Motor redundancy control device and electronic parking control system

Abstract

The invention provides a motor redundancy control device. The motor redundancy control device comprises a main control circuit and an auxiliary control circuit, the main control circuit comprises a first microcontroller, a first pre-driving module and a first power management module, the first microcontroller is connected with the first pre-driving module, and the first microcontroller controls the motor through the first pre-driving module; the auxiliary control circuit is used for switching from a dormant state to a working state when the main control circuit is abnormal, the auxiliary control circuit comprises a second microcontroller, a second pre-drive module and a second power management module, and the second microcontroller is connected with the second pre-drive module and used for controlling the motor through the second pre-drive module when the auxiliary control circuit is in the working state. The invention further provides an electronic parking control system, the motor redundancy control device and the electronic parking control system can provide a reliable and safe redundancy scheme, and therefore braking of the whole motor vehicle under the emergency condition can be achieved.

Description

Technical Field

[0001] The present application belongs to the field of automobile technology, and in particular relates to a motor redundancy control device and an electronic parking control system. Background Art

[0002] As the degree of automobile electrification increases, the safety requirements of the vehicle system are also getting higher and higher. The electronic parking brake system (EPB) is a key module of parking control. For safety redundancy and other considerations, the redundant control of the EPB motor is becoming more and more important. Among them, the control module of the motor in the EPB is generally integrated into the controller of the body stability control system or the controller of the integrated brake control system.

[0003] However, in the prior art, once the controller fails, the system cannot control the parking of the vehicle, especially under certain extreme working conditions, such as parking on a slope, which is very dangerous to the safety of the entire vehicle and has safety defects.

[0004] Therefore, it is necessary to provide a reliable and safe motor redundant control system that can achieve vehicle parking brake in emergency situations. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a motor redundancy control device and an electronic parking control system, which can realize redundant control of the parking motor of a motor vehicle, ensure the parking performance and safety of the motor vehicle, and ensure the parking brake of the whole vehicle in an emergency.

[0006] In order to achieve the above effects, the present invention adopts the following technical solutions: The present application provides a motor redundancy control device, which includes: a main control circuit and an auxiliary control circuit; the main control circuit includes: a first microcontroller, a first pre-drive module and a first power management module, the first microcontroller is connected to the first pre-drive module, and the first microcontroller controls the motor through the first pre-drive module; the auxiliary control circuit is used to switch from a sleep state to a working state when the main control circuit is abnormal, and the auxiliary control circuit includes: a second microcontroller, a second pre-drive module and a second power management module, the second microcontroller is connected to the second pre-drive module, and is used to control the motor through the second pre-drive module when the auxiliary control circuit is in the working state, wherein the second microcontroller, the second pre-drive module and the second power management module are integrated in a system on chip (System on Chip, SOC).

[0007] Preferably, the motor redundancy control device also includes a switching circuit for receiving a control signal output by the first microcontroller and switching the state of the auxiliary control circuit; the switching circuit includes: a first pull-up resistor, a second pull-up resistor and a logic gate; one end of the first pull-up resistor receives a first reference voltage, and the other end is connected to the first input end of the logic gate and the control pin of the first microcontroller, for receiving the control signal output by the first microcontroller; one end of the second pull-up resistor receives the second reference voltage, and the other end is connected to the second input end of the logic gate; the output end of the logic gate is connected to the enable pin of the second microcontroller, for receiving the control signal output by the first microcontroller, and outputs an enable signal when the main control circuit is abnormal, so that the auxiliary control circuit switches from a sleep state to a working state.

[0008] Preferably, the switching circuit further comprises a third pull-up resistor, one end of the third pull-up resistor receives the second reference voltage, and the other end of the third pull-up resistor is connected to an enable pin of the second microcontroller.

[0009] Preferably, the auxiliary control circuit also includes an isolation resistor group, and the multi-channel drive signal pins of the second pre-drive module are respectively connected to each resistor of the isolation resistor group, and are respectively connected to each control end of the H-bridge circuit of the motor through each resistor in the isolation resistor group.

