Motor vehicle wheel speed redundancy control framework and control method

Abstract

A motor vehicle wheel speed redundancy control architecture disclosed by the present invention comprises a main control system and a redundancy control system, the redundancy control system is configured to acquire first rotation speed data, the main control system is configured to acquire second rotation speed data, the first rotation speed data comprises a first motor vehicle wheel speed and a rotation speed of a driving motor, and the second rotation speed data comprises a second motor vehicle wheel speed. The first motor vehicle wheel speed is detected and acquired by a first wheel speed sensor and / or calculated, the second rotating speed data comprises a second motor vehicle wheel speed detected and acquired by a second wheel speed sensor, and the sum of the number of the first wheel speed sensor and the number of the driving motors is the same as the number of the wheels. According to the motor vehicle wheel speed redundancy control framework, the number of the wheel speed sensors can be reduced, and the cost of the whole vehicle is reduced. The invention further discloses a control method of the motor vehicle wheel speed redundancy control framework.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle brake control, and more specifically, to a motor vehicle wheel speed redundant control architecture and control method. Background Art

[0002] Wheel speed information, as a core parameter in vehicle control systems, plays a crucial role. It not only directly impacts vehicle stability and safety, but also profoundly impacts passenger comfort. With the rapid advancement of automotive electronics, wheel speed signals are increasingly being used in a wide range of key areas, including anti-lock braking systems (ABS), electronic stability control (ESC), automatic transmission control systems, and instrument control modules. The efficient operation of these advanced systems relies on accurate and reliable wheel speed information, which together form a solid foundation for safe driving in modern vehicles.

[0003] Existing technology primarily relies on a single wheel speed sensor for wheel speed detection. While this design meets basic vehicle control requirements to a certain extent, its inherent limitations are becoming increasingly apparent. Especially in complex and changing driving environments, a single sensor is susceptible to interference from external factors, such as electromagnetic noise and mechanical failures, which can lead to distortion or loss of wheel speed information. Failure of the wheel speed receiving system directly impairs the performance of the vehicle control system and, in severe cases, can even endanger driving safety.

[0004] Traditional wheel speed detection methods rely primarily on a single wheel speed sensor. While this approach can meet basic vehicle control requirements to a certain extent, its inherent limitations cannot be ignored. If the wheel speed receiving system fails or is subject to external interference, the single sensor may fail to provide accurate wheel speed information, resulting in distorted information and, in turn, affecting the overall performance of the vehicle control system. This potential failure risk is unacceptable for modern automotive electronic control systems that rely heavily on accurate wheel speed information.

[0005] To overcome the shortcomings of traditional methods, redundant wheel speed identification technology has emerged. By integrating multiple wheel speed sensors and corresponding data processing algorithms, this technology significantly improves the reliability and accuracy of wheel speed information. However, existing redundant wheel speed identification solutions often utilize a large number of wheel speed sensors, such as a system with eight sets of wheel speed sensors. While this effectively improves information redundancy and reliability, it comes at the cost of significant costs. This not only increases vehicle manufacturing costs but can also negatively impact market adoption and consumer acceptance.

[0006] It is desired to provide a redundant control architecture and control method for wheel speed of a motor vehicle. Summary of the Invention

[0007] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a redundant wheel speed control architecture for a motor vehicle, the purpose of which is to reduce the number of wheel speed sensors and lower the cost of the entire vehicle.

[0008] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a motor vehicle wheel speed redundant control architecture, including a main control system and a redundant control system, the redundant control system is configured to obtain a first data set, and the main control system is configured to obtain a second data set, the first data set includes a first motor vehicle wheel speed and a rotational speed of a drive motor, the first motor vehicle wheel speed is detected and obtained by a first wheel speed sensor and / or obtained by calculation, the second data set includes a second motor vehicle wheel speed detected and obtained by a second wheel speed sensor, and the sum of the number of first wheel speed sensors and drive motors is the same as the number of wheels.

[0009] The redundant control system includes a redundant controller, the first wheel speed sensor is connected to the redundant controller, and the drive motor is connected to the redundant controller.

