Braking / steering redundancy control method and system based on dual-vector drive motor

Abstract

The application discloses a brake / 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 following steps: in response to a driver brake / steering intention sent by a brake / steering ECU controller, it is judged whether an abnormality occurs in a brake / steering system; if yes, it is further judged a fault type, a brake / steering redundancy control strategy is determined according to the fault type, and brake / steering redundancy control is executed based on the brake / steering redundancy control strategy. When the vehicle is running, the brake system and / or the steering system function cannot normally work, the driving motor and the controller thereof can replace the basic functions of the brake system and the steering system, so that the vehicle can normally run for a certain distance, and traffic accidents can be avoided.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of new energy vehicle braking control, and particularly relates to a braking / steering redundancy control method and system based on a double-vector driving motor. BACKGROUND

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

[0003] A vehicle needs to be equipped with a steering system and a braking system to steer and brake the wheels. New energy vehicles cancel the mechanical connection between the steering wheel and the steering wheel / brake pedal, and control the vehicle 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 affects the driving safety. In addition, there are other components in the steering system and the braking system. Although the ECU controller of the steering system and the braking system has a self-diagnosis function, it can monitor and feedback the faults in the system, but when the ECU controller itself fails, since the vehicle controller is connected to the steering / braking system through electrical signals, the vehicle controller cannot identify the steering or braking intention, and cannot send effective control to it, which greatly affects the driving safety. SUMMARY

[0004] To overcome the shortcomings of the prior art, the present application provides a braking / steering redundancy control method and system based on a double-vector driving motor. Based on a three-in-one controller and a double-vector driving motor, a braking / steering redundancy control method is provided. No matter which link of the braking / steering system is abnormal, a redundancy control scheme can be provided, so that the vehicle can still drive safely in a fault state.

[0005] To achieve the above purpose, the first aspect of the present application provides a braking / steering redundancy control method based on a double-vector driving motor, applied to a three-in-one controller, comprising:

[0006] In response to the driver braking intention sent by the braking ECU controller, it is judged whether the braking system is abnormal. If so, the fault type is further judged, the braking redundancy control strategy is determined according to the fault type, and the braking redundancy control is executed based on the braking redundancy control strategy;

[0007] If it is determined that the fault type is brake failure, the required braking torque is determined according to the brake pedal operation and the current driving speed, the control instruction is sent to the double-vector driving motor, so that the double-vector driving motor executes braking according to the braking torque.

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

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

[0011] In some embodiments, if the fault type is determined to be brake force distributor failure, the torque received by the torque sensor on the pedal is used to analyze the required braking force of the front and rear wheels according to the load condition and driving state of the vehicle, and the required braking force is directly sent to the brake as a control signal after brake force distribution.

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

[0013] If the fault type is determined to be steering execution motor controller failure / 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 to make the dual-vector drive motor perform steering according to the braking torque.

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

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

[0016] The second aspect of the present application provides a brake / steering redundancy control system based on a dual-vector drive motor, applied to a three-in-one controller, comprising:

[0017] A brake system fault monitoring module is configured to determine whether the brake system is abnormal in response to the driver brake intention sent by the brake ECU controller, 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 the fault type, and execute brake redundancy control based on the brake redundancy control strategy;

[0019] If the fault type is determined to be brake failure, the required brake 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 executes braking according to the brake torque.

[0020] The third aspect of the present application provides a three-in-one controller, which is communicatively connected with each component in the brake system and the steering system, and is configured to execute the brake / steering redundancy control method based on the dual-vector drive motor.

[0021] The above one or more technical solutions can drive the motor and its controller to replace the basic functions of the brake system and the steering system when the brake system and / or the steering system cannot work normally during vehicle driving, so as to ensure that the vehicle can normally run for a certain distance and avoid traffic accidents. BRIEF DESCRIPTION OF DRAWINGS

[0022] The drawings accompanying the specification of the present application serve to provide a further understanding of the present application, and the illustrative embodiments of the present application and their descriptions serve to explain the present application, and do not constitute an improper limitation on the present application.

