Electronic parking redundancy control system, electronic parking redundancy control method and new energy automobile

Abstract

The invention provides an electronic parking redundancy control system, an electronic parking redundancy control method and a new energy automobile, the electronic parking redundancy control system is integrated in a drive-by-wire chassis controller, and comprises a main redundancy parking controller, a first switching path, an auxiliary redundancy parking controller, a second switching path, a first motor and a second motor; the main redundant parking controller is used for actively driving the first motor based on the first switching path and driving the second motor based on the second switching path under the condition that the main redundant parking controller has a fault; and the auxiliary redundant parking controller is used for passively driving the second motor based on the second switching path and driving the first motor based on the first switching path under the condition that the main redundant parking controller breaks down. The purpose of flexible switching of motor control is achieved through active switching and passive switching, it is ensured that full functions of the EPB can still be kept when a single MCU fails, the overall cost of the whole vehicle is saved, and therefore it is ensured that the motor control capacity and number maximization can still be ensured when the single MCU fails.

Description

Technical Field

[0001] The present invention relates to the field of vehicle braking technology, and in particular to an electronic parking redundancy control system, an electronic parking redundancy control method and a new energy vehicle. Background Art

[0002] With the rapid development of new energy vehicle technology, current new energy vehicles no longer retain the P-lock mechanism due to the lack of direct engine drive. Therefore, redundant backup requirements are being proposed for electronic parking systems to provide recovery capabilities in the event of failure or corruption of critical system data. Therefore, how to achieve redundant control of electronic parking systems has become a key issue that needs to be addressed.

[0003] In the related art, redundant backup is usually achieved by using an independent electronic parking brake (EPB) method in which two microcontroller units (MCUs) each control a caliper motor, and an algorithm is added to realize the anti-lock function. However, when a single MCU is damaged, it can only drive one motor and cannot guarantee the full function of the EPB. In addition, the independent EPB system cannot cancel the P gear locking structure and the overall cost of the vehicle is also very high. Summary of the Invention

[0004] The present invention aims to provide an electronic parking redundancy control system, an electronic parking redundancy control method, and a new energy vehicle to solve the technical problems in the prior art that when a single MCU fails, the full functionality of the EPB cannot be guaranteed and the P-lock structure cannot be canceled, and the overall cost of the vehicle is also high. By adopting two methods, active switching and passive switching, the flexible switching of motor control is achieved, eliminating the possibility of parking function failure caused by single point failure. This not only solves the problem of parking function degradation or failure caused by failure of a single redundant parking controller in the existing system, ensuring that the full functionality of the EPB can still be preserved even if a single redundant parking controller fails, but also significantly saves the overall cost of the vehicle. The P-lock mechanism is eliminated and the EPB is integrated into other controllers. Compared with the existing stand-alone EPB, not only the cost of the MCU is saved, but also a higher-specification MCU can be used to achieve a higher safety level. The flexibility and safety of switching the brake motor are significantly improved, thereby ensuring that the motor control capability and quantity can be maximized in the event of any single MCU failure. The various technical effects that can be produced by the preferred technical solution among the many technical solutions provided by the present invention are detailed below.

[0005] To achieve the above objectives, the present invention provides the following technical solutions:

[0006] The present invention provides an electronic parking redundancy control system integrated into a drive-by-wire chassis controller. The system comprises: a primary redundant parking controller, a first switching path, an auxiliary redundant parking controller, a second switching path, a first motor, and a second motor. The primary redundant parking controller is connected to the first switching path and the second switching path, respectively; the auxiliary redundant parking controller is connected to the first switching path and the second switching path, respectively; the first switching path is connected to the first motor, and the second switching path is connected to the second motor.

[0007] The master redundant parking controller is configured to actively drive the first motor based on the first switching path and the second motor based on the second switching path in the event of a failure of the master redundant parking controller;

[0008] The auxiliary redundant parking controller is configured to passively drive the second motor based on the second switching path and drive the first motor based on the first switching path when the main redundant parking controller fails.

[0009] According to an electronic parking redundancy control system provided by the present invention, the first switching path includes a first switching switch including an EN1 pin, and the second switching path includes a second switching switch including an EN2 pin;

[0010] The first switch is configured to instruct the primary redundant parking controller or the secondary redundant parking controller to drive the first motor based on different level states of the EN1 pin;

[0011] The second switch is configured to instruct the auxiliary redundant parking controller or the main redundant parking controller to drive the second motor based on different level states of the EN2 pin.

[0012] According to an electronic parking redundancy control system provided by the present invention, the main redundant parking controller is connected to the auxiliary redundant parking controller via SPI communication, CAN communication and GPIO control;

[0013] The primary redundant parking controller is specifically configured to, when determining during a self-test process that the first motor and / or the second motor cannot be driven, actively pull down the EN1 pin and the EN2 pin, and simultaneously transmit the same takeover information to the secondary redundant parking controller via the SPI communication and the CAN communication, respectively, and actively pull down the GPIO level;

[0014] The auxiliary redundant parking controller is specifically used to control and drive the first motor and the second motor when the takeover information is recognized through the SPI communication and the CAN communication, the low level of the EN1 pin and the low level of the EN2 pin are recognized, and the low level of GPIO is recognized.