[0010] Preferably, the first power management module is connected to the battery and is used to output a first reference voltage; the second power management module is connected to the battery and is used to output a second reference voltage.

[0011] Preferably, the above-mentioned logic gate is an AND gate, the first reference voltage is a first reference high voltage, and the second reference voltage is a second reference high voltage. When the main control circuit works normally, the control pin of the first microcontroller outputs a low-level control signal to make the AND gate output a low-level signal, thereby putting the auxiliary control circuit into a sleep state; when the main control circuit fails, the control pin of the first microcontroller outputs a high-level control signal to make the AND gate output a high-level enable signal, thereby putting the auxiliary control circuit into a working state from a sleep state.

[0012] Preferably, the motor redundancy control device further includes a bus transceiver, which is connected to the bus of the whole vehicle to receive the whole vehicle control signal output by the bus of the whole vehicle.

[0013] Preferably, the first microcontroller and the second microcontroller are also connected via a status bus to transmit current vehicle status information.

[0014] Preferably, the first microcontroller is also connected to the first power management module and the first pre-driver module through a verification bus to verify the functions of the first power management module and the first pre-driver module, and outputs an enable signal through a control pin when the verification result is abnormal.

[0015] The present application also provides an electronic parking control system, which includes the above-mentioned motor redundancy control device.

[0016] The motor redundant control device and system provided in the present application performs hardware backup of the main control circuit by designing an auxiliary control circuit, and also designs a switching method between the main control circuit and the auxiliary control circuit. When the main control circuit fails, the auxiliary control circuit intervenes to control the parking motor, providing a reliable and safe redundant solution, thereby achieving vehicle braking of the entire motor vehicle in emergency situations.

[0017] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation method is described below, and the detailed explanation is as follows in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the structure and connection relationship of a motor redundancy control device according to an example of the present application.

[0019] Among them, 10-main control circuit, 101-first power management module, 102-first microcontroller, 103-first pre-drive module, 11-auxiliary control circuit, 110-SOC, 1101-second microcontroller, 1102-second power management module, 1103-second pre-drive module, 1104-CAN bus transceiver, 111-isolation resistor group, R4-first isolation resistor, R5-second isolation resistor, R6-third isolation resistor, R7-fourth isolation resistor, 12-switching circuit, R1-first pull-up resistor, R2-second pull-up resistor, R3-third pull-up resistor, X1-AND logic gate, 13-H bridge circuit, 131-parking motor, Q1-first MOS tube, Q2-second MOS tube, Q3-third MOS tube, Q4-fourth MOS tube, Q5-anti-reverse MOS tube. DETAILED DESCRIPTION

[0020] To facilitate understanding of the present application, the present application will be described more comprehensively with reference to the relevant drawings. The drawings provide specific implementation methods of the present application. In combination with the following drawings and examples, the present application is described in detail as follows.

[0021] Figure 1 FIG. 1 is a schematic diagram of the structure and connection relationship of a motor redundant control device according to an example of the present invention. Figure 1 As shown, the motor redundant control device comprises a main control circuit 10 and an auxiliary control circuit 11.

[0022] The main control circuit 10 includes: a first power management module 101, a first microcontroller 102, and a first pre-drive module 103. The first microcontroller 102 is connected to the first pre-drive module 103, and the first microcontroller 102 controls the motor through the first pre-drive module 103. The auxiliary control circuit 11 is used to switch from a dormant state to a working state when the main control circuit 10 is abnormal. The auxiliary control circuit 11 includes: a second microcontroller 1101, a second pre-driver module 1103, and a second power management module 1102. The second microcontroller 1101 is connected to the second pre-driver module 1103, and is used to control the motor through the second pre-driver module 1103 when the auxiliary control circuit 11 is in a working state. In one embodiment, the second microcontroller 1101, the second pre-driver module 1103, and the second power management module 1102 can be integrated in the SOC 110.