[0023] Figure 1 The working principle of the brake system in the embodiment of the present application;

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

[0025] Figure 3 The brake redundancy control logic diagram when the brake pedal sensor fails in the embodiment of the present application;

[0026] Figure 4 The brake redundancy control logic diagram when the brake booster fails in the embodiment of the present application;

[0027] Figure 5 The brake redundancy control logic diagram when the brake ECU controller fails in the embodiment of the present application;

[0028] Figure 6 FIG. 2 shows a schematic diagram of the brake redundancy control logic when the brake force distributor fails in an embodiment of the present application;

[0029] Figure 7 FIG. 3 shows a schematic diagram of the brake redundancy control logic when the brake fails in an embodiment of the present application;

[0030] Figure 8 FIG. 4 shows a schematic diagram of the brake redundancy control logic when the steering wheel sensor fails in an embodiment of the present application;

[0031] Figure 9 FIG. 5 shows a schematic diagram of the brake redundancy control logic when the steering ECU controller fails in an embodiment of the present application;

[0032] Figure 10 FIG. 6 shows a schematic diagram of the brake redundancy control logic when the steering execution motor controller fails in an embodiment of the present application;

[0033] Figure 11 FIG. 7 shows a schematic diagram of the brake redundancy control logic when the steering execution motor fails in an embodiment of the present application. DETAILED DESCRIPTION

[0034] Embodiments of the present application will be described in more detail with reference to the drawings. While certain embodiments of the present application will be shown in the drawings and described below, it should be understood that the present application can be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and fully convey the scope of the application to those skilled in the art.

[0035] In the description of embodiments of the present application, the term "includes" and its derivatives are used in an open-ended sense and are used to mean "comprising but not limited to". The term "based on" is used in the sense of "based, at least in part, on".

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

[0037] Figure 2 The working principle of the steering system is shown. A torque sensor is provided on the steering wheel, and when the torque sensor senses a steering torque, the torque is transmitted to the steering ECU controller, which analyzes the control instructions for the steering execution motor and transmits them to the steering execution motor via the steering ECU controller.

[0038] To avoid the vehicle out of control caused by the sudden failure of the braking system and / or the steering system during the operation of the vehicle. One or more embodiments of the present application provide a braking / steering redundancy control method based on a double vector driving motor, which is applied to a three-in-one controller, which is communicatively connected with a braking ECU controller and a steering ECU controller, and other components in the braking system and the steering system. The braking ECU controller and the steering ECU controller both have a self-diagnosis function, which can monitor the faults of the circuits, sensors and execution elements (such as electromagnetic valves, etc.) in the braking system. When the braking ECU controller / steering ECU controller monitors a fault, a fault signal is sent to the three-in-one controller, which indicates the fault object. The overall idea of the braking / steering redundancy control method is that the braking ECU controller and the steering ECU controller respectively monitor the faults of the braking system and the steering system in real time during the operation of the vehicle, and when the braking ECU controller and / or the steering ECU controller monitors a fault, a fault signal is fed back to the three-in-one controller; the three-in-one controller determines the corresponding redundancy control method according to the fault type, thereby ensuring the safety of the vehicle operation.

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

[0040] The braking redundancy control method includes:

[0041] In response to the driver braking intention sent by the braking ECU controller, it is judged whether the braking system is abnormal, if so, the fault type is further judged, the braking redundancy control strategy is determined according to the fault type, and the braking redundancy control is executed based on the braking redundancy control strategy; wherein the fault type includes brake pedal sensor failure, brake booster failure, braking ECU controller failure, brake force distributor failure and brake failure.