[0015] According to an electronic parking redundancy control system provided by the present invention, the master redundant parking controller is further configured to change the level state of the EN1 pin and the level state of the EN2 pin;

[0016] The auxiliary redundant parking controller is further configured to passively take over the drive control operations of the first motor and the second motor based on the low level of the EN1 pin and the low level of the EN2 pin, as well as the SPI communication loss flag, the CAN communication loss flag and the GPIO low level between the auxiliary redundant parking controller and the main redundant parking controller when the main redundant parking controller fails.

[0017] According to an electronic parking redundancy control system provided by the present invention, the first switching path further includes a first pre-driver chip and a first H-bridge circuit connected in sequence to the first switching switch, and the second switching path further includes a second pre-driver chip and a second H-bridge circuit connected in sequence to the second switching switch; accordingly,

[0018] The master redundant parking controller is configured to, in the event of a failure of the master redundant parking controller, actively drive the first motor via the first switching switch, the first pre-driver chip, and the first H-bridge circuit, and actively drive the second motor via the second switching switch, the second pre-driver chip, and the second H-bridge circuit;

[0019] The auxiliary redundant parking controller is used to passively drive the first motor through the first switching switch, the first pre-driver chip and the first H-bridge circuit, and passively drive the second motor through the second switching switch, the second pre-driver chip and the second H-bridge circuit when the main redundant parking controller fails.

[0020] According to an electronic parking redundancy control system provided by the present invention, the first switch is further configured to connect the primary redundant parking controller and the first pre-driver chip when the EN1 pin is at a high level, or connect the secondary redundant parking controller and the first pre-driver chip when the EN1 pin is at a low level;

[0021] The second switch is further configured to connect the primary redundant parking controller and the second pre-driver chip when the EN2 pin is at a high level, or to connect the secondary redundant parking controller and the second pre-driver chip when the EN2 pin is at a low level.

[0022] According to an electronic parking redundancy control system provided by the present invention, the primary redundant parking controller is further connected to the first power supply, and the auxiliary redundant parking controller is connected to the second power supply. The first power supply supplies power to the primary redundant parking controller, and the second power supply supplies power to the auxiliary redundant parking controller.

[0023] The present invention further provides an electronic parking redundancy control method, which is applied to the aforementioned electronic parking redundancy control system, and the method comprises:

[0024] When the main redundant parking controller fails, the main redundant parking controller actively drives the first motor based on the first switching path and the second motor based on the second switching path;

[0025] The auxiliary redundant parking controller passively drives the second motor based on the second switching path and drives the first motor based on the first switching path when the main redundant parking controller fails.

[0026] According to an electronic parking redundancy control method provided by the present invention, the method further includes:

[0027] When the primary redundant parking controller determines that it is unable to drive the first motor or the second motor during the self-test process, it actively pulls down the EN1 pin of the first switch and the EN2 pin of the second switch, and simultaneously transmits the same takeover information to the secondary redundant parking controller through SPI communication and CAN communication, and actively pulls down the GPIO level;

[0028] The auxiliary redundant parking controller controls and drives the first motor and the second motor when it recognizes the takeover information, the low level of the EN1 pin and the low level of the EN2 pin, and the low level of the GPIO through both the SPI communication and the CAN communication.

[0029] The present invention further provides a new energy vehicle, comprising a drive-by-wire chassis controller, wherein the aforementioned electronic parking redundancy control system is integrated into the drive-by-wire chassis controller.

[0030] The present invention provides an electronic parking redundancy control system, an electronic parking redundancy control method, and a new energy vehicle. The electronic parking redundancy control system integrates a main redundant parking controller, a first switching path, an auxiliary redundant parking controller, a second switching path, a first motor, and a second motor in a wire-controlled chassis controller. This ensures that, in the event of a failure of the main redundant parking controller, the first motor is actively driven based on the first switching path and the second motor is driven based on the second switching path. In the event of a failure of the main redundant parking controller, the auxiliary redundant parking controller passively drives the second motor based on the second switching path and the first motor based on the first switching path. In this way, by adopting both active switching and passive switching, the purpose of flexible switching of motor control is achieved, eliminating the possibility of parking function failure caused by single point failure. It not only solves the problem of parking function degradation or failure caused by failure of the existing single redundant parking controller, and ensures that the full function of EPB can be preserved even if a single redundant parking controller fails, but also greatly saves the overall cost of the vehicle. The P gear locking mechanism is cancelled and the EPB is integrated into other controllers. Compared with the existing independent EPB, it not only saves the cost of MCU, but also can use a higher specification MCU to achieve a higher safety level. The flexibility and safety of switching brake motors are significantly improved, thereby ensuring that the motor control capability and quantity can be maximized in the event of any single MCU failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 This is one of the structural diagrams of the electronic parking redundancy control system provided by an embodiment of the present invention;

[0033] Figure 2 This is a second structural diagram of the electronic parking redundancy control system provided by an embodiment of the present invention;

[0034] Figure 3 The figure is a flow chart of the electronic parking redundancy control method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0035] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0036] In the embodiments of the present invention, "at least one" refers to one or more, and "more" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent three situations: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In the textual description of the present invention, the character " / " generally indicates that the previous and next associated objects are in an "or" relationship. In addition, it should be noted that the serial numbers themselves for the objects described in the present invention, such as "first", "second", etc., are only used to distinguish the objects described, and do not have any order or technical meaning.