[0010] The wheels of the motor vehicle include driving wheels, and the wheel speed sensor only needs to be installed on one of the driving wheels at most.

[0011] The redundant controller calculates the wheel speed of the driving wheel not equipped with the first wheel speed sensor based on the acquired rotation speed of the driving motor and the wheel speed of the wheel equipped with the first wheel speed sensor, thereby achieving the purpose of canceling its redundant wheel speed sensor.

[0012] The drive motor is set to one, and the first data set includes the wheel speed of the motor vehicle and the rotational speed of the drive motor. The drive motor is connected to two coaxial wheels, and the wheel speed V1 = [N / i*2-V2*60 / (2πR)] / [60 / (2πR)], wherein V2 represents the known wheel speed of the drive shaft, N represents the motor rotational speed, and i represents the transmission ratio.

[0013] The two drive motors are provided, and the first data set includes the vehicle wheel speed and the rotational speed of the drive motor. The two drive motors are respectively connected to two coaxial wheels, and the wheel speeds V3 and V4 of the two wheels are respectively:

[0014] V3=N3 / i / [60 / (2πR)]

[0015] V4=N4 / i / [60 / (2πR)]

[0016] Among them, N3 and N4 represent the rotation speeds of the two drive motors respectively, and i represents the transmission ratio.

[0017] One drive motor is provided, and four wheels are provided, two of which are drive wheels and the other two are non-drive wheels. The drive motor is connected to the two coaxial drive wheels, and the first wheel speed sensor is provided at one of the drive wheels, and the first wheel speed sensors are provided at the two non-drive wheels.

[0018] Two drive motors are provided, and four wheels are provided. All four wheels are drive wheels. Each drive motor is connected to two coaxial drive wheels. The first wheel speed sensor is provided at one of the two coaxial drive wheels.

[0019] Two drive motors are provided, and four wheels are provided, two of which are driving wheels and the other two are non-driving wheels. The first wheel speed sensors are provided at the two non-driving wheels.

[0020] There are three drive motors and four wheels, all of which are drive wheels. The drive motors are connected to the drive wheels. The first wheel speed sensor is arranged at one of the drive wheels, and the drive wheel is connected to a drive motor.

[0021] There are four drive motors and four wheels, all of which are drive wheels, and each drive motor is connected to a drive wheel.

[0022] The present invention also provides a control method for a redundant control architecture of a motor vehicle wheel speed, comprising the steps of:

[0023] S1. The first wheel speed sensor transmits the detected wheel speed of the vehicle to the redundant control system, and the second wheel speed sensor transmits the detected wheel speed of the vehicle to the main control system;

[0024] S2. The speed data of the driving motor is transmitted to the redundant control system.

[0025] The driving motor transmits the rotation speed data to the redundant control system via the CAN bus.

[0026] The motor vehicle wheel speed redundant control architecture of the present invention can reduce the number of wheel speed sensors and lower the cost of the entire vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] This manual includes the following drawings, which show the following contents:

[0028] Figure 1 Schematic diagram of the structure of the redundant control architecture of the motor vehicle wheel speed according to the present invention;

[0029] Figure 2 1 is a flow chart of a control method for a redundant control architecture for a motor vehicle wheel speed according to the present invention;

[0030] Figure 3 This is a schematic diagram of wheel speed data results;

[0031] The following are marked in the figure:

[0032] 1. First wheel speed sensor; 2. Second wheel speed sensor; 3. Drive motor; 4. CAN bus; 5. Wheel. DETAILED DESCRIPTION

[0033] The following is a further detailed description of the specific implementation methods of the present invention through the description of embodiments with reference to the accompanying drawings, with the aim of helping those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solution of the present invention and to facilitate its implementation.

