Brake-by-wire system in vehicle and vehicle

Abstract

The present invention relates to a brake-by-wire system in a vehicle and a vehicle, comprising a main controller and at least one wheel-end controller; at least one wheel-end controller comprises a first wheel-end controller, and the first wheel-end controller is connected to an electronic pedal in the vehicle; the first wheel-end controller is used to generate a braking control signal according to received pedal stroke information when it is determined that the main controller is completely ineffective, or when it is determined that the connection between the electronic pedal and the main controller is disconnected, and send the braking control signal to other wheel-end controllers in at least one wheel-end controller through a first CAN bus; the first wheel-end controller is also used to receive a trigger signal sent by other devices in the vehicle when it is determined that the main controller is completely ineffective, and select other wheel-end controllers from at least one wheel-end controller to execute the trigger signal. The present invention improves the safety of vehicle driving and reduces the cost of the brake-by-wire system.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle braking, and in particular to a brake-by-wire control system in a vehicle and the vehicle. Background Art

[0002] As the degree of electrification in the automotive industry continues to increase, the wire-controlled steering system has gradually replaced the traditional mechanical steering system and become the mainstream steering system. However, compared with the traditional steering system, the wire-controlled steering system has higher requirements for the safety level of the function.

[0003] In the prior art, safety backup is mostly achieved by setting up devices such as redundant controllers.

[0004] However, the method in the prior art will lead to an increase in the cost of the vehicle. Summary of the invention

[0005] One of the purposes of the present invention is to provide a brake-by-wire system in a vehicle to solve the problems of high cost and unsafe vehicle driving of the brake-by-wire system in the prior art; the second purpose is to provide a vehicle.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] A brake-by-wire system in a vehicle, comprising: a main controller and at least one wheel-end controller, wherein the main controller and the wheel-end controller are connected via a first CAN bus in the vehicle; the at least one wheel-end controller comprises a first wheel-end controller, and the first wheel-end controller is connected to an electronic pedal in the vehicle;

[0008] The electronic pedal is used to generate pedal stroke information in response to a pedal operation of a user, and send the pedal stroke information to the main controller and the first wheel-end controller;

[0009] The first wheel-end controller is used to generate a braking control signal according to the received pedal stroke information when it is determined that the main controller has completely failed or when it is determined that the electronic pedal is disconnected from the main controller, and send the braking control signal to other wheel-end controllers in the at least one wheel-end controller through the first CAN bus, and perform braking processing in response to the braking control signal;

[0010] The first wheel-end controller is also used to receive a trigger signal sent by other devices in the vehicle when it is determined that the main controller has completely failed, and select other wheel-end controllers from the at least one wheel-end controller; and send the trigger signal to the other selected wheel-end controllers for execution.

[0011] According to the above technical means, by setting one controller of at least one wheel-end controller as the first wheel-end controller, that is, a redundant controller, when the main controller fails completely, or when it is determined that the connection between the electronic pedal and the main controller is disconnected, the main controller can be used to implement the braking control function and the domain control function, thereby ensuring the driving safety of the vehicle while reducing the cost of the wire control brake system. Specifically, when replacing the main controller to implement the domain control function, other wheel-end controllers are selected to execute the trigger signal, which can avoid the first wheel-end controller from being affected by the limitation of computing power and further improve the driving safety of the vehicle. Based on the above description, the wire control brake system in the vehicle provided by the embodiment of the present invention improves the driving safety of the vehicle and reduces the cost of the wire control brake system.

[0012] Furthermore, the receiving of a trigger signal sent by other devices in the vehicle and selecting other wheel-end controllers from the at least one wheel-end controller includes: determining the computing power of each other controller in the other wheel-end controllers in response to the trigger signal, and selecting other wheel-end controllers from the at least one wheel-end controller based on the determined computing power.

[0013] According to the above-mentioned technical means, in the process of selecting the wheel-end controller to execute the trigger signal, the selection is made according to the computing power of each other wheel-end controller, which can avoid affecting the execution of the corresponding control function due to insufficient computing power of the selected controller, thereby improving the reliability of the execution of the trigger signal and further improving the safety of vehicle driving.

[0014] Furthermore, the receiving of a trigger signal sent by other devices in the vehicle and selecting other wheel-end controllers from the at least one wheel-end controller includes: determining a control function corresponding to the trigger signal, and selecting other wheel-end controllers from the at least one wheel-end controller based on the corresponding control function and a preset mapping relationship; wherein the preset mapping relationship is a correspondence between a control function and other wheel-end controllers in the at least one wheel-end controller.

[0015] According to the above-mentioned technical means, in the process of selecting a wheel-end controller to execute a trigger signal, the selection is made according to the correspondence between the control function and other wheel-end controllers in at least one wheel-end controller, so that the execution of the domain control function can be dispersed to each wheel-end controller, thereby improving the reliability of the execution of the trigger signal and further improving the safety of vehicle driving.

[0016] Furthermore, the other wheel-end controllers in the at least one wheel-end controller also include a second wheel-end controller; the second wheel-end controller is used to receive and execute the trigger signal sent by other devices in the vehicle when the domain control function of the main controller fails; the first wheel-end controller is also used to generate a braking control signal based on the received pedal travel information when the braking control function of the main controller fails, or when it is determined that the electronic pedal is disconnected from the main controller, and send the braking control signal to the other wheel-end controllers in the at least one wheel-end controller through the first CAN bus, and perform braking processing in response to the braking control signal.

[0017] According to the above-mentioned technical means, by setting the first wheel-end controller and the second wheel-end controller in the wheel-end controller, when the braking control function or the domain control function of the main controller fails, the corresponding functions can be realized instead of the main controller. There is no need for the first controller to select a controller from other controllers to execute the domain control function, which improves the control efficiency and thus improves the user's car experience.

