Redundant brake control system and method, computer readable storage medium and vehicle

Abstract

The invention relates to the technical field of redundant brake control, in particular to a redundant brake control system and method, a vehicle and a computer readable storage medium. The redundant brake control system comprises an IBC control unit, an RBU control unit and a hydraulic brake pipeline, the hydraulic brake pipeline is provided with a liquid inlet valve and a liquid outlet valve which are communicated with a brake wheel cylinder, the RBU control unit is provided with a redundant controller and a redundant enabling circuit, and the redundant enabling circuit is used for supplying power to the liquid inlet valve and the liquid outlet valve; the redundant controller is provided with an enabling interface and a valve driving interface, the enabling interface is electrically connected with the redundant enabling circuit and used for controlling the redundant enabling circuit, and the valve driving interface is electrically connected with the liquid inlet valve and the liquid outlet valve and used for controlling the liquid inlet valve and the liquid outlet valve of the hydraulic brake pipeline when the IBC control unit fails. According to the redundant brake control system, under the condition that the IBC brake unit fails, independent pressure building, pressure relief and pressure maintaining can be carried out on the brake wheel cylinders of all the wheel sets of the vehicle through the RBU brake unit, so that accurate braking is achieved.

Description

Technical Field

[0001] This invention relates to the field of redundant braking control technology, and more particularly to redundant braking control systems, methods, computer-readable storage media, and vehicles. Background Technology

[0002] The electro-hydraulic braking system mainly consists of three parts: the brake pedal unit, the hydraulic adjustment unit, and the electronic control unit. The brake pedal unit includes the brake pedal, brake fluid reservoir, master cylinder, pedal travel sensor, and brake pedal feel simulator; the hydraulic adjustment unit includes a hydraulic regulator located in the engine compartment, brake lines, wheel brakes, and pressure sensors installed in the accumulator and at each wheel brake; the electronic control unit is integrated with the hydraulic regulator and mainly receives signals from the sensors via the CAN bus and sends control commands to the hydraulic regulator.

[0003] The current configuration of Integrated Brake Control (IBC) + Redundant Brake Unit (RBU) needs to meet the redundancy requirements of Level 3 autonomous driving for the braking system. In the event of IBC failure, the RBU controls the hydraulic regulating unit to perform braking.

[0004] The existing redundant brake controller only supports dual-channel braking control for four wheelsets after IBC failure, and cannot achieve individual braking control for each wheelset. Summary of the Invention

[0005] To address the aforementioned technical deficiencies, this application provides a redundant braking control system, method, computer-readable storage medium, and vehicle, which can independently control ABS and VDC for each wheel group of the vehicle through the RBU braking unit in the event of IBC braking unit failure.

[0006] The first aspect of this application provides a redundant braking control system for controlling the braking actuator in a drive-by-wire chassis, including an IBC control unit, an RBU control unit, and a hydraulic brake line; The hydraulic brake line is equipped with N inlet valves and N outlet valves that connect to the brake wheel cylinders, where N is the number of brake wheel cylinders; The IBC control unit is used to control the pressure build-up and depressurization of the hydraulic brake line in the brake wheel cylinder; The RBU control unit is used to control the hydraulic brake line when the IBC control unit fails; The RBU control unit is equipped with a redundant controller and a redundant enabling circuit. The redundant enabling circuit is used to supply power to the inlet valve and the outlet valve. The redundant controller is used to control the redundant enabling circuit to supply power to the inlet valve and the outlet valve, as well as to control the inlet valve and the outlet valve of the hydraulic brake line. The redundant controller is equipped with an enabling interface and a valve drive interface. The enabling interface is electrically connected to the redundant enabling circuit. The valve drive interface is electrically connected to the inlet valve and the outlet valve.

[0007] Optionally, the redundant enable circuit is equipped with a MOS transistor; the source of the MOS transistor is electrically connected to the power interface, the drain of the MOS transistor is electrically connected to the positive terminals of the inlet valve and outlet valve of the hydraulic brake line, and the control terminal of the MOS transistor is electrically connected to the enable interface of the redundant controller.

