0051] If the fault type is determined to be steering wheel sensor failure, such as Figure 8 As shown, based on the rotation direction and rotation angle obtained by steering wheel image recognition, the required torque is calculated according to the preset corresponding relationship between the steering wheel rotation angle and torque, and a control signal is generated according to the torque and direction, which is sent to the steering execution motor controller via the steering ECU controller.

[0052] If the fault type is determined to be ECU controller failure, such as Fig. 9 As shown, based on the rotation direction and rotation angle obtained by steering wheel image recognition, the required torque is calculated according to the preset corresponding relationship between the steering wheel rotation angle and torque, a control signal is generated according to the torque and direction, and the control signal is directly sent to the steering execution motor controller.

[0053] If the fault type is determined to be a steering actuator motor controller failure or a steering actuator motor failure, such as Fig.10 and Fig.11 As shown, the steering redundancy strategy is activated, and a control signal is generated based on the steering wheel torque and direction and sent to the vector motor. The motor at one end of the dual vector drive motor assembly is required to increase the driving torque or speed, and the motor at the other end is required to reduce the driving torque and / or speed, and the vehicle steering function is achieved through the driving torque difference and / or speed difference between the left and right steering wheels.

[0054] It is understandable that if the fault type is failure of the steering ECU controller, the three-in-one controller cannot obtain the steering intention, and the steering wheel sensor failure may be unable to send back data or send back wrong data. Therefore, in order to accurately determine the fault type, the three-in-one brake also monitors the steering intention and steering angle in real time. As an example, the vehicle is provided with a device for collecting steering wheel operations. As an example, a second camera is used to collect steering wheel images in real time, and the second camera is connected to the vehicle's three-in-one controller. Based on the steering wheel image data obtained in real time, it is determined whether there is a steering intention and braking intention. When the three-in-one brake detects the steering intention and does not receive the steering intention signal sent by the steering ECU controller, it is considered that the steering ECU controller has failed.

[0055] Specifically, the steering wheel rotation direction and rotation angle are identified based on the steering wheel image. If the rotation angle is less than the set threshold, it is considered that there is no steering intention, otherwise it is considered that there is a steering intention. When there is a steering intention, the theoretical wheel rotation angle is obtained based on the steering wheel rotation direction and rotation angle, as well as the preset vehicle steering ratio, and at the same time, the actual wheel rotation angle is obtained; it is determined whether the difference between the actual wheel rotation angle and the theoretical rotation angle is greater than the set first angle threshold. If so, it is considered that the steering system is abnormal, and the rotation sensing angle of the steering wheel angle sensor is further obtained to determine whether the rotation sensing angle is consistent with the actual steering wheel rotation angle (the line angle transmission ratio corresponding to the rack displacement): if not consistent, it is considered that the steering wheel sensor is faulty.

[0056] Since the vehicle usually brakes when turning, in special cases, the braking system and the braking system may have the possibility of abnormalities at the same time. Based on this, the three-in-one controller executes the above-mentioned braking redundancy method and steering redundancy method in parallel.

[0057] A redundant braking / steering control system based on dual vector drive motors, applied to a three-in-one controller, including:

[0058] The brake system fault monitoring module is configured to: in response to the driver's braking intention sent by the brake ECU controller, determine whether the brake system is abnormal, and if so, further determine the fault type;

[0059] A brake redundancy control module is configured to: determine a brake redundancy control strategy according to a fault type, and perform brake redundancy control based on the brake redundancy control strategy;

[0060] The steering system fault monitoring module is configured to: in response to the driver's steering intention sent by the steering ECU controller, determine whether the steering system is abnormal, and if so, further determine the fault type;

[0061] A steering redundancy control module is configured to: determine a steering redundancy control strategy according to a fault type, and execute a steering redundancy control based on the steering redundancy control strategy

[0062] One or more embodiments of the present invention further provide a three-in-one controller which is respectively connected to the components in the braking system and the steering system and is configured to execute the braking / steering redundant control method based on the dual vector drive motor.

[0063] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a server or terminal, the process or function described in the embodiment of the present application is generated in whole or in part. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a server or terminal or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (such as a floppy disk, a hard disk and a tape, etc.), an optical medium (such as a digital video disk (digital video disk, DVD), etc.), or a semiconductor medium (such as a solid-state hard disk, etc.).