[0018] Furthermore, the system also includes a second CAN bus, and the main controller and the wheel-end controller are also connected through the second CAN bus; the main controller is also used to send the braking control signal to the at least one wheel-end controller through the second CAN bus; the wheel-end controller is also used to perform braking processing in response to the braking control signal received first; the first wheel-end controller is also used to send the braking control signal to other wheel-end controllers in the at least one wheel-end controller through the second CAN bus when it is determined that the main controller has completely failed, or when it is determined that the connection between the electronic pedal and the main controller is disconnected; the other wheel-end controllers in the at least one wheel-end controller are also used to perform braking processing in response to the braking control signal received first.

[0019] According to the above technical means, by setting up a second CAN bus, the braking control function can be implemented in the main controller, or when the first wheel end controller implements the braking control function, the reliability of the braking signal transmission is improved, thereby improving the safety of vehicle driving.

[0020] Furthermore, the main controller is also used to monitor the connection relationship between the electronic pedal and the wheel-end controller, and generate and present a disconnection prompt message when it is monitored that the connection is disconnected; the first wheel-end controller is also used to monitor the connection relationship between the electronic pedal and the wheel-end controller when it is determined that the main controller has completely failed, or when it is determined that the connection between the electronic pedal and the main controller is disconnected, and generate and present a disconnection prompt message when it is monitored that the connection is disconnected.

[0021] According to the above-mentioned technical means, the main controller or the first controller, by monitoring the connection relationship between the electronic pedal and the wheel-end controller, and generating and presenting a disconnection prompt message when monitoring the connection disconnection, can enable the user to maintain the connection relationship in time, thereby improving the reliability of braking and further improving the driving safety of the vehicle.

[0022] Furthermore, the system also includes a first power supply and a second power supply; wherein the first power supply is connected to the main controller and two wheel-end controllers among the other wheel-end controllers in the at least one wheel-end controller; and the second power supply is connected to the first wheel-end controller and the remaining one wheel-end controller among the other wheel-end controllers in the at least one wheel-end controller.

[0023] According to the above-mentioned technical means, power is supplied by combining the first power supply and the second power supply. When one of the power supplies fails, some wheel-end controllers can still perform braking processing, thereby improving the driving safety of the vehicle. When the first power supply fails, the first wheel-end controller can replace the main controller to implement some functions of the main controller. When the second power supply fails, the main controller can still implement some functions, thereby improving the driving safety of the vehicle.

[0024] Further, the wheel-end controller is a left front wheel-end controller, or a left rear wheel-end controller, or a right front wheel-end controller, or a right rear wheel-end controller; wherein, if the first wheel-end controller is a left front wheel-end controller, the second power supply is also connected to the right rear wheel-end controller; if the first wheel-end controller is a right front wheel-end controller, the second power supply is also connected to the left rear wheel-end controller; if the first wheel-end controller is a left rear wheel-end controller, the second power supply is also connected to the right front wheel-end controller; if the first wheel-end controller is a right rear wheel-end controller, the second power supply is also connected to the left front wheel-end controller.

[0025] According to the above technical means, based on the connection relationship between the power supply and the controller described above, it can be ensured that when only one power supply is valid, the two wheel-end controllers that can perform the braking function are cross-distributed, thereby ensuring the braking function to the greatest extent, thereby improving the driving safety of the vehicle.

[0026] Furthermore, the main controller is also used to monitor the operating status of the wheel-end controller, and generate and present fault prompt information based on the monitored operating status; the first wheel-end controller is also used to monitor the operating status of other wheel-end controllers in the at least one wheel-end controller, and generate and present fault prompt information based on the monitored operating status.

[0027] According to the above-mentioned technical means, the main controller monitors the operating status of the wheel-end controller, and the first controller monitors the operating status of other wheel-end controllers in at least one wheel-end controller, and generates and presents fault prompt information when a controller failure is monitored, so that the user can maintain the faulty controller in time, thereby improving the braking reliability and further improving the driving safety of the vehicle.

[0028] Furthermore, the trigger signal is used to trigger a chassis domain control function; the chassis domain control function includes at least one of a stability control function, an emergency braking function, an anti-wheel lock function, and the like.

[0029] According to the above technical means, the chassis domain control function including at least one of the stability control function, the emergency braking function, the anti-wheel lock function, etc. can more effectively improve the safety of vehicle driving while performing braking control through the first wheel end controller when the main controller completely fails.

[0030] A vehicle comprises the above first aspect and / or the braking control system of the vehicle of the first aspect.

[0031] Beneficial effects of the present invention:

[0032] The braking control system of the vehicle provided by the present invention, by setting one controller among at least one wheel-end controller as the first wheel-end controller, that is, the redundant controller, can replace the main controller to implement the braking control function and the domain control function when the main controller completely fails, or when it is determined that the connection between the electronic pedal and the main controller is disconnected, thereby reducing the cost of the wire control brake system while ensuring the driving safety of the vehicle. Specifically, when replacing the main controller to implement the domain control function, other wheel-end controllers are selected to execute the trigger signal, which can avoid the first wheel-end controller from being affected by the limitation of computing power in the implementation of the function, and further improve the safety of vehicle driving. Based on the above description, the wire control brake system in the vehicle provided by the embodiment of the present invention improves the driving safety of the vehicle and reduces the cost of the wire control brake system. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of a brake-by-wire system in a vehicle according to an embodiment of the present invention Figure 1 ;

[0034] Figure 2 A schematic diagram of a brake-by-wire system in a vehicle according to an embodiment of the present invention Figure 2 ;

[0035] Figure 3 A schematic diagram of a brake-by-wire system in a vehicle according to an embodiment of the present invention Figure 3 . DETAILED DESCRIPTION

[0036] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0037] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0038] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the present invention are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and corresponding operation entrances shall be provided for users to choose to authorize or refuse.

[0039] In the prior art, safety backup is mostly achieved by setting up redundant controllers and other devices. However, the methods in the prior art will increase the cost of the vehicle.