[0037] With the rapid development of new energy vehicle technology, current new energy vehicles no longer retain the P-lock mechanism due to the lack of direct engine drive. Therefore, redundant backup requirements are being proposed for electronic parking systems to provide recovery capabilities in the event of failure or corruption of critical system data. Therefore, how to achieve redundant control of electronic parking systems has become a key issue that needs to be addressed.

[0038] In related technologies, redundant backup can be achieved by using an independent EPB method in which two MCUs each control a caliper motor, and an algorithm is added to implement the anti-lock braking function. The MCUs interact through the serial peripheral interface (SPI), and the power supply of each MCU and the CAN communication of the entire vehicle are independent of each other.

[0039] However, the above-mentioned independent EPB solution controls one motor through one MCU. When a single MCU is damaged, it can only drive one motor, and the full function of EPB cannot be guaranteed. In addition, the independent EPB system can neither cancel the P-position locking structure nor the overall cost of the vehicle is high. When the vehicle needs to release the caliper to start when parked, there is a problem of the vehicle breaking down. Among them, the P-position locking structure is mainly composed of a mechanical locking mechanism and a safety braking system. The P-position uses a mechanical locking mechanism to fix the vehicle's drive shaft and drive wheel to ensure that the vehicle does not move accidentally when parked. This locking mechanism usually consists of a pawl and a ratchet. When the P gear is engaged, the pawl will be stuck in the tooth groove of the ratchet, thereby locking the drive shaft.

[0040] Alternatively, two independent modules can be used to achieve parking redundancy, each of which is a communication and power supply redundant module. This allows the other independent module to take over the control of the calipers on both sides when one of the independent modules fails, and the two independent modules can be used as independent controllers or integrated in other controllers. However, the actual switching and takeover control method for the failure of a certain independent module is not specified. It only ideally describes the scenario of the backup module directly controlling the left and right calipers in the case of a single module failure at the architectural level.

[0041] In order to solve the above technical problems, the present invention provides an electronic parking redundant control system, an electronic parking redundant control method and a new energy vehicle, which realizes the flexible switching purpose of motor control by adopting active switching and passive switching, eliminates the possibility of parking function failure caused by single point failure, and solves the problem of parking function degradation or failure caused by failure of the existing single redundant parking controller, ensuring that the full function of EPB can be preserved even if a single redundant parking controller fails, and greatly saves the overall cost of the vehicle. The P gear locking mechanism is cancelled and the EPB is integrated into other controllers. Compared with the existing independent EPB, it not only saves the cost of MCU, but also can use a higher specification MCU to achieve a higher safety level. The flexibility and safety of switching brake motors are significantly improved, thereby ensuring that the motor control capability and quantity can be maximized in the event of any single MCU failure. The following is combined with Figure 1-Figure 3 An electronic parking redundancy control system, an electronic parking redundancy control method and a new energy vehicle are described.

[0042] Reference Figure 1 , which is one of the structural diagrams of the electronic parking redundancy control system provided by an embodiment of the present invention, as shown in FIG. Figure 1 As shown, the electronic parking redundancy control system is integrated into the wire-controlled chassis controller, and the electronic parking redundancy control system includes: a main redundant parking controller, a first switching path, an auxiliary redundant parking controller, a second switching path, a first motor, and a second motor; the main redundant parking controller is connected to the first switching path and the second switching path respectively, the auxiliary redundant parking controller is connected to the first switching path and the second switching path respectively, the first switching path is connected to the first motor, and the second switching path is connected to the second motor; wherein:

[0043] The main redundant parking controller is used to actively drive the first motor based on the first switching path and drive the second motor based on the second switching path when a failure occurs in the main redundant parking controller.

[0044] The auxiliary redundant parking controller is used to passively drive the second motor based on the second switching path and drive the first motor based on the first switching path when the main redundant parking controller fails.

[0045] It should be noted that both the primary redundant parking controller and the auxiliary redundant parking controller may be MCUs, that is, the primary redundant parking controller may be specifically a first MCU, and the auxiliary redundant parking controller may be specifically a second MCU.

[0046] The first switching path is a main path composed of multiple different components, and the second switching path is also a secondary path composed of multiple different components. Furthermore, the number and types of components required to form both switching paths are the same. For example, the first switching path and the second switching path can each be composed of a switch with an EN pin (i.e., a switching switch), a pre-driver chip, and a bridge circuit.