[0034] like Figure 1 As shown, the present invention provides a motor vehicle wheel speed redundant control architecture, including a main control system and a redundant control system, the redundant control system is configured to obtain a first data set, and the main control system is configured to obtain a second data set, the first data set includes a first motor vehicle wheel speed and a rotational speed of a drive motor, the first motor vehicle wheel speed is detected and obtained by a first wheel speed sensor and / or obtained by calculation, the second data set includes a second motor vehicle wheel speed detected and obtained by a second wheel speed sensor, the sum of the number of first wheel speed sensors and drive motors is the same as the number of wheels, and the drive motor is used to drive the wheels of the motor vehicle to rotate.

[0035] Specifically, the present invention provides a new architecture and control method for wheel speed redundancy in motor vehicles. This reduces the number of redundant wheel speed sensors based on the number and distribution of drive motors in the vehicle. The principle is to calculate the speed of one drive wheel using the drive motor speed and the speed of the other drive wheel, thereby eliminating the redundant wheel speed sensor for the other drive wheel and reducing vehicle costs.

[0036] In the embodiment of the present invention, Figure 1 As shown, the redundant control system includes a redundant controller, a first wheel speed sensor connected to the redundant controller, a drive motor connected to the redundant controller, and the first wheel speed sensor is a redundant wheel speed sensor, which is used to detect the wheel speed, that is, the wheel speed of the first motor vehicle.

[0037] In the embodiment of the present invention, Figure 1 As shown, the main control system is used for normal wheel speed calculation and processing, as well as subsequent control execution. The main control system includes a main controller, and a second wheel speed sensor is connected to the main controller. A second wheel speed sensor is provided on each wheel of the vehicle, and is used to detect the wheel speed, i.e., the second vehicle wheel speed.

[0038] In the embodiment of the present invention, the wheels of the motor vehicle include driving wheels, and the first wheel speed sensor only needs to be installed on at most one of the driving wheels.

[0039] In an embodiment of the present invention, the redundant controller calculates the wheel speed of the driving wheel not equipped with the first wheel speed sensor based on the acquired rotational speed of the driving motor and the wheel speed of the wheel equipped with the first wheel speed sensor, thereby achieving the purpose of eliminating its redundant wheel speed sensor.

[0040] When only one drive motor is provided, the first data set includes the first vehicle wheel speed and the rotational speed of the drive motor. The first vehicle wheel speed is detected and acquired by the first wheel speed sensor and calculated by the redundant controller. The drive motor is used to drive two coaxial wheels to rotate. The drive motor is connected to the two coaxial wheels via a transmission mechanism. These two wheels serve as the drive wheels of the vehicle. One of the two wheels is provided with a first wheel speed sensor, while the other wheel is not. Using the basic principle that the sum of the rotational speeds of the two coaxial wheels is equal to twice the motor shaft speed of the drive motor, the redundant controller calculates the wheel speed of the wheel not provided with the first wheel speed sensor as:

[0041] V1=[N / i*2-V2*60 / (2πR)] / [60 / (2πR)]

[0042] Among them, V1 represents the wheel speed of the wheel without the first wheel speed sensor, in m / s; V2 represents the wheel speed of the wheel with the first wheel speed sensor, in m / s; N represents the rotational speed of the drive motor, in r / min; i represents the transmission ratio of the transmission mechanism; R represents the wheel radius, in m.

[0043] When two drive motors are provided, the first data set includes the first vehicle wheel speed and the rotational speed of the drive motors. The two drive motors are respectively connected to two coaxial wheels, each drive motor is used to drive one wheel to rotate. The drive motors are connected to the wheels via a transmission mechanism. No first wheel speed sensor is provided on the wheel. The redundant controller calculates the wheel speeds V3 and V4 of the two wheels as follows:

[0044] V3=N3 / i / [60 / (2πR)]

[0045] V4=N4 / i / [60 / (2πR)]

[0046] Among them, N3 and N4 represent the rotation speeds of the two drive motors respectively, in m / s; i represents the transmission ratio of the transmission mechanism; and R represents the wheel radius in m.