[0040] The present application sets one of at least one wheel-end controllers as the first wheel-end controller, i.e., a redundant controller, which can replace the main controller to implement the braking control function and the domain control function when the main controller completely fails or when it is determined that the electronic pedal is disconnected from the main controller, thereby reducing the cost of the brake-by-wire system while ensuring the driving safety of the vehicle. When replacing the main controller to implement the domain control function, other wheel-end controllers are selected to execute the trigger signal, which can avoid the first wheel-end controller from being affected by the limitation of computing power in implementing the function, thereby further improving the driving safety of the vehicle. Based on the above description, the brake-by-wire system in the vehicle provided by the embodiment of the present invention improves the driving safety of the vehicle and reduces the cost of the brake-by-wire system.

[0041] The technical solution of the present invention is described in detail below through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0042] Figure 1 A schematic diagram of a brake-by-wire system in a vehicle according to an embodiment of the present invention Figure 1 .like Figure 1 As shown, the system 100 of the embodiment of the present invention includes: a main controller 101 and at least one wheel-end controller 102, and the main controller 101 and the wheel-end controller 102 are connected through a first CAN bus 103 in the vehicle. At least one wheel-end controller 102 includes a first wheel-end controller 104, and the main controller 101 and the first wheel-end controller 104 are connected to an electronic pedal 105 in the vehicle. The electronic pedal 105 is used to generate pedal stroke information in response to the user's pedaling operation, and send the pedal stroke information to the main controller 101 and the first wheel-end controller 104.

[0043] Specifically, the main controller 101 is a controller included in the wire control brake system and is used to implement the chassis domain control function and the braking control function.

[0044] Among them, if the main controller 101 is intact, that is, the chassis domain control function and the braking function are not invalid, then the main controller 101 is used to generate a braking control signal according to the received pedal stroke information, and send the braking control signal to the wheel-end controller 102 through the first CAN bus 103, so that the wheel-end controller 102 performs braking processing in response to the braking control signal to achieve the braking function. The main controller 101 is also used to receive trigger signals sent by other devices in the vehicle and execute them to achieve the chassis domain control function. Among them, the present application does not limit the number of wheel-end controllers 102. Optionally, the number of wheel-end controllers 102 can correspond to the number of wheels of the vehicle. For example, if the vehicle includes 4 wheels, it includes 4 wheel-end controllers 102. Optionally, the number of wheel-end controllers 102 can be less than the number of wheels of the vehicle. For example, if the vehicle includes 4 wheels, the wheel-end controller 102 can be set on 2 or 3 of the wheels.

[0045] Among them, the user's pedaling operation corresponds to the pedal stroke indicated by the pedal stroke information. The larger the amplitude of the user's pedaling operation, the larger the pedal stroke indicated by the generated pedal stroke information. Conversely, the smaller the amplitude of the user's pedaling operation, the smaller the pedal stroke indicated by the generated pedal stroke information.

[0046] The pedal stroke information corresponds to the braking force indicated by the brake control signal. The greater the pedal stroke indicated by the pedal stroke information, the greater the braking force indicated by the brake control signal. Conversely, the smaller the pedal stroke indicated by the pedal stroke information, the smaller the braking force indicated by the brake control signal. In the same vehicle, for different wheel-end controllers 102, the braking force indicated by the brake control signal sent by the main controller 101 is different. For example, if the wheel-end controller 102 is a front wheel-end controller, the braking force indicated by the brake control signal is larger. If the wheel-end controller 102 is a rear wheel-end controller, the braking force indicated by the brake control signal is smaller. The braking force indicated by the brake signal corresponding to the front wheel controller is in a certain ratio to the braking force indicated by the brake signal corresponding to the rear wheel controller, for example, 2.5:1.

[0047] Specifically, the first wheel-end controller 104 is a controller preset in at least one wheel-end controller 102 as a redundant controller of the main controller 101, wherein the present application does not limit the number of first wheel-end controllers 104. Optionally, if the number of first wheel-end controllers 104 is greater than one, then when it is determined that the main controller 101 has completely failed, or when it is determined that the electronic pedal 105 is disconnected from the main controller 101, the first wheel-end controller 104 can be enabled according to a preset order. For example, when it is determined that the main controller 101 has completely failed, or when it is determined that the electronic pedal 105 is disconnected from the main controller 101, the first first wheel-end controller 104 in the preset order is first enabled; if the first first wheel-end controller 104 in the preset order fails, the second first wheel-end controller 104 in the preset order is enabled, and so on.

[0048] The first wheel-end controller 104 is used to generate a braking control signal based on the received pedal travel information when it is determined that the main controller 101 has completely failed, or when it is determined that the electronic pedal 105 is disconnected from the main controller 101, and send the braking control signal to other wheel-end controllers 102 in at least one wheel-end controller 102 through the first CAN bus 103, and perform braking processing in response to the braking control signal.

[0049] If the main controller 101 fails completely, or it is determined that the connection between the electronic pedal 105 and the main controller 101 is disconnected, it is determined that the main controller 101 cannot implement the braking control function. The present application does not limit the process by which the first wheel-end controller 104 determines that the main controller 101 fails completely. Optionally, if a control signal, such as a braking control signal or a domain control signal, is not received from the main controller 101 within a preset time period, it is determined that the main controller 101 fails completely. The present application does not limit the process by which the first wheel-end controller 104 determines that the connection between the electronic pedal 105 and the main controller 101 is disconnected. Optionally, the main controller 101 is also used to send a prompt message to the first wheel-end controller 104 that the connection between the electronic pedal 105 and the main controller 101 is disconnected when the pedal travel information is not received within a preset time period. After receiving the prompt message sent by the main controller 101, the first wheel-end controller 104 determines that the connection between the electronic pedal 105 and the main controller 101 is disconnected. At this time, the first wheel-end controller 104 replaces the main controller 101, and is used to generate a braking control signal according to the received pedal stroke information, and send the braking control signal to other wheel-end controllers 102 in at least one wheel-end controller 102 through the first CAN bus 103, so that the other wheel-end controllers 102 perform braking processing in response to the braking control signal. In addition, the first wheel-end controller 104 is also used to realize its own control function, that is, to perform braking processing in response to the braking control signal.