[0047] The first switching path is used to drive the first motor in response to a first driving instruction, or to drive the second motor in response to a second driving instruction; wherein the first driving instruction is a driving instruction for the primary redundant parking controller to drive the first motor, and the second driving instruction is a driving instruction for the secondary redundant parking controller to drive the first motor.

[0048] The second switching path is used to drive the first motor in response to the first driving instruction, or to drive the second motor in response to the second driving instruction.

[0049] Both the primary redundant parking controller and the auxiliary redundant parking controller can communicate with the entire vehicle. For example, the primary redundant parking controller exchanges information with the entire vehicle through CAN communication, and the auxiliary redundant parking controller can also exchange information with the entire vehicle through CAN communication. The CAN signals received by the primary redundant parking controller and the auxiliary redundant parking controller from the entire vehicle usually need to be completely consistent.

[0050] The electronic parking redundancy control system provided by an embodiment of the present invention integrates a primary redundant parking controller, a first switching path, an auxiliary redundant parking controller, a second switching path, a first motor, and a second motor in a wire-controlled chassis controller. This ensures that, in the event of a failure of the primary redundant parking controller, the primary motor is actively driven by the first switching path and the second motor is driven by the second switching path. Furthermore, in the event of a failure of the primary redundant parking controller, the auxiliary redundant parking controller is passively driven by the second motor by the second switching path and the first motor by the first switching path. In this way, by adopting both active switching and passive switching, the purpose of flexible switching of motor control is achieved, eliminating the possibility of parking function failure caused by single point failure. It not only solves the problem of parking function degradation or failure caused by failure of the existing single redundant parking controller, and ensures that the full function of EPB can be preserved even if a single redundant parking controller fails, but also greatly saves the overall cost of the vehicle. The P gear locking mechanism is cancelled and the EPB is integrated into other controllers. Compared with the existing independent EPB, it not only saves the cost of MCU, but also can use a higher specification MCU to achieve a higher safety level. The flexibility and safety of switching brake motors are significantly improved, thereby ensuring that the motor control capability and quantity can be maximized in the event of any single MCU failure.

[0051] Based on the above Figure 1 In an exemplary embodiment of the electronic parking redundancy control system shown, the first switching path includes a first switch including an EN1 pin, and the second switching path includes a second switch including an EN2 pin;

[0052] A first switching switch is used to instruct the primary redundant parking controller or the auxiliary redundant parking controller to drive the first motor based on different level states of the EN1 pin;

[0053] The second switch is used to instruct the auxiliary redundant parking controller or the main redundant parking controller to drive the second motor based on different level states of the EN2 pin.

[0054] Specifically, different level states of the EN1 pin may include a high level state and a low level state of the EN1 pin, and different level states of the EN2 pin may include a high level state and a low level state of the EN2 pin.

[0055] It should be noted that the EN1 pin is an enable pin of the first switch, and the EN2 pin is an enable pin of the second switch.

[0056] For example, when the EN1 pin is at a high level, the primary redundant parking controller drives the first motor through the first switching path; when the EN1 pin is at a low level, the secondary redundant parking controller drives the first motor through the first switching path; when the EN2 pin is at a high level, the primary redundant parking controller drives the second motor through the second switching path; when the EN2 pin is at a low level, the secondary redundant parking controller drives the second motor through the second switching path.

[0057] Based on the above Figure 1 In the electronic parking redundancy control system shown, in an exemplary embodiment, the primary redundant parking controller is connected to the auxiliary redundant parking controller via SPI communication, CAN communication, and GPIO control;

[0058] The main redundant parking controller is specifically configured to actively pull down the EN1 pin and the EN2 pin when it is determined during the self-test process that the first motor and / or the second motor cannot be driven, and simultaneously transmit the same takeover information to the auxiliary redundant parking controller via SPI communication and CAN communication respectively, and actively pull down the GPIO level;

[0059] The auxiliary redundant parking controller is specifically used to control the driving of the first motor and the second motor when the takeover information is recognized through SPI communication and CAN communication, the low level of the EN1 pin and the low level of the EN2 pin are recognized, and the low level of the GPIO is recognized.

[0060] Specifically, the primary redundant parking controller and the auxiliary redundant parking controller exchange CAN information with the entire vehicle through CAN communication, and the received CAN information needs to be completely consistent in principle.

[0061] It should be noted that when the primary redundant parking controller discovers during self-test that it is unable to drive the first and / or second motors, it not only actively pulls low the EN1 pin of the first switch and the EN2 pin of the second switch, but also simultaneously transmits the same takeover information to the secondary redundant parking controller via SPI and CAN communications, and actively pulls low the GPIO level between the two. Thus, when the secondary redundant parking controller recognizes the takeover information transmitted via SPI and CAN communications, the low levels on the EN1 and EN2 pins, and the low GPIO levels, it executes a program to control the driving of the first and second motors, thereby achieving active switching.

