Electronic braking system, braking control method and vehicle

Abstract

The invention provides an electronic braking system, a braking control method and a vehicle, and relates to the technical field of vehicle braking, the electronic braking system comprises a first domain controller, a second domain controller, a first stroke sensor, a second stroke sensor and a force sensor; the first stroke sensor, the second stroke sensor and the force sensor are all arranged on a brake pedal of the vehicle, and the first stroke sensor, the second stroke sensor and the force sensor are electrically connected with the first domain controller and the second domain controller respectively; the first domain controller and the second domain controller control the braking action of the vehicle brake according to output signals of the first stroke sensor, the second stroke sensor and the force sensor, and when at least one of the first stroke sensor and the second stroke sensor fails, the braking action of the vehicle brake is controlled. And the first domain controller and the second domain controller control the braking action of a vehicle brake according to output signals of the force sensor and the non-invalid stroke sensor. The brake reliability of the vehicle can be improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle braking, and in particular to an electronic braking system, a braking control method and a vehicle. Background Art

[0002] The current interaction between the electronic brake pedal of a passenger car and the upper controller of the vehicle mainly relies on the electronic brake pedal to output two travel signals, which are hardwired into the upper controller. The two travel signals are independently transmitted to the module partition of the upper controller to achieve signal redundancy of the electronic brake pedal. However, when one of the travel signals fails, although the braking control can be achieved by relying solely on the other travel signal, signal redundancy cannot be achieved at this time, and the remaining signals cannot be verified, which poses a certain risk of failure. Summary of the invention

[0003] In order to solve the problems existing in the prior art, the embodiments of the present disclosure provide an electronic braking system, a braking control method and a vehicle to improve the braking reliability of the vehicle. The technical solution is as follows:

[0004] In a first aspect, an electronic brake system is provided, comprising a first domain controller, a second domain controller, a first stroke sensor, a second stroke sensor, and a force sensor;

[0005] The first stroke sensor, the second stroke sensor and the force sensor are all arranged on the brake pedal of the vehicle, and the first stroke sensor, the second stroke sensor and the force sensor are electrically connected to the first domain controller and the second domain controller respectively;

[0006] The first domain controller and the second domain controller control the braking action of the vehicle brake according to the output signals of the first stroke sensor, the second stroke sensor and the force sensor, and when at least one of the first stroke sensor and the second stroke sensor fails, the first domain controller and the second domain controller control the braking action of the vehicle brake according to the output signals of the force sensor and the stroke sensor that has not failed.

[0007] In a possible implementation, the first domain controller is connected to the brakes of the left front wheel and the right rear wheel of the vehicle, and the second domain controller is connected to the brakes of the right front wheel and the left rear wheel of the vehicle.

[0008] In a possible implementation, the power supply input and signal output of the first stroke sensor, the second stroke sensor, and the force sensor are independent.

[0009] In a possible implementation, the first travel sensor is respectively connected to the first domain controller and the second domain controller via a SENT protocol, and / or the second travel sensor is respectively connected to the first domain controller and the second domain controller via a SENT protocol.

[0010] In a second aspect, a braking control method is provided, which is applied to an electronic braking system provided in the first aspect, comprising:

[0011] Obtaining output signals of a first stroke sensor, a second stroke sensor and a force sensor at a brake pedal and performing verification;

[0012] If the output signals of the first stroke sensor, the second stroke sensor and the force sensor are all normal, the vehicle brake is controlled to actuate according to the state of the brake pedal confirmed after verification;

[0013] If at least one of the first travel sensor and the second travel sensor fails, the vehicle brake is controlled to be actuated according to the output signals of the force sensor and the remaining travel sensor.

[0014] In a possible implementation, the method further includes controlling the actuation of the vehicle brakes according to output signals of the first stroke sensor and the second stroke sensor if the force sensor fails.

[0015] In a possible implementation, when at least one of the first stroke sensor, the second stroke sensor, and the force sensor fails, but not all of them fail, a failure reminder is issued.