[0050] If the main controller 101 fails completely, or it is determined that the electronic pedal 105 is disconnected from the main controller 101, the braking control signal generated by the first wheel-end controller 104 can refer to the braking control signal generated by the main controller 101 described above, which will not be repeated here. The braking control signal to which the first wheel-end controller 104 responds when performing braking processing is the braking control signal sent to the first wheel-end controller 104 by the main controller 101 described above.

[0051] The first wheel-end controller 104 is also used to receive a trigger signal sent by other devices in the vehicle when it is determined that the main controller 101 has completely failed, and select other wheel-end controllers 102 from at least one wheel-end controller 102, and send the trigger signal to the selected other wheel-end controllers 102 for execution.

[0052] Among them, if the main controller 101 fails completely, it is determined that the main controller 101 is also unable to implement the domain control function. Among them, the process of determining that the main controller 101 has completely failed can refer to the above description and will not be repeated here. At this time, the first wheel-end controller 104 needs to replace the main controller 101 to implement the domain control function. Among them, since the computing power of the first wheel-end controller 104 itself is limited, other wheel-end controllers 102 can be selected from at least one wheel-end controller 102, and the trigger signal is sent to the selected other wheel-end controllers 102 for execution. Among them, the present application does not limit the process of selecting other wheel-end controllers 102 from at least one wheel-end controller 102. Optionally, it can be determined based on the computing power of other wheel-end controllers 102. Optionally, it can also be determined based on a preset mapping relationship.

[0053] The brake-by-wire system in a vehicle provided by an embodiment of the present invention, by setting one controller among at least one wheel-end controller as the first wheel-end controller, that is, the redundant controller, can replace the main controller to implement the braking control function and the domain control function when the main controller completely fails, or when it is determined that the connection between the electronic pedal and the main controller is disconnected, thereby reducing the cost of the brake-by-wire system while ensuring the driving safety of the vehicle. Specifically, when replacing the main controller to implement the domain control function, other wheel-end controllers are selected to execute the trigger signal, which can avoid the first wheel-end controller from being affected by the limitation of computing power in the implementation of the function, and further improve the driving safety of the vehicle. Based on the above description, the brake-by-wire system in a vehicle provided by an embodiment of the present invention improves the driving safety of the vehicle and reduces the cost of the brake-by-wire system.

[0054] In one possible embodiment, the process of receiving a trigger signal sent by other devices in the vehicle and selecting other wheel-end controllers 102 from at least one wheel-end controller 102 may include: determining the computing power of each other controller in the other wheel-end controllers 102 in response to the trigger signal, and selecting other wheel-end controllers 102 from at least one wheel-end controller 102 based on the determined computing power.

[0055] Specifically, as described in the above embodiment, if the main controller 101 fails completely, the first wheel-end controller 104 needs to replace the main controller 101 to implement the domain control function, wherein, since the computing power of the first wheel-end controller 104 itself is limited, other wheel-end controllers 102 can be selected from at least one wheel-end controller 102. Optionally, after determining the computing power of each other controller in the other wheel-end controllers 102 in response to the trigger signal, the wheel-end controller 102 with the largest computing power can be selected as the wheel-end controller 102 that executes the trigger signal. Optionally, after determining the computing power of each other controller in the other wheel-end controllers 102 in response to the trigger signal, one of at least one wheel-end controller 102 whose computing power exceeds the computing power threshold can be selected as the wheel-end controller 102 that executes the trigger signal. Optionally, it can be randomly selected from at least one wheel-end controller 102 whose computing power exceeds the computing power threshold. Optionally, it can also be selected from at least one wheel-end controller 102 whose computing power exceeds the computing power threshold in a preset order.

[0056] Among them, in the process of selecting the wheel-end controller to execute the trigger signal, the selection is made according to the computing power of each other wheel-end controller, which can avoid affecting the execution of the corresponding control function due to insufficient computing power of the selected controller, thereby improving the reliability of the execution of the trigger signal and further improving the safety of vehicle driving.

[0057] In a possible embodiment, receiving a trigger signal sent by other devices in the vehicle and selecting other wheel-end controllers 102 from at least one wheel-end controller 102 includes:

[0058] The control function corresponding to the trigger signal is determined, and other wheel-end controllers 102 are selected from at least one wheel-end controller 102 according to the corresponding control function and a preset mapping relationship.

[0059] Specifically, as described in the above embodiment, if the main controller 101 fails completely, the first wheel-end controller 104 needs to replace the main controller 101 to implement the domain control function, wherein, since the computing power of the first wheel-end controller 104 itself is limited, the control function corresponding to the trigger signal can be determined, and other wheel-end controllers 102 can be selected from at least one wheel-end controller 102 according to the corresponding control function and the preset mapping relationship.

[0060] The preset mapping relationship is a corresponding relationship between a control function and other wheel-end controllers 102 in at least one wheel-end controller 102 .

[0061] Among them, the present application does not limit the correspondence between the control function and other wheel-end controllers 102 in the at least one wheel-end controller 102 in the preset mapping relationship. Optionally, one other wheel-end controller 102 in the at least one wheel-end controller 102 may correspond to at least one control function. Among them, the present application does not limit the number and type of control functions corresponding to one other wheel-end controller 102 in the at least one wheel-end controller 102. Optionally, all control functions may be evenly distributed according to the number of other wheel-end controllers 102 in the at least one wheel-end controller 102, and the evenly distributed control functions may correspond to each other wheel-end controller 102 in the at least one wheel-end controller 102. Optionally, each control function may be divided and processed according to the computing power required for all control functions so that the sum of the computing power required for the set of divided and processed control functions is the same, and the divided and processed control functions may correspond to each other wheel-end controller 102 in the at least one wheel-end controller 102.

[0062] Among them, in the process of selecting the wheel-end controller that executes the trigger signal, the selection is made according to the correspondence between the control function and other wheel-end controllers in at least one wheel-end controller, so that the execution of the domain control function can be dispersed to each wheel-end controller, thereby improving the reliability of the execution of the trigger signal and further improving the safety of vehicle driving.