[0023] In one embodiment, the first microcontroller 102 and the first power management module 101 can be connected via a logic power supply line and / or a verification bus, wherein the verification bus is preferably a serial peripheral interface (Serial Peripheral interface, SPI); the connection between the first microcontroller 102 and the first pre-drive module 103 includes: a verification bus and a control signal line, wherein the verification bus is preferably an SPI bus, and the control signal line transmission signal is preferably a pulse width modulation signal (Pulse Width Modulation, PWM).

[0024] Specifically, the first power management module 101 receives a battery power supply signal, and outputs a first reference voltage VCC1 to the first microcontroller 102 through a logic power supply line. The first pre-drive module 103 outputs a motor control signal to the H-bridge circuit 13 according to the PWM signal received through the control signal line. According to the motor control signal, the first MOS tube Q1 and the fourth MOS tube turn on the parking motor 131 for forward rotation, or the second MOS tube Q2 and the third MOS tube Q3 turn on the motor for reverse rotation, so that the first microcontroller 101 controls the parking motor 131.

[0025] In one embodiment, the motor redundancy control device further includes a switching circuit 12 for receiving a control signal output by the first microcontroller 102 and switching the state of the auxiliary control circuit 11. The switching circuit 12 includes: a first pull-up resistor R1, a second pull-up resistor R2 and a logic gate X1.

[0026] In one embodiment, one end of the first pull-up resistor R1 receives the first reference voltage VCC1, and the other end is connected to the first input end of the logic gate X1 and the control pin of the first microcontroller 102, so as to receive the control signal output by the first microcontroller 102. One end of the second pull-up resistor R2 receives the second reference voltage VCC2, and the other end is connected to the second input end of the logic gate X1. The output end of the logic gate X1 is connected to the enable pin of the second microcontroller 1101, so as to receive the control signal output by the first microcontroller 102, and output the control signal when the main control circuit 10 is abnormal. When the main control circuit 10 is abnormal, the corresponding control signal is output to control the switching circuit 12 to output the enable signal to the second microcontroller 1101, so that the auxiliary control circuit 11 enters the working state from the sleep state.

[0027] In one embodiment, the switching circuit 12 may also include but is not limited to a third pull-up resistor R3 , one end of the third pull-up resistor R3 receives the second reference voltage VCC2 , and the other end of the third pull-up resistor R3 is connected to an enable pin of the second microcontroller 1101 .

[0028] In one embodiment, the first power management module 101 is connected to a battery and is used to output a first reference voltage VCC1; the second power management module 1102 is connected to a battery and is used to output a second reference voltage VCC2. The first reference voltage VCC1 is used to power the first microcontroller 102; the second power management module 1102 is connected to a battery and outputs a second reference voltage VCC2.

[0029] In one embodiment, the logic gate in the switching circuit 12 is an AND gate. When the main control circuit 10 works normally, the control pin of the first microcontroller 102 outputs a low-level control signal, so that the AND gate outputs a low-level signal, thereby putting the auxiliary control circuit 11 into a sleep state; when the main control circuit 10 fails, the control pin of the first microcontroller 102 outputs a high-level control signal, so that the AND gate outputs a high-level enable signal, thereby putting the auxiliary control circuit 11 into a working state from a sleep state.

[0030] In one embodiment, the auxiliary control circuit 11 also includes an isolation resistor group 111, and the multi-channel drive signal pins of the second pre-drive module 1103 are respectively connected to the resistors of the isolation resistor group 111, and are respectively connected to the first MOS tube Q1, the third MOS tube Q3, the second MOS tube Q2 and the fourth MOS tube Q4 control ends of the motor's H-bridge circuit 13 through the first isolation resistor R4, the second isolation resistor R5, the third isolation resistor R6, and the fourth isolation resistor R7 in the isolation resistor group 111.

[0031] In one embodiment, the motor redundancy control device further includes a bus transceiver, which is connected to the bus of the whole vehicle to receive the whole vehicle control signal output by the bus of the whole vehicle.