[0042] If it is determined that the fault type is brake pedal sensor failure, as shown in FIG. 1, the angle change obtained based on the pedal image recognition is calculated according to the preset corresponding relationship between the pedal angle change and the torque, and the required torque is calculated. The torque is sent to the braking ECU controller via the brake booster, and the braking ECU controller analyzes the required braking force of the front and rear wheels according to the load and the driving state of the vehicle, and transmits the required braking force to the brake via the brake force distributor, thereby realizing braking. Figure 3

[0043] If it is determined that the fault type is brake booster failure, as shown in FIG. 2, the required torque is calculated according to the pedal angle change obtained based on the pedal image recognition and the preset corresponding relationship between the pedal angle change and the torque, and the torque is sent to the braking ECU controller. The braking ECU controller analyzes the required braking force of the front and rear wheels according to the load and the driving state of the vehicle, and transmits the required braking force to the brake via the brake force distributor, thereby realizing braking. Figure 4 ​As shown, the torque is received by the torque sensor on the pedal and sent to the brake ECU controller. The brake ECU controller analyzes the required braking force of the front and rear wheels according to the vehicle's load and driving status, and transmits the required braking force to the brakes through the brake force distributor, thereby realizing braking.

[0044] If the fault type is determined to be a brake ECU controller failure, such as Figure 5 As shown, the torque sensor on the pedal receives the torque, and based on the vehicle's load and driving status, it analyzes the braking force required for the front and rear wheels, and then transmits the required braking force to the brake via the brake 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 for the front and rear wheels based on the vehicle's load and driving status, distributes the braking force, and directly sends a control signal to the brake.

[0046] If the fault type is determined to be brake failure, such as Figure 7 As shown, when the braking redundancy strategy is activated, the torque sensor on the pedal receives the torque, analyzes the required braking force of the front and rear wheels based on the vehicle's load and driving status, and sends a control signal to the vector motor controller, requesting the drive motor to execute the anti-drag torque to increase the vehicle's braking deceleration and ensure vehicle operation safety.

[0047] Understandably, if the fault type is a brake ECU controller failure, the three-in-one controller cannot obtain braking intent. Therefore, the three-in-one brake also monitors braking intent in real time. As an example, the vehicle is equipped with a device to collect braking operation data. As an example, a first camera is used to collect braking images in real time, and the first camera is connected to the vehicle's three-in-one controller. Based on the real-time acquired foot pedal image data, it is determined whether there is braking intent. When the three-in-one brake detects braking intent but does not receive a braking intent signal from the brake ECU controller, it is considered that the brake ECU controller has failed.

[0048] Similarly, based on the image of the foot pedal, changes in the pedal angle are identified. If the angle change is less than a 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 theoretical braking force is obtained based on the pedal angle change and the wheel speed change; the actual braking force is also obtained based on the pedal angle change and the preset braking transmission ratio; it is then determined whether the difference between the actual braking force and the theoretical braking force is greater than a set first braking force threshold. If so, the brake pedal sensor is considered to have failed.

[0049] The steering redundancy control method includes:

[0050] In response to the driver steering intention sent by the steering ECU controller, it is determined whether the steering system is abnormal, if so, the fault type is further determined, the steering redundancy control strategy is determined according to the fault type, and the steering redundancy control is performed based on the steering redundancy control strategy; wherein the fault type includes a steering wheel sensor failure, a steering ECU controller, a steering execution motor controller failure and a steering execution motor failure.

[0051] If it is determined that the fault type is a steering wheel sensor failure, as shown in Figure 8 , the steering direction and the rotation angle recognized based on the steering wheel image are used to calculate the required torque according to a preset steering wheel rotation angle and torque correspondence relationship, a control signal is generated according to the torque and the direction, and the control signal is sent to the steering execution motor controller via the steering ECU controller.

[0052] If it is determined that the fault type is an ECU controller failure, as shown in Figure 9 , the steering direction and the rotation angle recognized based on the steering wheel image are used to calculate the required torque according to a preset steering wheel rotation angle and torque correspondence relationship, a control signal is generated according to the torque and the direction, and the control signal is directly sent to the steering execution motor controller.

[0053] If it is determined that the fault type is a steering execution motor controller failure or a steering execution motor failure, as shown in Figure 10 and Figure 11 , a steering redundancy strategy is started, a control signal is generated based on the steering torque and the direction, and is sent to the vector motor. The double vector drive motor assembly is required to execute an increased driving torque or speed at one end motor and to execute a reduced driving torque and / or speed at the other end motor, so as to realize the vehicle steering function through the driving torque difference and / or speed difference of the left and right steering wheels.