[0063] Optionally, the preset mapping relationship may also be a correspondence between a control function and each wheel-end controller 102 in at least one wheel-end controller 102, that is, as described in the above embodiment, if the main controller 101 fails completely, the first wheel-end controller 104 needs to replace the main controller 101 to implement the domain control function, wherein, since the computing power of the first wheel-end controller 104 itself is limited, the control function corresponding to the trigger signal can be determined, and according to the corresponding control function and the preset mapping relationship, a wheel-end controller 102 is selected from at least one wheel-end controller 102 to execute the trigger signal.

[0064] Wherein, if the preset mapping relationship is the correspondence relationship between the control function and each wheel-end controller 102 in at least one wheel-end controller 102, optionally, each wheel-end controller 102 in at least one wheel-end controller 102 may correspond to at least one control function. Wherein, the present application does not limit the number and type of control functions corresponding to each wheel-end controller 102 in at least one wheel-end controller 102. Optionally, all control functions may be evenly distributed according to the number of wheel-end controllers 102 in at least one wheel-end controller 102, and the evenly distributed control functions may correspond to each wheel-end controller 102 in at least one wheel-end controller 102. Optionally, each control function may be divided and processed according to the computing power required for all control functions, so that the sum of the computing power required for the set of divided and processed control functions is the same, and the divided and processed control functions may correspond to each wheel-end controller 102 in at least one wheel-end controller 102.

[0065] In a possible embodiment, other wheel-end controllers 102 in at least one wheel-end controller 102 further include a second wheel-end controller 106. The second wheel-end controller 106 is used to receive and execute a trigger signal sent by other devices in the vehicle when the domain control function of the main controller 101 fails. The first wheel-end controller 104 is also used to generate a braking control signal according to the received pedal stroke information when the braking control function of the main controller 101 fails, or when it is determined that the electronic pedal 105 is disconnected from the main controller 101, and send the braking control signal to other wheel-end controllers 102 in at least one wheel-end controller 102 through the first CAN bus 103, and perform braking processing in response to the braking control signal.

[0066] Specifically, in this embodiment, the first wheel-end controller 104 is a controller preset in at least one wheel-end controller 102 as a redundant controller of the braking control function of the main controller 101. The second wheel-end controller is a controller preset in another wheel-end controller 102 in at least one wheel-end controller 102 as a redundant controller of the domain control function of the main controller 101. Figure 2 A schematic diagram of a brake-by-wire system in a vehicle according to an embodiment of the present invention Figure 2 .

[0067] Among them, by setting the first wheel-end controller and the second wheel-end controller in the wheel-end controller, when the braking control function or the domain control function of the main controller fails, the corresponding functions can be realized instead of the main controller. There is no need for the first controller to select a controller from other controllers to execute the domain control function, which improves the control efficiency and thus improves the user's car experience.

[0068] In a possible embodiment, the trigger signal is used to trigger a chassis domain control function, which includes at least one of a stability control function, an emergency braking function, an anti-wheel lock function, and the like.

[0069] Among them, the stability control function refers to the function of the wire control brake system to monitor and adjust the stability of the vehicle during braking in real time through the electronic control unit (ECU). It uses sensors to monitor the driving status of the vehicle, such as speed, acceleration, steering angle, etc., and calculates whether the vehicle is in a stable state based on this information. If the vehicle is detected to be unstable, such as side slip, tail swing, etc., the stability control function will intervene immediately to maintain the stability of the vehicle by adjusting the braking force or driving force of each wheel. This function is particularly important in scenarios such as high-speed driving or emergency avoidance, which can effectively prevent the vehicle from losing control and accidents.

[0070] Among them, the emergency braking function refers to the function of the wire control brake system to quickly respond to the driver's braking request in an emergency situation, so that the vehicle can be quickly decelerated or stopped in a short time. It is usually composed of brake pedals, brake fluid, brake pumps, brakes and other components. When the driver encounters an emergency situation (such as the sudden appearance of pedestrians or non-motorized vehicles in front, the vehicle suddenly decelerates or loses control, etc.), he can quickly step on the brake pedal, and the emergency braking system will start immediately, and the vehicle speed will be quickly reduced by adjusting the braking force of each wheel, thereby avoiding accidents. The emergency braking function usually has the characteristics of fast response speed and large braking force, and is one of the important safety functions in the wire control brake system.

[0071] Among them, the anti-wheel lock function refers to the function of the wire control brake system to automatically adjust the braking torque of the wheel through electronic control during the braking process to prevent the wheel from being locked. Wheel locking can cause the vehicle to lose steering ability and stability, increasing the risk of accidents. The anti-wheel lock function monitors information such as wheel speed and deceleration, and adjusts the braking torque of each wheel in real time to keep the wheel at a certain slip rate during braking, thereby avoiding wheel locking. This function is particularly important in scenarios such as slippery roads or emergency braking, and can effectively improve the braking performance and safety of the vehicle.

[0072] Among them, the chassis domain control function, which includes at least one of the stability control function, the emergency braking function, the anti-wheel lock function, etc., can more effectively improve the safety of vehicle driving while performing braking control through the first wheel end controller when the main controller fails completely.