[0062] In addition, it should be noted that if the main redundant parking controller finds that it cannot drive the first motor and / or the second motor during the self-test process, it is usually caused by an open circuit / short circuit in the target motor. At this time, no switching is performed and the status quo of the main redundant parking controller controlling the motor is maintained; the target motor here is the first motor and / or the second motor.

[0063] Based on the above Figure 1 In the electronic parking redundancy control system shown, in an exemplary embodiment, the primary redundant parking controller is further configured to change the level state of the EN1 pin and the level state of the EN2 pin;

[0064] The auxiliary redundant parking controller is specifically used to passively take over the drive control operations of the first motor and the second motor based on the low level of the EN1 pin and the low level of the EN2 pin, as well as the SPI communication loss flag, CAN communication loss flag and GPIO low level between the main redundant parking controller and the main redundant parking controller when the main redundant parking controller fails.

[0065] Among them, GPIO's English full name is General Purpose Input / Output, and its Chinese full name is General Input and Output Interface, which is mainly used to connect and control various external devices.

[0066] Specifically, the first switch is controlled by the primary redundant parking controller by changing the level state of the EN1 pin, and the second switch is controlled by the secondary redundant parking controller by changing the level state of the EN2 pin.

[0067] It should be noted that single-point failure of the main redundant parking controller may be caused by other reasons such as power supply or program abnormality. At this time, both the EN1 pin and the EN2 pin can only be low level. The auxiliary redundant parking controller directly takes over the drive control of the first motor and the second motor by judging that the SPI communication loss flag and CAN communication loss flag between the auxiliary redundant parking controller and the main redundant parking controller are both met, thereby achieving the purpose of passive switching.

[0068] For example, the primary redundant parking controller transmits the same takeover information to the secondary redundant parking controller via SPI and CAN communications. If the secondary redundant parking controller receives the takeover signal via both SPI and CAN communications within a preset time period, but the received takeover information differs, the controller may determine that SPI and CAN communication between the secondary redundant parking controller and the primary redundant parking controller have been lost. For another example, if the secondary redundant parking controller does not receive the takeover signal via SPI and / or CAN communications within a preset time period, the controller may determine that SPI and CAN communication between the secondary redundant parking controller and the primary redundant parking controller have been lost.

[0069] Based on the above Figure 1 In an exemplary embodiment of the electronic parking redundancy control system shown, the first switching path further includes a first pre-driver chip and a first H-bridge circuit sequentially connected to the first switch, and the second switching path further includes a second pre-driver chip and a second H-bridge circuit sequentially connected to the second switch; accordingly,

[0070] a primary redundant parking controller, configured to, in the event of a failure of the primary redundant parking controller, actively drive the first motor via the first switching switch, the first pre-driver chip, and the first H-bridge circuit, and actively drive the second motor via the second switching switch, the second pre-driver chip, and the second H-bridge circuit;

[0071] The auxiliary redundant parking controller is used to passively drive the first motor through the first switching switch, the first pre-driver chip and the first H-bridge circuit, and to passively drive the second motor through the second switching switch, the second pre-driver chip and the second H-bridge circuit when the main redundant parking controller fails.

[0072] It should be noted that the "pre-driver" in the first pre-driver chip and the second pre-driver chip refers to the pre-driver; the pre-driver is an intermediate-level circuit before the final driver, and its main function is to amplify the input signal to provide sufficient current or voltage driving capability for the subsequent final driver; pre-drivers are often used in power amplifiers, motor drivers and other circuits that require large current or high voltage drive.

[0073] As an innovative technology in the field of automotive electronics, the pre-driver chip is designed specifically to improve vehicle performance; it achieves significant improvements in vehicle performance by optimizing the control program of the engine control unit.

[0074] The first switch and the second switch are switches each including an EN pin.

[0075] Both the first and second H-bridge circuits can be H-bridge circuits. An H-bridge circuit is an electronic circuit primarily used to control the direction and speed of a DC motor. It consists of four switching elements, typically MOSFETs or transistors, and controls the direction, speed, and even braking of the motor by changing the states of these switches.

[0076] The H-bridge circuit gets its name from its shape, which resembles the letter "H." It consists of four switching elements (such as MOSFETs or transistors) and a load (usually a DC motor). These switches can be controlled independently, and by changing their states, the motor can be rotated forward, reversed, stopped, or its speed can be adjusted.

[0077] For example, refer to Figure 2 , which is a second schematic diagram of the structure of the electronic parking redundancy control system provided by the embodiment of the present invention, Figure 2In the figure, MCU1 (main control) is the main redundant parking controller, MCU2 (auxiliary control) is the auxiliary redundant parking controller, switching switch 1 is the first switching switch, pre-driver chip 1 is the first pre-driver chip, H-bridge circuit 1 is the first H-bridge circuit, M1 is the first motor, switching switch 2 is the second switching switch, pre-driver chip 2 is the second pre-driver chip, H-bridge circuit 2 is the second H-bridge circuit, and M2 is the second motor; Line1, Line2, Line3, Line4, Line5, Line6, Line7, Line2-1, Line4-1, Line8, Line9 and Line10 are specifically corresponding signal lines representing electrical connections.