[0054] It can be understood that if the fault type is a steering ECU controller failure, the three-in-one controller cannot obtain the steering intention, and the situation of the steering wheel sensor failure may be unable to return data or return incorrect data. Therefore, in order to accurately determine the fault type, the three-in-one brake also monitors the steering intention and the steering angle in real time, as an example, a device for collecting steering wheel operation is provided on the vehicle, as an example, a second camera is used to collect steering wheel images in real time, and the second camera is connected with the three-in-one controller of the vehicle. Based on the real-time acquired steering wheel image data, it is determined whether there is a steering intention braking intention, when the three-in-one brake detects a steering intention but does not receive a steering intention signal sent by the steering ECU controller, it is considered that the steering ECU controller fails.

[0055] Specifically, the steering wheel rotation direction and rotation angle are identified according to the steering wheel image, if the rotation angle is less than a set threshold, it is considered that there is no steering intention, otherwise, it is considered that there is steering intention. When there is steering intention, the wheel theoretical rotation angle is obtained according to the steering wheel rotation direction and rotation angle, and a preset vehicle steering ratio, and the wheel actual rotation angle is obtained at the same time; it is judged whether the difference between the wheel actual rotation angle and the theoretical rotation angle is greater than a set first angle threshold, if yes, it is considered that the steering system is abnormal, and the rotation sensing angle of the steering wheel angle sensor is further obtained, and it is judged whether the rotation sensing angle is consistent with the steering wheel actual rotation angle (linear angle transmission ratio corresponding to rack displacement); if not, it is considered that the steering wheel sensor is invalid.

[0056] Since the vehicle usually turns with the brake, in special cases, the brake system and the brake system may have the possibility of abnormality at the same time. Based on this, the three-in-one controller executes the above brake redundancy method and steering redundancy method in parallel.

[0057] The brake / steering redundancy control system based on a double-vector driving motor is applied to a three-in-one controller and includes:

[0058] The brake system fault monitoring module is configured to judge whether the brake system is abnormal in response to the driver braking intention sent by the brake ECU controller, if yes, further judge the fault type;

[0059] The brake redundancy control module is configured to determine the brake redundancy control strategy according to the fault type, and execute the brake redundancy control based on the brake redundancy control strategy;

[0060] The steering system fault monitoring module is configured to judge whether the steering system is abnormal in response to the driver steering intention sent by the steering ECU controller, if yes, further judge the fault type;

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

[0062] One or more embodiments of the application also provide a three-in-one controller, which is communicatively connected with each component in the brake system and the steering system respectively, and is configured to execute the brake / steering redundancy control method based on a double-vector driving motor.

[0063] In the embodiments described above, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof, and when implemented by software, the software can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions loaded and executed on a server or terminal, and the computer program instructions, when executed, generate all or part of the processes or functions described in the embodiments of the present application. 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 one website site, computer, server or data center to another website site, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer readable storage medium can be any available medium accessible by a server or terminal or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be magnetic media (such as floppy disk, hard disk and magnetic tape, etc.), optical media (such as digital video disk (digital video disk, DVD), etc.), or semiconductor media (such as solid state disk, etc.).

[0064] In addition, although each operation is depicted in a particular order, it should be understood that the operations are not required to be performed in the particular order shown or in sequential order, or that all illustrated operations should be performed to achieve desirable results. In certain circumstances, multitasking and parallel processing can be advantageous. Likewise, the specific sequence of operations illustrated in the figures can not be required to achieve the desires results. Similarly, while the above discussion has included certain specific implementations, it should neither be interpreted nor otherwise understood as limiting the scope of the application. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in subcombination or in a variety of combinations. Embodiments described herein can be implemented in hardware, software, firmware, or any combination thereof.