[0047] When one drive motor is provided, four wheels are provided, two of which are drive wheels and the other two are non-drive wheels. The drive motor is connected to the two coaxial drive wheels, the first wheel speed sensor is provided at one of the drive wheels, and the first wheel speed sensors are provided at the two non-drive wheels. The sum of the number of redundant wheel speed sensors and the number of drive motors is 4, which reduces the number of wheel speed sensors. The arrangement relationship between the motors and the redundant wheel speed sensors is as follows:

[0048] (1) One drive motor is provided, and four wheels are provided, of which two wheels are drive wheels and the other two wheels are non-drive wheels. The drive motor is used to drive the two coaxial drive wheels to rotate. A first wheel speed sensor is provided at one of the two coaxial drive wheels. A total of three first wheel speed sensors are provided, and a first wheel speed sensor is provided at each of the two non-drive wheels. The first wheel speed of the motor vehicle is detected and obtained by the first wheel speed sensor and calculated by the redundant controller;

[0049] (2) Two drive motors are provided, and four wheels are provided, all of which are drive wheels. Each drive motor is connected to two coaxial drive wheels, and a first wheel speed sensor is provided at one of the two coaxial drive wheels. Two first wheel speed sensors are provided in total, and the first wheel speed of the motor vehicle is detected and obtained by the first wheel speed sensor and calculated by the redundant controller;

[0050] (3) Two drive motors are provided, and four wheels are provided, of which two wheels are drive wheels (which may be front wheels or rear wheels, corresponding to front-wheel drive or rear-wheel drive vehicles, respectively), and the other two wheels are non-drive wheels. A first wheel speed sensor is provided at each of the two non-drive wheels. The first wheel speed of the motor vehicle is detected and obtained by the first wheel speed sensor and calculated by the redundant controller. The wheel speed of the drive wheel is calculated by the redundant controller based on parameters such as the rotational speed of the drive motor;

[0051] (4) Three drive motors are provided and four wheels are provided, all of which are drive wheels. One of the drive motors is used to drive two coaxial drive wheels to rotate. A first wheel speed sensor is provided at one of the two coaxial drive wheels. The other two drive motors are used to drive the remaining two drive wheels respectively. The first wheel speed of the motor vehicle is detected and obtained by the first wheel speed sensor and calculated by the redundant controller. The wheel speed of the drive wheel that is not provided with the first wheel speed sensor is calculated by the redundant controller based on parameters such as the rotational speed of the drive motor.

[0052] (5) Four drive motors are provided, and four wheels are provided. All four wheels are drive wheels. Each drive motor is connected to a drive wheel respectively. The wheel speed of the first motor vehicle is calculated by a redundant controller, and there is no need to provide a redundant wheel speed sensor.

[0053] The present invention also provides a control method for a redundant control architecture of a motor vehicle wheel speed, comprising the following steps:

[0054] S1. The first wheel speed sensor transmits the detected wheel speed of the motor vehicle to the redundant control system, and the second wheel speed sensor transmits the detected wheel speed of the motor vehicle to the main control system;

[0055] S2, the speed data of the driving motor is transmitted to the redundant control system;

[0056] S3. The redundant control system receives redundant wheel speed information, drive motor transmission ratio and speed. When the main control system is abnormal, the redundant control system calculates the wheel speed information of all wheels, as well as subsequent control and execution.

[0057] Furthermore, the arrangement relationship between the motor and the redundant wheel speed sensor is as follows:

[0058] T1: For a single-motor driven vehicle, a wheel speed sensor must be installed on either wheel on the drive shaft, and a first wheel speed sensor must be installed on each wheel on the non-drive shaft.

[0059] T2. For dual-motor four-wheel drive vehicles, a first wheel speed sensor must be placed on either wheel on the left or right side of the drive shaft where the drive motor is located.

[0060] T3: For dual-motor front / rear drive vehicles, a first wheel speed sensor is arranged on each of the left and right wheels of the non-drive axle;

[0061] T4. For three-motor four-wheel drive vehicles, a first wheel speed sensor is arranged on any left or right wheel of the axle with a single motor;

[0062] T5, Four-motor four-wheel drive vehicles, no first wheel speed sensor is required.