[0064] In addition, although each operation is described in a specific order, this should be understood as requiring such operation to be performed in the specific order shown or in a sequential order, or requiring that all illustrated operations should be performed to obtain desired results. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the application. Some features described in the context of a separate embodiment can also be implemented in a single implementation in combination. On the contrary, the various features described in the context of a single implementation can also be implemented in multiple implementations individually or in any suitable sub-combination mode.

[0065] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. A braking / steering redundant control method based on a dual vector drive motor, applied to a three-in-one controller, characterized in that: include: In response to the driver's braking intention sent by the brake ECU controller, determine whether the brake system is abnormal, and if so, further determine the fault type, determine a brake redundancy control strategy according to the fault type, and perform brake redundancy control based on the brake redundancy control strategy; If the fault type is determined to be brake failure, the required braking torque is determined according to the brake pedal operation and the current driving speed, and a control instruction is sent to the dual vector drive motor so that the dual vector drive motor performs braking according to the braking torque.

2. The braking / steering redundant control method based on dual vector drive motors according to claim 1, characterized in that: If the fault type is determined to be a failure of the brake pedal sensor, the required torque is calculated based on the angle change obtained based on pedal image recognition and the preset pedal angle change and torque correspondence, and the torque is sent to the brake ECU controller via the brake booster.

3. The braking / steering redundant control method based on dual vector drive motors according to claim 1, characterized in that: If the fault type is determined to be a failure of the brake booster, the torque is received by the torque sensor on the pedal and sent to the brake ECU controller.

4. The braking / steering redundant control method based on dual vector drive motors according to claim 1, characterized in that: If the fault type is determined to be failure of the brake ECU controller, the torque sensor on the pedal receives the torque, and the required braking force of the front and rear wheels is analyzed according to the vehicle's load and driving conditions, and the required braking force is transmitted to the brake via the brake force distributor.

5. The braking / steering redundant control method based on dual vector drive motors according to claim 1, characterized in that: If the fault type is determined to be a failure of the brake force distributor, the torque sensor on the pedal receives the torque, analyzes the required braking force of the front and rear wheels according to the vehicle's load and driving conditions, distributes the braking force, and sends a control signal directly to the brake.

6. The braking / steering redundant control method based on dual vector drive motors according to claim 1, characterized in that: In response to the driver's steering intention sent by the steering ECU controller, determine whether the steering system is abnormal, and if so, further determine the fault type, determine the steering redundancy control strategy according to the fault type, and perform steering redundancy control based on the steering redundancy control strategy; Among them, if the fault type is determined to be failure of the steering execution motor controller / steering motor failure, the required driving torque / braking torque of the left and right steering wheels is determined according to the steering operation of the steering wheel and the current driving speed, and a control instruction is sent to the dual vector drive motor so that the dual vector drive motor performs steering according to the braking torque.

7. The braking / steering redundant control method based on dual vector drive motors according to claim 6, characterized in that: If the fault type is determined to be a steering wheel sensor failure, the required torque is calculated based on the rotation direction and rotation angle obtained based on the steering wheel image recognition and the preset corresponding relationship between the steering wheel rotation angle and torque, and a control signal is generated based on the torque and direction and sent to the steering actuator motor controller via the steering ECU controller.

8. The braking / steering redundant control method based on dual vector drive motors according to claim 6, characterized in that: If the fault type is determined to be ECU controller failure, the required torque is calculated based on the rotation direction and rotation angle obtained based on the steering wheel image recognition and the preset steering wheel rotation angle and torque correspondence, and a control signal is generated based on the torque and direction, and the control signal is directly sent to the steering actuator motor controller.

9. A braking / steering redundant control system based on dual vector drive motors, applied to a three-in-one controller, characterized in that: include: The brake system fault monitoring module is configured to: in response to the driver's braking intention sent by the brake ECU controller, determine whether the brake system is abnormal, and if so, further determine the fault type; A brake redundancy control module is configured to: determine a brake redundancy control strategy according to a fault type, and perform brake redundancy control based on the brake redundancy control strategy; If the fault type is determined to be brake failure, the required braking torque is determined according to the brake pedal operation and the current driving speed, and a control instruction is sent to the dual vector drive motor so that the dual vector drive motor performs braking according to the braking torque.

10. A three-in-one controller, which is connected to each component of the braking system and the steering system, characterized in that: The method is configured to execute the braking / steering redundant control method based on dual vector drive motors as described in any one of claims 1 to 8.

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