[0016] In a possible implementation, if the output signals of the first stroke sensor, the second stroke sensor, and the force sensor are all normal, and the first domain controller completes the verification of the output signals of the first stroke sensor, the second stroke sensor, and the force sensor, and the second domain controller completes the verification of the output signals of the first stroke sensor, the second stroke sensor, and the force sensor, the first domain controller and the second domain controller perform internal status verification, and when the domain controller status bit is valid, braking action is performed.

[0017] According to a third aspect, a vehicle is provided, comprising an electronic braking system provided by the first aspect.

[0018] In a possible implementation, a force sensor in an electronic braking system is disposed at the bottom of a vehicle brake pedal.

[0019] The technical solution provided by the embodiments of the present disclosure has the following beneficial effects:

[0020] The disclosed embodiments provide an electronic braking system, a braking control method and a vehicle. By additionally adding a force sensor to collect the force signal of the brake pedal, and coordinating the signals of two-way travel sensors, the dual-circuit travel signal and the force signal are independent and mutually verified, so that the signal input of the whole vehicle is more reliable and the braking system of the whole vehicle is safer and more reliable. The input and output of the force signal are independent of the travel signal, and the force signal is used independently as the signal source of the actuator. Even if the travel signal fails, the signal source of the whole vehicle can be guaranteed, the function of the braking system of the whole vehicle is retained, and the braking reliability of the vehicle is improved.

[0021] Advantages of additional aspects of the present disclosure will be given in part in the following description and in part will become apparent from the following description or will be learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 is a schematic diagram of an electronic braking system in the prior art;

[0024] Figure 2 is a schematic diagram of an electronic braking system provided by an embodiment of the present disclosure;

[0025] Figure 3 It is a schematic diagram of the force sensor setting method;

[0026] The reference numerals represent respectively: 1. brake pedal; 2. force sensor. DETAILED DESCRIPTION

[0027] In order to make the objectives, technical solutions and advantages of the present disclosure more clear, the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings.

[0028] The terms "first", "second", etc. in the specification, claims and drawings of the present disclosure are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0029] like Figure 1As shown in the figure, the interaction between the conventional vehicle electronic brake system and the upper controller is realized through two travel signals. The two travel sensors input the two travel signals to the domain controller for mutual verification, thereby realizing signal redundancy of the electronic brake pedal. However, for the decoupled electronic brake pedal, in order to ensure reliability and to adapt to the subsequent increase of autonomous driving functions, a high degree of redundancy should be achieved. On the one hand, when one of the travel signals fails, although the braking control can be achieved by relying solely on the other travel signal, signal redundancy cannot be achieved at this time, and the remaining signals cannot be verified, and there is a certain risk of failure; on the other hand, both signals are travel signals, and their sensing principles are the same. There is a risk that both signals will fail at the same time under certain special conditions.

[0030] Based on this, the embodiment of the present disclosure first provides an electronic braking system, such as Figure 2 As shown, it includes a first domain controller, a second domain controller, a first stroke sensor, a second stroke sensor and a force sensor;

[0031] The first stroke sensor, the second stroke sensor and the force sensor are all arranged on the brake pedal of the vehicle, and the first stroke sensor, the second stroke sensor and the force sensor are electrically connected to the first domain controller and the second domain controller respectively;

[0032] The first domain controller and the second domain controller control the braking action of the vehicle brake according to the output signals of the first stroke sensor, the second stroke sensor and the force sensor, and when at least one of the first stroke sensor and the second stroke sensor fails, the first domain controller and the second domain controller control the braking action of the vehicle brake according to the output signals of the force sensor and the stroke sensor that has not failed.

[0033] The disclosed embodiment is based on the existing electronic brake pedal using the travel signal for sensing control, and adds the acquisition of the force signal of the electronic brake pedal, such as Figure 3 As shown, a force sensor 2 is additionally arranged at the lower part of the brake pedal 1 to obtain a force signal when the pedal is stepped on. Figure 2 The dual-circuit travel signal and force signal are independent and mutually verified, making the vehicle signal input more reliable and the vehicle braking system safer and more reliable. The input and output of the force signal are independent of the travel signal, and the force signal is used independently as the signal source of the actuator, so that even if the travel signal fails, the signal source of the vehicle can be guaranteed and the function of the vehicle braking system can be retained.