[0063] Furthermore, redundant wheel speed sensors and motor speed are used to calculate wheel speeds:

[0064] T1. The wheel equipped with the first wheel speed sensor can directly obtain the wheel speed;

[0065] T2. For a wheel with a single shaft and a single motor and no first wheel speed sensor, the wheel speed is calculated based on the basic principle that the sum of the rotational speeds of the two coaxial wheels is equal to twice the rotational speed of the motor shaft end.

[0066] The calculation formula for the wheel speeds of the two wheels without the first wheel speed sensor is as follows:

[0067] n1=V1*60 / (2πR)

[0068] n2=V2*60 / (2πR)

[0069] N / i*2=n1+n2

[0070] According to the above formula, we can get:

[0071] V1=[N / i1*2-V2*60 / (2πR)] / [60 / (2πR)]

[0072] Among them, V1 represents the wheel speed of the wheel without the first wheel speed sensor, in m / s; V2 represents the wheel speed of the wheel with the first wheel speed sensor, in m / s; n1 and n2 represent the rotational speeds of the two wheels without the first wheel speed sensor, in r / min; N represents the rotational speed of the drive motor, in r / min; i represents the transmission ratio of the transmission mechanism; R represents the wheel radius, in m.

[0073] T3, single-axis dual-motor, i.e. single-wheel single-motor, uses the principle that the motor shaft end speed is equal to the wheel speed to directly calculate the wheel speed:

[0074] The calculation formula for the wheel speeds of the two wheels without the first wheel speed sensor is as follows:

[0075] V3*60 / (2πR)=N3 / i

[0076] V4*60 / (2πR)=N4 / i

[0077] According to the above formula, we can get:

[0078] V3=N3 / i / [60 / (2πR)]

[0079] V4=N4 / i / [60 / (2πR)]

[0080] Among them, V3 and V4 respectively represent the wheel speeds of the two driving wheels without the first wheel speed sensor, in m / s; N3 and N4 respectively represent the rotational speeds of the two driving motors, in m / s; i represents the transmission ratio of the transmission mechanism; R represents the wheel radius, in m.

[0081] Example

[0082] like Figure 1 As shown, in this embodiment, four wheels are provided, the main controller is connected to four wheel speed channels, and four secondary wheel speed sensors are provided. The redundant controller is not only connected to the wheel speed, but also to the speed of the drive motor (transmitted via CAN). The drive motor is connected to the redundant controller via the CAN bus. The number of wheel speed sensors connected to the redundant controller is:

[0083] N_whl_sensor=4-N_motor

[0084] Wherein, N_whl_sensor is the number of first wheel speed sensors, and N_motor is the number of drive motors.

[0085] The wheel speed of one driving wheel is calculated by the rotational speed of the driving motor and the wheel speed of one driving wheel, thereby omitting the redundant wheel speed sensor of the other driving wheel and achieving the purpose of reducing the cost of the entire vehicle.

[0086] like Figure 1 As shown, in this embodiment, the second wheel speed sensor transmits four wheel speed signals to the main control system, and the first wheel speed sensor transmits two redundant wheel speed sensor signals to the redundant control system.

[0087] In this embodiment, the redundant control system receives redundant wheel speed information, drive motor transmission ratio and speed. The redundant control system can calculate the wheel speed information of all wheels, as well as subsequent control and execution when an abnormality occurs in the main control system.

[0088] like Figure 3 As shown, in this embodiment, the wheel speed result calculated based on the motor speed basically fits the actual sensor result curve, and the difference is less than 5% throughout the entire process. When the main control system is abnormal, the redundant control system can still calculate all wheel speed information to perform control actions, greatly improving the safety of the vehicle in extreme situations.

[0089] The present invention has been described above with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described method. Any non-substantial improvements made using the method concepts and technical solutions of the present invention, or any direct application of the above-described concepts and technical solutions to other situations without modification, fall within the scope of protection of the present invention.