[0078] like Figure 2 As shown, when the EN1 pin is at a high level, MCU1 (master control) drives motor M1 through Line 2, through switch 1 through Line 5, through pre-driver chip 1 through Line 6, and through H-bridge circuit 1 through Line 7.

[0079] When the EN1 pin is at a low level, MCU2 (auxiliary control) drives motor M1 through Line 2-1, through switch 1 through Line 5, through pre-driver chip 1 through Line 6, and through H-bridge circuit 1 through Line 7.

[0080] When the EN2 pin is high, MCU1 (master control) drives motor M2 through Line 4, through switch 2 through Line 8, through pre-driver chip 2 through Line 9, and through H-bridge circuit 2 through Line 10.

[0081] When the EN2 pin is at a low level, MCU2 (auxiliary control) drives motor M2 through Line 4-1, through switch 2 through Line 8, through pre-driver chip 2 through Line 9, and through H-bridge circuit 2 through Line 10.

[0082] Based on the above Figure 1 In an exemplary embodiment of the electronic parking redundancy control system shown, the first switch is further configured to connect the primary redundant parking controller and the first pre-driver chip when the EN1 pin is at a high level, or to connect the redundant parking controller and the first pre-driver chip when the EN1 pin is at a low level;

[0083] The second switch is further configured to connect the primary redundant parking controller and the second pre-driver chip when the EN2 pin is at a high level, or to connect the secondary redundant parking controller and the second pre-driver chip when the EN2 pin is at a low level.

[0084] For details, please refer to Figure 2As shown in the second structural diagram of the electronic parking redundancy control system, switch 1 is controlled by MCU1 (master control) through Line 1 to change the level state of EN1 pin, and switch 2 is controlled by MCU1 (master control) through Line 3 to change the level state of EN2 pin.

[0085] It should be noted that the level states of switching switch 1 and switching switch 2 are both controlled by MCU1 (main control), that is, switching switch 1 connects MCU1 (main control) and pre-driver chip 1 when the EN1 pin is at a high level, and connects MCU2 (auxiliary control) and pre-driver chip 1 when the EN1 pin is at a low level. Switch 2 connects MCU1 (main control) and pre-driver chip 2 when the EN2 pin is at a high level, and connects MCU2 (auxiliary control) and pre-driver chip 2 when the EN2 pin is at a low level.

[0086] Based on the above Figure 1 In the electronic parking redundancy control system shown, in an exemplary embodiment, the primary redundant parking controller is further connected to a first power supply, and the auxiliary redundant parking controller is connected to a second power supply. The first power supply supplies power to the primary redundant parking controller, and the second power supply supplies power to the auxiliary redundant parking controller.

[0087] It should be noted that the power supplies of the primary redundant parking controller and the auxiliary redundant parking controller are independent of each other. The first power supply supplies power to the primary redundant parking controller, and the second power supply supplies power to the auxiliary redundant parking controller.

[0088] For example, continue to refer to Figure 2 As shown in the second structural diagram of the electronic parking redundancy control system, the power supplies of MCU1 (main control) and MCU2 (auxiliary control) are independent of each other, power supply 1 supplies power to MCU1 (main control) and power supply 2 supplies power to MCU2 (auxiliary control).

[0089] The embodiment of the present invention further provides an electronic parking redundancy control method, which is applied to the electronic parking redundancy control system described in the above embodiment. Figure 3 , which is a flow chart of the electronic parking redundancy control method provided by an embodiment of the present invention, such as Figure 3 As shown, the electronic parking redundancy control method can be implemented through steps 310 and 320 .

[0090] Step 310 : When the primary redundant parking controller fails, the primary redundant parking controller actively drives the first motor based on the first switching path and the second motor based on the second switching path.

[0091] Step 320 : When the primary redundant parking controller fails, the auxiliary redundant parking controller passively drives the second motor based on the second switching path and drives the first motor based on the first switching path.

[0092] It can be understood that the first switching path includes a first switching switch including an EN1 pin, a first pre-driver chip and a first H-bridge circuit, and the second switching path includes a second switching switch including an EN2 pin, a second pre-driver chip and a second H-bridge circuit.

[0093] a first switching switch, configured to instruct the primary redundant parking controller or the auxiliary redundant parking controller to drive the first motor based on different level states of the EN1 pin;

[0094] The second switch is used to instruct the auxiliary redundant parking controller or the main redundant parking controller to drive the second motor based on different level states of the EN2 pin.