[0073] Figure 3 A schematic diagram of a brake-by-wire system in a vehicle according to an embodiment of the present invention Figure 3 .exist Figure 1 or Figure 2Based on the system shown in FIG. 1 , this embodiment describes in detail another brake-by-wire system 100 in a vehicle. Figure 3 As shown, the system of the embodiment of the present invention includes: a main controller 101 and at least one wheel-end controller 102, and the main controller 101 is connected to the wheel-end controller 102 through a first CAN bus 103 in the vehicle. At least one wheel-end controller 102 includes a first wheel-end controller 104, and the main controller 101 and the first wheel-end controller 104 are connected to an electronic pedal 105 in the vehicle. The electronic pedal 105 is used to generate pedal stroke information in response to the user's pedaling operation, and send the pedal stroke information to the main controller 101 and the first wheel-end controller 104. The first wheel-end controller 104 is used to generate a braking control signal according to the received pedal stroke information when it is determined that the main controller 101 is completely failed, or when it is determined that the connection between the electronic pedal 105 and the main controller 101 is disconnected, and send the braking control signal to other wheel-end controllers 102 in the at least one wheel-end controller 102 through the first CAN bus 103, and perform braking processing in response to the braking control signal. The first wheel-end controller 104 is also used to receive a trigger signal sent by other devices in the vehicle when it is determined that the main controller 101 has completely failed, and select other wheel-end controllers 102 from at least one wheel-end controller 102, and send the trigger signal to the selected other wheel-end controllers 102 for execution.

[0074] For a detailed description of the above content, please refer to Figure 1 The description in the illustrated embodiment will not be repeated here.

[0075] Optionally, based on the above-described vehicle-mounted brake-by-wire system 100, the vehicle-mounted brake-by-wire system 100 further includes a second CAN bus 107107, and the main controller 101 and the wheel-end controller 102 are further connected via the second CAN bus 107. The main controller 101 is further configured to send a braking control signal to at least one wheel-end controller 102 via the second CAN bus 107. For the description of the braking control signal, please refer to Figure 1 The description in the illustrated embodiment will not be repeated here.

[0076] If the first CAN bus 103 fails, for example, the network of the first CAN bus 103 fails, or the connection between the main controller 101 and the first CAN bus 103 is disconnected, the wheel-end controller 102 can also perform braking processing in response to the braking control signal transmitted through the second CAN bus 107. If the connection between the wheel-end controller 102 and the first CAN bus 103 is disconnected, the wheel-end controller 102 can also perform braking processing in response to the braking control signal transmitted through the second CAN bus 107.

[0077] Among them, Figure 1 In the description of the illustrated embodiment, the wheel-end controller 102 is used to perform braking processing in response to a braking control signal. However, if the wheel-end controller 102 receives both a braking control signal transmitted by the first CAN bus 103 and a braking control signal transmitted by the second CAN bus 107, the wheel-end controller 102 is also used to perform braking processing in response to the braking control signal received first.

[0078] Among them, Figure 1 In the description of the illustrated embodiment, the first wheel-end controller 104 is used to generate a braking control signal according to the received pedal stroke information when it is determined that the main controller 101 has completely failed, or when it is determined that the electronic pedal 105 is disconnected from the main controller 101, and send the braking control signal to other wheel-end controllers 102 in at least one wheel-end controller 102 through the first CAN bus 103. However, if, as described above, the brake-by-wire system 100 in the vehicle further includes a second CAN bus 107, and the main controller 101 and the wheel-end controller 102 are also connected through the second CAN bus 107, then based on the above description, the first wheel-end controller 104 is further used to send the braking control signal to other wheel-end controllers 102 in at least one wheel-end controller 102 through the second CAN bus 107 when it is determined that the main controller 101 has completely failed, or when it is determined that the electronic pedal 105 is disconnected from the main controller 101. At this time, the other wheel-end controllers 102 in at least one wheel-end controller 102 receive both the braking control signal transmitted by the first CAN bus 103 and the braking control signal transmitted by the second CAN bus 107. Then, the other wheel-end controllers 102 in at least one wheel-end controller 102 are also used to perform braking processing in response to the braking control signal received first.

[0079] Among them, by setting up the second CAN bus, the braking control function can be implemented in the main controller, or when the first wheel end controller implements the braking control function, the reliability of braking signal transmission is improved, thereby improving the safety of vehicle driving.

[0080] Optionally, based on the wire control brake system 100 in the vehicle described above, the main controller 101 is also used to monitor the connection relationship between the electronic pedal 105 and the wheel-end controller 102, and when monitoring the connection disconnection, generate and present the connection disconnection prompt information.

[0081] Among them, the present application does not limit the process of the main controller 101 monitoring the connection relationship with the electronic pedal 105. Optionally, if the pedal travel information sent by the electronic pedal 105 is not received within a preset time period, it is determined that the connection between the main controller 101 and the electronic pedal 105 is disconnected.

[0082] Among them, the present application does not limit the process of the main controller 101 monitoring the connection relationship with the wheel-end controller 102. Optionally, after sending the braking control signal to the wheel-end controller 102, the main controller 101 can also monitor whether a feedback signal sent by the wheel-end controller 102 is received within a preset time period, wherein the feedback signal is a signal that the wheel-end controller 102 feeds back to the controller that sends the braking control signal after receiving the braking control signal. Optionally, the feedback signal may include a CAN bus flag, and the main controller 101 may determine the connection relationship between the main controller 101 and the wheel-end controller 102 based on the number of feedback signals received from the same wheel-end controller 102 and the CAN bus flag included in the feedback signal.

[0083] Specifically, the disconnection prompt information generated and presented here includes the two end controllers of the disconnected connection, and the disconnected bus, for example: the first CAN bus 103 between the main controller 101 and the first wheel-end controller 104 is disconnected, for example: the second CAN bus 107 between the main controller 101 and one of the other wheel-end controllers 102 is disconnected.

[0084] The first wheel-end controller 104 is also used to monitor the connection relationship between the electronic pedal 105 and the wheel-end controller 102 when it is determined that the main controller 101 has completely failed, or when it is determined that the electronic pedal 105 is disconnected from the main controller 101, and to generate and present a disconnection prompt message when the connection is monitored to be disconnected.

[0085] Among them, the present application does not limit the process of the first wheel-end controller 104 monitoring the connection relationship with the electronic pedal 105. Optionally, if the pedal travel information sent by the electronic pedal 105 is not received within a preset time period, it is determined that the connection between the first wheel-end controller 104 and the electronic pedal 105 is disconnected.