[0034] The first stroke sensor and the second stroke sensor are independently arranged on the brake pedal of the vehicle, and the stroke of the brake pedal is collected at the same time. In some embodiments, the stroke sensor may adopt a Hall sensor, which can realize non-contact measurement of the brake pedal stroke based on the Hall effect, and has high durability and high reliability, and is suitable for long-term use and application scenarios requiring high precision. The two stroke sensors are not only physically separated, but also independently powered, so that even if one of the sensors or its power supply has a problem, the other can still work normally. The signals of each sensor are independently transmitted to the upper domain controller for processing to achieve redundant control.

[0035] The first stroke sensor and the second stroke sensor are hard-wired to the domain controller and communicate through the SENT protocol. Specifically, the output signal of the first stroke sensor is divided into two paths, SENT1.1 and SENT1.2, which are respectively input into the first domain controller and the second domain controller; the output signal of the second stroke sensor is divided into two paths, SENT2.1 and SENT2.2, which are respectively input into the first domain controller and the second domain controller. The first domain controller and the second domain controller may refer to control systems that are responsible for different physical areas or functional areas inside the vehicle. In some embodiments, the domain controllers may also be named according to the partitions, that is, the first domain controller is named as domain controller zone A, and the second domain controller is named as domain controller zone B. In this embodiment, the domain controller zone A is connected to the brakes of the left front wheel and the right rear wheel of the vehicle to control the braking of the left front wheel and the right rear wheel, and the domain controller zone B is connected to the brakes of the right front wheel and the left rear wheel of the vehicle to control the braking of the right front wheel and the left rear wheel. Distributing the control of the braking system to two different domain controllers and cross-controlling the braking of the front and rear wheels can enhance redundancy and improve load distribution to evenly distribute the braking force. At the same time, in the event of a single point failure, a single domain controller can still control the vehicle's stable braking, giving the vehicle a certain braking capability.

[0036] The power supply input and signal output of the first stroke sensor, the second stroke sensor and the force sensor are all independent to ensure the reliability of multi-sensor redundancy.

[0037] To avoid false alarms, the default stroke sensor takes ≥1mm as the effective stroke, and the force sensor takes ≥5N as the effective value.

[0038] The disclosed embodiment realizes high redundancy and safety of the vehicle braking system through input verification of multiple signals of the travel sensor and the force sensor. The dual-path travel sensor and the force sensor have completely independent power input and signal output, which maximizes the safety of the vehicle braking system. Based on the above-mentioned electronic braking system, a braking control method is further provided, including:

[0039] Obtaining output signals of a first stroke sensor, a second stroke sensor and a force sensor at a brake pedal and performing verification;

[0040] If the output signals of the first stroke sensor, the second stroke sensor and the force sensor are all normal, the vehicle brake is controlled to actuate according to the state of the brake pedal confirmed after verification;

[0041] If at least one of the first travel sensor and the second travel sensor fails, the vehicle brake is controlled to be actuated according to the output signals of the force sensor and the remaining travel sensor.

[0042] In normal mode, that is, the output signals of the first stroke sensor, the second stroke sensor and the force sensor are normal, the domain controller area A collects the output signals of the stroke sensor (SENT1.1 and SENT2.1) and the force sensor for verification, and the domain controller area B collects the output signals of the stroke sensor (SENT1.2 and SENT2.2) and the force sensor for verification, confirms the state of the brake pedal, performs brake signal inspection and judgment of the whole vehicle, and realizes braking of the whole vehicle.

[0043] After domain controller area A and domain controller area B complete the verification of the output signals of the travel sensor and force sensor, they will perform internal status verification between domain controller area A and domain controller area B to further confirm that all signals are valid and consistent. When the domain controller status bit is valid, vehicle braking is achieved.

[0044] When a single stroke sensor fails, that is, at least one of the first stroke sensor and the second stroke sensor fails, the vehicle is braked through the SENT signal of the other stroke sensor and the signal of the force sensor. At this time, the remaining stroke sensor and force sensor can still meet the redundant control requirements, the current vehicle braking system functions normally, and the instrument lights up to remind the user to repair.