[0095] It can be understood that the primary redundant parking controller is connected to the secondary redundant parking controller via SPI communication, CAN communication and GPIO control;

[0096] When the primary redundant parking controller determines that it cannot drive the first motor and / or the second motor during the self-test process, it actively pulls down the EN1 pin and the EN2 pin, and simultaneously transmits the same takeover information to the secondary redundant parking controller through SPI communication and CAN communication, and actively pulls down the GPIO level;

[0097] The auxiliary redundant parking controller controls and drives the first motor and the second motor when it recognizes the same takeover information through SPI communication and CAN communication, recognizes the low level of the EN1 pin and the low level of the EN2 pin, and recognizes the low level of the GPIO.

[0098] It is understood that the primary redundant parking controller can change the level state of the EN1 pin and change the level state of the EN2 pin;

[0099] When the main redundant parking controller fails, the auxiliary redundant parking controller passively takes over the drive control operations of the first motor and the second motor based on the low level of the EN1 pin and the low level of the EN2 pin, as well as the SPI communication loss flag, CAN communication loss flag and GPIO low level between the auxiliary redundant parking controller and the main redundant parking controller.

[0100] It can be understood that the first switching path also includes a first pre-driver chip and a first H-bridge circuit connected in sequence to the first switching switch, and the second switching path also includes a second pre-driver chip and a second H-bridge circuit connected in sequence to the second switching switch; accordingly,

[0101] a primary redundant parking controller, configured to, in the event of a failure of the primary redundant parking controller, actively drive the first motor via the first switching switch, the first pre-driver chip, and the first H-bridge circuit, and actively drive the second motor via the second switching switch, the second pre-driver chip, and the second H-bridge circuit;

[0102] The auxiliary redundant parking controller is used to passively drive the first motor through the first switching switch, the first pre-driver chip and the first H-bridge circuit, and to passively drive the second motor through the second switching switch, the second pre-driver chip and the second H-bridge circuit when the main redundant parking controller fails.

[0103] It can be understood that the first switch is further used to connect the primary redundant parking controller and the first pre-driver chip when the EN1 pin is at a high level, or to connect the secondary redundant parking controller and the first pre-driver chip when the EN1 pin is at a low level;

[0104] The second switch is further configured to connect the primary redundant parking controller and the second pre-driver chip when the EN2 pin is at a high level, or to connect the secondary redundant parking controller and the second pre-driver chip when the EN2 pin is at a low level.

[0105] It should be noted that the specific control process of the electronic parking redundancy control method provided by the embodiment of the present invention can refer to the embodiment of the electronic parking redundancy control system described above, which will not be described in detail here.

[0106] Based on the above Figure 3 In an exemplary embodiment, the electronic parking redundancy control method further includes:

[0107] When the primary redundant parking controller determines during the self-test process that it cannot drive the first motor or the second motor, it actively pulls down the EN1 pin of the first switch and the EN2 pin of the second switch, and simultaneously transmits the same takeover information to the secondary redundant parking controller via SPI communication and CAN communication, and actively pulls down the GPIO level;

[0108] The auxiliary redundant parking controller controls and drives the first motor and the second motor when it recognizes the takeover information, the low level of the EN1 pin and the low level of the EN2 pin, and the low level of the GPIO through both SPI communication and CAN communication.

[0109] Specifically, when MCU1 (main control) finds that it cannot drive motor M1 and / or motor M2 during the self-test process, it actively pulls down the EN1 pin and the EN2 pin, and at the same time transmits the same takeover information in the SPI communication and CAN communication 3 between MCU2 (auxiliary control) and actively pulls down the GPIO level between the two. When MCU2 (auxiliary control) recognizes that the three conditions are met at the same time, it runs the program to control motor M1 and motor M2.

[0110] It should be noted that, during the self-test process, MCU1 (main control) finds that the reason why it cannot drive motor M1 and / or motor M2 is due to an open circuit / short circuit of the motor. At this time, no switching is performed and the status quo of MCU1 (main control) controlling the motor is maintained.

[0111] An embodiment of the present invention further provides a new energy vehicle, including a drive-by-wire chassis controller, in which the electronic parking redundancy control system described in the aforementioned embodiment is integrated. The detailed description of the electronic parking redundancy control system can be found in the aforementioned embodiment and will not be repeated here.

[0112] The above embodiments are intended only to illustrate the technical solution of the present invention and are not intended to limit the same. Any person skilled in the art will appreciate that, without departing from the scope of the technical solution of the present invention, the design principles of this embodiment can be used to make changes and modifications to create other similar embodiments. Therefore, as long as these changes and modifications do not depart from the content of the technical solution of the present invention, or as simple modifications and variations of the solution of the present invention, all such changes and modifications shall fall within the scope of protection of the claims of the present invention.

Claims

1. An electronic parking redundancy control system, characterized in that: Integrated into a drive-by-wire chassis controller, the system includes: a primary redundant parking controller, a first switching path, an auxiliary redundant parking controller, a second switching path, a first motor, and a second motor; the primary redundant parking controller is connected to the first switching path and the second switching path, respectively; the auxiliary redundant parking controller is connected to the first switching path and the second switching path, respectively; the first switching path is connected to the first motor, and the second switching path is connected to the second motor; The master redundant parking controller is configured to actively drive the first motor based on the first switching path and the second motor based on the second switching path in the event of a failure of the master redundant parking controller; The auxiliary redundant parking controller is configured to passively drive the second motor based on the second switching path and drive the first motor based on the first switching path when the main redundant parking controller fails.