[0032] Among them, this bus transceiver is preferably a bus transceiver of the controller area network (CAN), the first microcontroller 102 is connected to the CAN bus of the whole vehicle (not shown in the figure), and obtains the control information of the whole vehicle through the CAN bus. The SOC110 also integrates a CAN bus transceiver 1104, so that the second microcontroller 1101 can also receive control information from the whole vehicle. When the main control circuit 10 fails or cannot receive the vehicle CAN bus information, the auxiliary control circuit 11 can independently receive the vehicle control information from the vehicle CAN bus, so that the auxiliary control circuit 11 can fully control the parking motor 131.

[0033] In one embodiment, the first microcontroller 102 and the second microcontroller 1101 are also connected via a state bus to transmit current vehicle state information. The state bus is preferably a Universal Asynchronous Receiver / Transmitter (UART). When the first pre-drive module 103 fails, the first microcontroller 102 transmits a vehicle control signal to the second microcontroller 1101 of the SOC 110 via the UART bus, and the second microcontroller 1101 controls the parking motor 131 based on the vehicle control signal, thereby achieving motor control redundancy when the first pre-drive module 103 fails.

[0034] The specific redundant function implementation process of the above redundant control device is as follows: When the electronic parking control system is operating normally, the main control circuit 10, the first microcontroller 102 is powered on and started by the first power management module 101 to enter the working state, and the first microcontroller 102 outputs a PWM signal to the first pre-drive module 103 to control the MOS tubes Q1, Q2, Q3, and Q4 in the H-bridge circuit 13 through the first pre-drive module 103 to control the forward or reverse movement of the motor 131; when the electronic parking control system is operating normally, the SOC110 is powered on and started, and since the first microcontroller 102 outputs a low-level control signal by default, the switching circuit 12 outputs a low-level signal to the enable pin of the second microcontroller 1101, so that the SOC110 enters a dormant state. In addition, since there is a level inside the SOC110 and the main control circuit 10 is in a working state, the isolation resistor group 111 can avoid the influence of the motor control signal output by the first pre-drive module 103 on the potential of the SOC110.

[0035] When the first pre-drive module 103 fails, the PWM control signal output by the first microcontroller 102 cannot be effectively converted into a motor control signal by the first pre-drive module 103, and at this time the main control circuit 10 cannot effectively control the parking motor 131; the first microcontroller 102 verifies the first pre-drive module 103 through the SPI bus connected to the first pre-drive module 103, and after detecting that the first pre-drive module 103 fails, the control signal pin of the first microcontroller 102 jumps to a high level, and the switching circuit 12 outputs an enable signal, so that the second microcontroller 1101 enters the working state from the sleep state, so that the second microcontroller 1101 controls the parking motor 131. 1, the second microcontroller 1101 outputs a motor control signal through the second pre-drive module 1103. Similar to the first pre-drive module 103, the motor control signal is output to the H-bridge circuit 13. According to the motor control signal, the first MOS tube Q1 and the fourth MOS tube are turned on for the parking motor 131 to rotate forward, or the second MOS tube Q2 and the third MOS tube Q3 are turned on for the motor to rotate reversely. In addition, if the first power management module 101 and the first microcontroller 102 have not failed, the first microcontroller 102 can transmit the current vehicle condition information through the UART bus connected to the second microcontroller 1101 to assist the auxiliary control circuit 11 in controlling the parking motor 131.

[0036] If the first microcontroller 102 detects a failure in itself or the first power management module 101 through self-test or verification through the SPI bus connected to the first power management module 101, the first microcontroller 102 outputs a high-level control signal to control the switching circuit 12 to output an enable signal, thereby allowing the auxiliary control circuit 11 to enter a working state. At this time, the first microcontroller 102 may not be able to transmit the vehicle condition information. Therefore, in this case, the vehicle condition information of the second microcontroller 1101 cannot be obtained from the first microcontroller 102, and the second microcontroller 1101 can receive the control information of the entire vehicle from the CAN bus transceiver 1104 integrated in the SOC110 to control the parking motor 131.