[0045] When the travel signal fails, the force sensor signal is directly input into the domain controller area A and area B to achieve vehicle braking. At this time, the vehicle braking system functions normally but has no redundancy, and the instrument lights up to remind the user to repair.

[0046] When the force sensor fails, the entire vehicle is braked through two dual-path stroke signal inputs to the domain controllers A and B. Currently, the vehicle's braking system functions normally, and the instrument lights up to remind the customer to repair.

[0047] The embodiment of the present disclosure further provides a vehicle, the vehicle comprising an electronic brake system provided in the first aspect. The vehicle is a wire-controlled brake type, two travel sensors and one force sensor are arranged at the brake pedal, and three-way sensor signals are collected at the same time and respectively input into two domain controllers for brake redundancy control.

[0048] The travel sensor can be set at the bottom of the brake pedal to obtain the displacement of the brake pedal through a Hall sensor or other forms of non-contact sensors. The force sensor is set at the bottom of the brake pedal to obtain the downward force generated when the driver steps on the brake pedal, so as to determine the required braking force.

[0049] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0050] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. An electronic braking system, characterized in that: It includes a first domain controller, a second domain controller, a first stroke sensor, a second stroke sensor and a force sensor; The first stroke sensor, the second stroke sensor and the force sensor are all arranged on the brake pedal of the vehicle, and the first stroke sensor, the second stroke sensor and the force sensor are electrically connected to the first domain controller and the second domain controller respectively; The first domain controller and the second domain controller control the braking action of the vehicle brake according to the output signals of the first stroke sensor, the second stroke sensor and the force sensor, and when at least one of the first stroke sensor and the second stroke sensor fails, the first domain controller and the second domain controller control the braking action of the vehicle brake according to the output signals of the force sensor and the stroke sensor that has not failed.

2. An electronic brake system as claimed in claim 1, characterized in that: The first domain controller is connected to the brakes of the left front wheel and the right rear wheel of the vehicle, and the second domain controller is connected to the brakes of the right front wheel and the left rear wheel of the vehicle.

3. An electronic brake system as claimed in claim 1, characterized in that: The power supply input and signal output of the first stroke sensor, the second stroke sensor and the force sensor are all independent.

4. An electronic brake system as claimed in claim 1, characterized in that: The first travel sensor is respectively connected to the first domain controller and the second domain controller via the SENT protocol, and / or the second travel sensor is respectively connected to the first domain controller and the second domain controller via the SENT protocol.

5. A braking control method, applied to an electronic braking system as claimed in any one of claims 1 to 4, characterized in that: include: Obtaining output signals of a first stroke sensor, a second stroke sensor and a force sensor at a brake pedal and performing verification; If the output signals of the first stroke sensor, the second stroke sensor and the force sensor are all normal, the vehicle brake is controlled to actuate according to the state of the brake pedal confirmed after verification; If at least one of the first travel sensor and the second travel sensor fails, the vehicle brake is controlled to be actuated according to the output signals of the force sensor and the remaining travel sensor.

6. A braking control method as claimed in claim 5, characterized in that: The method also includes controlling the vehicle brake action according to output signals of the first stroke sensor and the second stroke sensor if the force sensor fails.

7. A braking control method according to claim 5 or claim 6, characterized in that: When at least one of the first stroke sensor, the second stroke sensor and the force sensor fails, and not all of them fail, a failure reminder is issued.

8. A braking control method as claimed in claim 5, characterized in that: If the output signals of the first stroke sensor, the second stroke sensor and the force sensor are all normal, and the first domain controller completes the verification of the output signals of the first stroke sensor, the second stroke sensor and the force sensor, and the second domain controller completes the verification of the output signals of the first stroke sensor, the second stroke sensor and the force sensor, the first domain controller and the second domain controller perform internal status verification, and when the domain controller status bit is valid, the braking action is performed.

9. A vehicle, characterized in that: The vehicle comprises an electronic braking system as claimed in any one of claims 1-4.

10. A vehicle as claimed in claim 9, characterized in that: The force sensor in the electronic braking system is installed at the bottom of the vehicle's brake pedal.

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