2. The electronic parking redundancy control system according to claim 1, characterized in that: The first switching path includes a first switching switch including an EN1 pin, and the second switching path includes a second switching switch including an EN2 pin; The first switch is configured to instruct the primary redundant parking controller or the auxiliary redundant parking controller to drive the first motor based on different level states of the EN1 pin; The second switch is used to instruct the auxiliary redundant parking controller or the main redundant parking controller to drive the second motor based on different level states of the EN2 pin.

3. The electronic parking redundancy control system according to claim 2, characterized in that: The main redundant parking controller is connected to the auxiliary redundant parking controller through SPI communication, CAN communication and GPIO control; The primary redundant parking controller is specifically configured to, when determining during a self-test process that the first motor and / or the second motor cannot be driven, actively pull down the EN1 pin and the EN2 pin, and simultaneously transmit the same takeover information to the secondary redundant parking controller via the SPI communication and the CAN communication, respectively, and actively pull down the GPIO level; The auxiliary redundant parking controller is specifically used to control and drive the first motor and the second motor when the takeover information is recognized through the SPI communication and the CAN communication, the low level of the EN1 pin and the low level of the EN2 pin are recognized, and the low level of GPIO is recognized.

4. The electronic parking redundancy control system according to claim 2, characterized in that: The master redundant parking controller is further configured to change the level state of the EN1 pin and the level state of the EN2 pin; The auxiliary redundant parking controller is further configured to passively take over the drive control operations of the first motor and the second motor based on the low level of the EN1 pin and the low level of the EN2 pin, as well as the SPI communication loss flag, the CAN communication loss flag and the GPIO low level between the auxiliary redundant parking controller and the main redundant parking controller when the main redundant parking controller fails.

5. The electronic parking redundancy control system according to claim 2, characterized in that: The first switching path further includes a first pre-driver chip and a first H-bridge circuit connected in sequence to the first switching switch, and the second switching path further includes a second pre-driver chip and a second H-bridge circuit connected in sequence to the second switching switch; accordingly, The master redundant parking controller is configured to, in the event of a failure of the master redundant parking controller, actively drive the first motor via the first switching switch, the first pre-driver chip, and the first H-bridge circuit, and actively drive the second motor via the second switching switch, the second pre-driver chip, and the second H-bridge circuit; The auxiliary redundant parking controller is used to passively drive the first motor through the first switching switch, the first pre-driver chip and the first H-bridge circuit, and passively drive the second motor through the second switching switch, the second pre-driver chip and the second H-bridge circuit when the main redundant parking controller fails.

6. The electronic parking redundancy control system according to claim 5, characterized in that: The first switch is further configured to connect the primary redundant parking controller and the first pre-driver chip when the EN1 pin is at a high level, or connect the secondary redundant parking controller and the first pre-driver chip when the EN1 pin is at a low level; The second switch is further configured to connect the primary redundant parking controller and the second pre-driver chip when the EN2 pin is at a high level, or to connect the secondary redundant parking controller and the second pre-driver chip when the EN2 pin is at a low level.

7. The electronic parking redundancy control system according to any one of claims 1 to 6, characterized in that: The primary redundant parking controller is further connected to the first power supply, and the secondary redundant parking controller is connected to the second power supply. The first power supply supplies power to the primary redundant parking controller, and the second power supply supplies power to the secondary redundant parking controller.

8. An electronic parking redundancy control method, characterized in that: Applied to the electronic parking redundancy control system according to any one of claims 1 to 7, the method comprises: When the main redundant parking controller fails, the main redundant parking controller actively drives the first motor based on the first switching path and the second motor based on the second switching path; The auxiliary redundant parking controller passively drives the second motor based on the second switching path and drives the first motor based on the first switching path when the main redundant parking controller fails.

9. The electronic parking redundancy control method according to claim 8, characterized in that: The method further comprises: When the primary redundant parking controller determines that it is unable to drive the first motor or the second motor during the self-test process, it actively pulls down the EN1 pin of the first switch and the EN2 pin of the second switch, and simultaneously transmits the same takeover information to the secondary redundant parking controller through SPI communication and CAN communication, and actively pulls down the GPIO level; The auxiliary redundant parking controller controls and drives the first motor and the second motor when it recognizes the takeover information, the low level of the EN1 pin and the low level of the EN2 pin, and the low level of the GPIO through both the SPI communication and the CAN communication.

10. A new energy vehicle, characterized in that: The invention comprises a wire-controlled chassis controller, wherein the electronic parking redundancy control system according to any one of claims 1 to 7 is integrated into the wire-controlled chassis controller.

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