[0086] Among them, the present application does not limit the process of the first wheel-end controller 104 monitoring the connection relationship with the wheel-end controller 102. Optionally, after sending the braking control signal to the wheel-end controller 102, the first wheel-end controller 104 can also monitor whether a feedback signal sent by the wheel-end controller 102 is received within a preset time period, wherein the feedback signal is a signal that the wheel-end controller 102 feeds back to the controller that sends the braking control signal after receiving the braking control signal. Optionally, the feedback signal may include a CAN bus flag, and the first wheel-end controller 104 may determine the connection relationship between the first wheel-end controller 104 and the wheel-end controller 102 based on the number of feedback signals received from the same wheel-end controller 102 and the CAN bus flag included in the feedback signal.

[0087] Specifically, the disconnection prompt information generated and presented here includes the two end controllers of the disconnected connection, and the disconnected bus, for example: the first CAN bus 103 between the first wheel-end controller 104 and the first wheel-end controller 104 is disconnected, for example: the second CAN bus 107 between the first wheel-end controller 104 and one of the other wheel-end controllers 102 is disconnected.

[0088] Among them, the main controller or the first controller monitors the connection relationship between the electronic pedal and the wheel-end controller, and generates and presents a disconnection prompt message when the connection is monitored to be disconnected, so that the user can maintain the connection relationship in time, thereby improving the reliability of braking and further improving the driving safety of the vehicle.

[0089] Optionally, based on the above-described brake-by-wire system 100 for a vehicle, the brake-by-wire system 100 for a vehicle further includes a first power source 108 and a second power source 109. The first power source 108 is connected to the main controller 101 and two wheel-end controllers 102 of the other wheel-end controllers 102 of the at least one wheel-end controller 102. The second power source 109 is connected to the first wheel-end controller 104 and the remaining one wheel-end controller 102 of the other wheel-end controllers 102 of the at least one wheel-end controller 102.

[0090] Among them, the present application does not limit the first power supply 108 and the second power supply 109. Optionally, the first power supply 108 and the second power supply 109 can be two existing power supplies in the vehicle. Optionally, the first power supply 108 can be a power battery in the vehicle, and the second power supply 109 can be a low-voltage battery in the vehicle.

[0091] Among them, power is supplied by combining the first power supply and the second power supply. When one of the power supplies fails, some wheel-end controllers can still perform braking processing, thereby improving the driving safety of the vehicle. Among them, when the first power supply fails, the first wheel-end controller can replace the main controller to implement some functions of the main controller. When the second power supply fails, the main controller can still implement some functions, thereby improving the driving safety of the vehicle.

[0092] Optionally, based on the above-described brake-by-wire system 100 in the vehicle, the wheel-end controller 102 is a left front wheel-end controller, or a left rear wheel-end controller, or a right front wheel-end controller, or a right rear wheel-end controller. The left front wheel-end controller is a wheel-end controller 102 disposed at the left front wheel, the left rear wheel-end controller is a wheel-end controller 102 disposed at the left rear wheel, the right front wheel-end controller is a wheel-end controller 102 disposed at the right front wheel, and the right rear wheel-end controller is a wheel-end controller 102 disposed at the right rear wheel.

[0093] Wherein, if the first wheel-end controller 104 is a left front wheel-end controller, the second power supply 109 is also connected to the right rear wheel-end controller, and the first power supply 108 is also connected to the right front wheel-end controller and the left rear wheel-end controller. If the first wheel-end controller 104 is a right front wheel-end controller, the second power supply 109 is also connected to the left rear wheel-end controller, and the first power supply 108 is also connected to the left front wheel-end controller and the right rear wheel-end controller. If the first wheel-end controller 104 is a left rear wheel-end controller, the second power supply 109 is also connected to the right front wheel-end controller, and the first power supply 108 is also connected to the left front wheel-end controller and the right rear wheel-end controller. If the first wheel-end controller 104 is a right rear wheel-end controller, the second power supply 109 is also connected to the left front wheel-end controller, and the first power supply 108 is also connected to the left rear wheel-end controller and the right front wheel-end controller.

[0094] Among them, based on the connection relationship between the power supply and the controller described above, it can be ensured that when only one power supply is valid, the two wheel-end controllers 102 that can perform the braking function are cross-distributed, thereby ensuring the braking function to the greatest extent, thereby improving the driving safety of the vehicle.

[0095] Optionally, based on the above-described brake-by-wire system 100 in the vehicle, the main controller 101 is further used to monitor the operating status of the wheel-end controller 102, and generate and present fault prompt information according to the monitored operating status. The first wheel-end controller 104 is further used to monitor the operating status of other wheel-end controllers 102 in at least one wheel-end controller 102, and generate and present fault prompt information according to the monitored operating status.

[0096] Among them, the present application does not limit the process of the main controller 101 monitoring the operating state of the wheel-end controller 102. Optionally, after executing the corresponding function, the wheel-end controller 102 can send a signal of the result of the execution of the feedback function to the main controller 101. For example, after executing the braking function, a signal of the result of the execution of the braking function is sent to the main controller 101. Optionally, the main controller 101 can monitor the signal of the result of the execution of the feedback function sent by the wheel-end controller 102. If the main controller 101 does not receive the signal of the result of the execution of the feedback function sent by the wheel-end controller 102 within a preset time period, it is determined that the operating state of the wheel-end controller 102 is a fault state. Specifically, the fault prompt information generated and presented here includes the flag of the controller in the fault state, for example: the first wheel-end controller 104 is faulty, for example: the left front wheel-end controller is faulty.

[0097] Among them, the present application does not limit the process of the first wheel-end controller 104 monitoring the operating state of other wheel-end controllers 102 in at least one wheel-end controller 102. Optionally, after executing the corresponding function, other wheel-end controllers 102 in at least one wheel-end controller 102 may send a signal of the result of the execution of the feedback function to the first wheel-end controller 104. For example, after executing the braking function, a signal of the result of the execution of the braking function is sent to the first wheel-end controller 104. Optionally, the first wheel-end controller 104 may monitor the signal of the result of the execution of the feedback function sent by other wheel-end controllers 102 in at least one wheel-end controller 102. If the main controller 101 does not receive the signal of the result of the execution of the feedback function sent by other wheel-end controllers 102 in at least one wheel-end controller 102 within a preset time period, it is determined that the operating state of other wheel-end controllers 102 in the at least one wheel-end controller 102 is a fault state. Specifically, the fault prompt information generated and presented here includes the flag of the controller in the fault state, for example: the left front wheel-end controller is faulty.