Claims

1. A redundant control architecture for vehicle wheel speed, characterized in that: The system includes a main control system and a redundant control system, the redundant control system is configured to obtain a first data set, and the main control system is configured to obtain a second data set, the first data set includes a first motor vehicle wheel speed and a rotational speed of a drive motor, the first motor vehicle wheel speed is detected and obtained by a first wheel speed sensor and / or obtained by calculation, the second data set includes a second motor vehicle wheel speed detected and obtained by a second wheel speed sensor, and the sum of the number of first wheel speed sensors and drive motors is the same as the number of wheels.

2. The redundant control architecture for vehicle wheel speed according to claim 1, characterized in that: The redundant control system includes a redundant controller, the first wheel speed sensor is connected to the redundant controller, and the drive motor is connected to the redundant controller.

3. The redundant control architecture for vehicle wheel speed according to claim 2, characterized in that: The wheels of the motor vehicle include driving wheels, and the wheel speed sensor only needs to be installed on one of the driving wheels at most.

4. The redundant control architecture for vehicle wheel speed according to claim 3, characterized in that: The redundant controller calculates the wheel speed of the driving wheel not equipped with the first wheel speed sensor based on the acquired rotation speed of the driving motor and the wheel speed of the wheel equipped with the first wheel speed sensor.

5. The vehicle wheel speed redundant control architecture according to claim 3, characterized in that: The drive motor is set to one, and the first data set includes the wheel speed of the motor vehicle and the rotational speed of the drive motor. The drive motor is connected to two coaxial wheels, and the wheel speed V1=[N / i*2-V2*60 / (2πR)] / [60 / (2πR)], where V2 represents the known wheel speed of the drive shaft, N represents the motor rotational speed, and i represents the transmission ratio.

6. The redundant control architecture for vehicle wheel speed according to claim 3, characterized in that: The two drive motors are provided, and the first data set includes the vehicle wheel speed and the rotational speed of the drive motor. The two drive motors are respectively connected to two coaxial wheels, and the wheel speeds V3 and V4 of the two wheels are respectively: V3=N3 / i / [60 / (2πR)] V4=N4 / i / [60 / (2πR)] Among them, N3 and N4 represent the rotation speeds of the two drive motors respectively, and i represents the transmission ratio.

7. The redundant control architecture for wheel speed of a motor vehicle according to any one of claims 1 to 6, characterized in that: One drive motor is provided, and four wheels are provided, two of which are drive wheels and the other two are non-drive wheels. The drive motor is connected to the two coaxial drive wheels, and the first wheel speed sensor is provided at one of the drive wheels, and the first wheel speed sensors are provided at the two non-drive wheels.

8. The redundant control architecture for wheel speed of a motor vehicle according to any one of claims 1 to 6, characterized in that: Two drive motors are provided, and four wheels are provided. All four wheels are drive wheels. Each drive motor is connected to two coaxial drive wheels. The first wheel speed sensor is provided at one of the two coaxial drive wheels.

9. The redundant control architecture for wheel speed of a motor vehicle according to any one of claims 1 to 6, characterized in that: Two drive motors are provided, and four wheels are provided, two of which are driving wheels and the other two are non-driving wheels. The first wheel speed sensors are provided at the two non-driving wheels.

10. The redundant control architecture for wheel speed of a motor vehicle according to any one of claims 1 to 6, characterized in that: There are three drive motors and four wheels, all of which are drive wheels. The drive motors are connected to the drive wheels. The first wheel speed sensor is arranged at one of the drive wheels, and the drive wheel is connected to a drive motor.

11. The motor vehicle wheel speed redundant control architecture according to any one of claims 1 to 6, characterized in that: There are four drive motors and four wheels, all of which are drive wheels, and each drive motor is connected to a drive wheel.

12. The control method of the vehicle wheel speed redundant control architecture according to any one of claims 1 to 11, characterized in that: Including steps: S1. The first wheel speed sensor transmits the detected wheel speed of the vehicle to the redundant control system, and the second wheel speed sensor transmits the detected wheel speed of the vehicle to the main control system; S2. The speed data of the driving motor is transmitted to the redundant control system.

13. The control method of the vehicle wheel speed redundant control architecture according to claim 12, characterized in that: The driving motor transmits the rotation speed data to the redundant control system via the CAN bus.

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