[0037] The embodiment of the present invention provides a motor redundancy control device and an electronic parking control system. The auxiliary control circuit is designed to perform hardware backup on the main control circuit. A switching method between the main control circuit and the auxiliary control circuit is also designed. When the main control circuit fails, the auxiliary control circuit intervenes to control the parking motor. A reliable and safe redundancy solution is provided, which can be used for the safety redundancy of the integrated braking control system and can ensure the braking of the entire motor vehicle in an emergency situation, thereby improving the safety of the entire vehicle.

[0038] The above is only a preferred embodiment of the present application and does not constitute any form of limitation to the present application. Although the present application has been disclosed as a preferred embodiment as above, it is not intended to limit the present application. Any technician familiar with the profession can make some changes or modifications to equivalent embodiments of the technical contents disclosed above without departing from the scope of the technical solution of the present application. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A motor redundant control device, characterized in that: The motor redundancy control device comprises: a main control circuit and an auxiliary control circuit; The main control circuit includes: a first microcontroller, a first pre-drive module and a first power management module, the first microcontroller is connected to the first pre-drive module, and the first microcontroller controls the motor through the first pre-drive module; The auxiliary control circuit is used to switch from a sleep state to a working state when the main control circuit is abnormal. The auxiliary control circuit includes: a second microcontroller, a second pre-drive module and a second power management module. The second microcontroller is connected to the second pre-drive module and is used to control the motor through the second pre-drive module when the auxiliary control circuit is in a working state.

2. The motor redundant control device according to claim 1, characterized in that: The motor redundancy control device further includes a switching circuit for receiving a control signal output by the first microcontroller and switching the state of the auxiliary control circuit; The switching circuit comprises: a first pull-up resistor, a second pull-up resistor and a logic gate; One end of the first pull-up resistor receives a first reference voltage, and the other end is connected to the first input end of the logic gate and the control pin of the first microcontroller, and is used to receive the control signal output by the first microcontroller; One end of the second pull-up resistor receives a second reference voltage, and the other end is connected to the second input end of the logic gate; The output end of the logic gate is connected to the enable pin of the second microcontroller, and is used to receive the control signal output by the first microcontroller, and output an enable signal when the main control circuit is abnormal, so that the auxiliary control circuit switches from the sleep state to the working state.

3. The motor redundant control device according to claim 2, characterized in that: The switching circuit further includes a third pull-up resistor, one end of the third pull-up resistor receives the second reference voltage, and the other end of the third pull-up resistor is connected to an enable pin of the second microcontroller.

4. The motor redundant control device according to claim 1, characterized in that: The auxiliary control circuit also includes an isolation resistor group, and the multi-channel drive signal pins of the second pre-drive module are respectively connected to the resistors of the isolation resistor group, and are respectively connected to the control ends of the H-bridge circuit of the motor through the resistors in the isolation resistor group.

5. The motor redundant control device according to claim 2, characterized in that: The first power management module is connected to a battery and is used to output the first reference voltage; the second power management module is connected to the battery and is used to output the second reference voltage.

6. The redundant control device according to claim 2, characterized in that: The logic gate is an AND gate, the first reference voltage is a first reference high voltage, and the second reference voltage is a second reference high voltage. When the main control circuit works normally, the control pin of the first microcontroller outputs a low-level control signal to make the AND gate output a low-level signal, thereby putting the auxiliary control circuit into a sleep state; when the main control circuit fails, the control pin of the first microcontroller outputs a high-level control signal to make the AND gate output a high-level enable signal, thereby making the auxiliary control circuit enter the working state from the sleep state.

7. The motor redundant control device according to claim 1, characterized in that: The motor redundancy control device also includes a bus transceiver, which is connected to the bus of the whole vehicle to receive the whole vehicle control signal output by the bus of the whole vehicle.

8. The redundant control device according to claim 1, characterized in that: The first microcontroller and the second microcontroller are also connected via a status bus to transmit current vehicle status information.

9. The redundant control device according to claim 2, characterized in that: The first microcontroller is also connected to the first power management module and the first pre-driver module through a verification bus to verify the functions of the first power management module and the first pre-driver module, and outputs the enable signal through the control pin when the verification result is abnormal.

10. An electronic parking control system, characterized in that: It comprises the motor redundancy control device as described in any one of claims 1-9.

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