[0098] Among them, the main controller monitors the operating status of the wheel-end controller, and the first controller monitors the operating status of other wheel-end controllers in at least one wheel-end controller, and generates and presents fault prompt information when a controller failure is monitored, so that the user can maintain the faulty controller in time, thereby improving the braking reliability and further improving the driving safety of the vehicle.

[0099] The present invention further provides a vehicle, comprising the brake-by-wire system 100 in the vehicle as described above.

[0100] Finally, it should be noted that the above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A brake-by-wire system in a vehicle, characterized in that: include: A main controller and at least one wheel-end controller, wherein the main controller and the wheel-end controller are connected via a first CAN bus in the vehicle; The at least one wheel-end controller includes a first wheel-end controller, wherein the first wheel-end controller is connected to an electronic pedal in the vehicle; The electronic pedal is used to generate pedal stroke information in response to a user's pedaling operation, and send the pedal stroke information to the main controller and the first wheel-end controller; The first wheel-end controller is used to generate a braking control signal according to the received pedal stroke information when it is determined that the main controller has completely failed or when it is determined that the electronic pedal is disconnected from the main controller, and send the braking control signal to other wheel-end controllers in the at least one wheel-end controller through the first CAN bus, and perform braking processing in response to the braking control signal; The first wheel-end controller is also used to receive a trigger signal sent by other devices in the vehicle when it is determined that the main controller has completely failed, and select other wheel-end controllers from the at least one wheel-end controller; and send the trigger signal to the other selected wheel-end controllers for execution.

2. The system according to claim 1, characterized in that The receiving a trigger signal sent by other devices in the vehicle and selecting other wheel-end controllers from the at least one wheel-end controller comprises: In response to the trigger signal, a computing capability of each of the other wheel-end controllers is determined, and another wheel-end controller is selected from the at least one wheel-end controller based on the determined computing capability.

3. The system according to claim 1, characterized in that The receiving a trigger signal sent by other devices in the vehicle and selecting other wheel-end controllers from the at least one wheel-end controller comprises: Determining a control function corresponding to the trigger signal, and selecting other wheel-end controllers from the at least one wheel-end controller according to the corresponding control function and a preset mapping relationship; The preset mapping relationship is a corresponding relationship between a control function and other wheel-end controllers in at least one wheel-end controller.

4. The system according to claim 1, characterized in that The other wheel-end controllers in the at least one wheel-end controller also include a second wheel-end controller; The second wheel-end controller is used to receive and execute the trigger signal sent by other devices in the vehicle when the domain control function of the main controller fails; The first wheel-end controller is also used to generate a braking control signal based on the received pedal travel information when the braking control function of the main controller fails or when it is determined that the electronic pedal is disconnected from the main controller, and send the braking control signal to other wheel-end controllers in the at least one wheel-end controller through the first CAN bus, and perform braking processing in response to the braking control signal.

5. The system according to claim 1, characterized in that The system further includes a second CAN bus, and the main controller and the wheel-end controller are also connected via the second CAN bus; The main controller is further used to send the brake control signal to the at least one wheel end controller via the second CAN bus; The wheel end controller is further used to perform braking processing in response to the braking control signal received first; The first wheel-end controller is further configured to send the brake control signal to other wheel-end controllers in the at least one wheel-end controller through the second CAN bus when it is determined that the main controller has completely failed or when it is determined that the electronic pedal is disconnected from the main controller; The other wheel-end controllers in the at least one wheel-end controller are also used to perform braking processing in response to the braking control signal received first.

6. The system according to claim 5, characterized in that The main controller is further used to monitor the connection relationship between the electronic pedal and the wheel-end controller, and when the connection is disconnected, generate and present disconnection prompt information; The first wheel-end controller is also used to monitor the connection relationship between the electronic pedal and the wheel-end controller when it is determined that the main controller has completely failed, or when it is determined that the electronic pedal is disconnected from the main controller, and to generate and present a disconnection prompt message when the connection is monitored to be disconnected.

7. The system according to claim 1, characterized in that The system also includes a first power supply and a second power supply; wherein the first power supply is connected to the main controller and two wheel-end controllers among the other wheel-end controllers in the at least one wheel-end controller; and the second power supply is connected to the first wheel-end controller and the remaining one wheel-end controller among the other wheel-end controllers in the at least one wheel-end controller.

8. The system according to claim 7, characterized in that The wheel end controller is a left front wheel end controller, or a left rear wheel end controller, or a right front wheel end controller, or a right rear wheel end controller; Wherein, if the first wheel-end controller is a left front wheel-end controller, the second power supply is also connected to a right rear wheel-end controller; If the first wheel-end controller is a right front wheel-end controller, the second power supply is also connected to a left rear wheel-end controller; If the first wheel-end controller is a left rear wheel-end controller, the second power supply is also connected to a right front wheel-end controller; If the first wheel-end controller is a right rear wheel-end controller, the second power supply is also connected to a left front wheel-end controller.

9. The system according to claim 8, characterized in that The main controller is also used to monitor the operating status of the wheel-end controller, and generate and present fault prompt information based on the monitored operating status; the first wheel-end controller is also used to monitor the operating status of other wheel-end controllers in the at least one wheel-end controller, and generate and present fault prompt information based on the monitored operating status.

10. The system according to any one of claims 1 to 9, characterized in that: The trigger signal is used to trigger a chassis domain control function; the chassis domain control function includes at least one of a stability control function, an emergency braking function, an anti-wheel lock function, and the like.

11. A vehicle, characterized in that: A brake-by-wire system in a vehicle comprising any one of claims 1-10.

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