[0065] Although the subject matter has been described in language specific to structural features and / or methodological acts, it is to be understood that the subject defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

Claims

1. A braking / steering redundancy 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 / steering ECU controller, it determines whether there is an abnormality in the braking / steering system. If so, it further determines the fault type, determines a braking / steering redundancy control strategy based on the fault type, and executes braking / steering redundancy control based on the braking / steering redundancy control strategy. A first / second camera is used to acquire braking / steering wheel images in real time, and the first / second camera is connected to the vehicle's three-in-one controller. Based on the real-time acquired pedal / steering wheel image data, it determines whether there is a braking / steering intention. If the three-in-one controller detects a braking / steering intention but does not receive a braking / steering intention signal from the brake / steering ECU controller, it considers the brake / steering ECU controller to have failed. If the fault type is determined to be brake failure, the required braking torque is determined based on the brake pedal operation and the current vehicle speed, and a control command is sent to the dual vector drive motor so that the dual vector drive motor performs braking according to the braking torque. If the fault type is determined to be steering actuator motor controller failure / steering motor failure, the required driving torque / braking torque of the left and right steering wheels is determined based on the steering wheel operation and the current vehicle speed, and a control command is sent to the dual vector drive motor so that the dual vector drive motor performs steering according to the braking torque; When both the braking system and the brake system malfunction simultaneously, the three-in-one controller executes the aforementioned braking redundancy control method and steering redundancy control method in parallel.

2. The braking / steering redundancy control method based on a dual-vector drive motor as described in claim 1, characterized in that, If the fault type is determined to be brake pedal sensor failure, the required torque is calculated based on the angle change obtained from the pedal image recognition and the preset correspondence between pedal angle change and torque. The torque is then sent to the brake ECU controller via the brake booster.

3. The braking / steering redundancy control method based on a dual-vector drive motor as described in claim 1, characterized in that, If the fault type is determined to be brake booster failure, the torque received by the torque sensor on the pedal is sent to the brake ECU controller.

4. The braking / steering redundancy control method based on a dual-vector drive motor as described in claim 1, characterized in that, If the fault type is determined to be a brake ECU controller failure, the torque sensor on the pedal receives the torque, and based on the vehicle's load and driving status, it analyzes the required braking force for the front and rear wheels, and transmits the required braking force to the brakes via the brake force distributor.

5. The braking / steering redundancy control method based on a dual-vector drive motor as described in claim 1, characterized in that, If the fault type is determined to be brake force distributor failure, the torque sensor on the pedal receives the torque, analyzes the required braking force for the front and rear wheels based on the vehicle's load and driving status, distributes the braking force, and sends a control signal directly to the brakes.

6. The braking / steering redundancy control method based on a dual-vector drive motor as described in claim 1, 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 from the steering wheel image recognition, according to the preset correspondence between steering wheel rotation angle and torque. A control signal is generated based on the torque and direction and sent to the steering actuator motor controller via the steering ECU controller.

7. The braking / steering redundancy control method based on a dual-vector drive motor as described in claim 1, 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 from the steering wheel image recognition, according to the preset correspondence between steering wheel rotation angle and torque. A control signal is generated based on the torque and direction, and the control signal is directly sent to the steering actuator motor controller.

8. A braking / steering redundancy control system based on a dual-vector drive motor, applied to a three-in-one controller, employing the braking / steering redundancy control method based on a dual-vector drive motor as described in any one of claims 1-7, characterized in that, include: The braking system fault monitoring module is configured to: respond to the driver's braking intention sent by the braking ECU controller, determine whether there is an abnormality in the braking system, and if so, further determine the fault type; The braking redundancy control module is configured to: determine the braking redundancy control strategy based on the fault type, and execute braking redundancy control based on the braking redundancy control strategy; If the fault type is determined to be brake failure, the required braking torque is determined based on the brake pedal operation and the current vehicle speed, and a control command is sent to the dual-vector drive motor so that the dual-vector drive motor performs braking according to the braking torque.

9. A three-in-one controller, communicatively connected to various components of the braking system and the steering system, characterized in that, It is configured to perform the braking / steering redundancy control method based on a dual-vector drive motor as described in any one of claims 1-7.

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