[0008] Optionally, the power interface of the redundant enable circuit is electrically connected to the power supply interface of the IBC control unit.

[0009] Optionally, the redundant controller is equipped with a solenoid valve drive chip, which has N inlet valve drive interfaces and N outlet valve drive interfaces. Each inlet valve drive interface is electrically connected to the negative terminal of the inlet valve, and each outlet valve drive interface is electrically connected to the negative terminal of the outlet valve.

[0010] A second aspect of this application provides a redundant braking control method applied to the redundant braking control system described in the first aspect of this application, the redundant braking control method comprising: In response to the vehicle braking signal, it determines whether the IBC control unit has failed. If so, it supplies power to the inlet and outlet valves of the hydraulic brake line through the redundant enable circuit of the RBU control unit, and controls the inlet and outlet valves of the hydraulic brake line to perform braking through the RBU control unit. If not, the IBC control unit controls the inlet and outlet valves of the hydraulic brake line to apply the brakes.

[0011] Optionally, braking can be achieved by controlling the inlet and outlet valves of the hydraulic brake line through the RBU control unit, specifically including: Determine whether the vehicle is in autonomous driving mode. If so, control the hydraulic brake line to perform anti-lock braking through the redundant controller of the RBU control unit. If not, the vehicle body attitude is intervened by controlling the hydraulic brake lines through the RBU control unit.

[0012] Optionally, the step of intervening in vehicle posture by controlling the hydraulic brake lines through the RBU control unit specifically includes: When oversteering is detected, apply the brakes to the outer front wheel of the vehicle. When understeering is detected, apply the brakes to the inner rear wheel.

[0013] Optionally, the step of controlling the hydraulic brake line for anti-lock braking via the redundant controller of the RBU control unit specifically includes: monitoring the slip ratio of each wheel, and when the wheel slip ratio is detected to be too large, maintaining, releasing, or increasing the pressure of the brake cylinder corresponding to the locked wheel through the hydraulic brake line.

[0014] A third aspect of this application provides a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the redundant braking control method as described in the second aspect of this application.

[0015] The fourth aspect of this application provides a vehicle equipped with either the redundant braking control system described in the first aspect of this application or a computer-readable storage medium described in the third aspect of this application.

[0016] Beneficial effects: When the IBC control unit fails, the redundant controller of the RBU control unit detects the lack of response from the IBC control unit. The redundant controller activates the redundant enable circuit via its enable interface, supplying power to the positive terminals of the inlet and outlet valves. This ensures that the positive terminals of the inlet and outlet valves are automatically reconnected to power via the RBU control unit after the IBC control unit loses power. The valve drive interface on the redundant controller is electrically connected to the negative terminals of the inlet and outlet valves, respectively. During ABS braking or VBS control, the redundant controller activates the negative terminals of the inlet and outlet valves of each brake wheel cylinder via the valve drive interface, controlling the four sets of solenoid valves within each brake wheel cylinder to adjust the hydraulic pressure, thereby adjusting the braking torque of each wheel assembly. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the hydraulic braking pipeline of the redundant braking control system shown in this embodiment; Figure 2 This is a schematic diagram showing the connection relationship between the RBU control unit and the hydraulic brake line in the system shown in this embodiment. Figure 3 This is a flowchart illustrating the redundant braking control method shown in this embodiment; Figure 4 This is a flowchart of step 302 in the redundant braking control method shown in this embodiment; Figure 5 This is a flowchart of step 403 in the redundant braking control method shown in this embodiment. Detailed Implementation

[0018] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0019] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0020] In the description of this invention, "multiple" refers to two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features or their sequential relationship.

[0021] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0022] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are some embodiments of the present invention, not all embodiments.

[0023] In the current configuration of integrated brake controller (IBC) + redundant brake controller (RBU), when the IBC fails, since the RBU only has 4 solenoid valves, it can only achieve dual-loop ABS control, following the low-selection principle of single loop, resulting in poor control accuracy.

[0024] To control hardware costs and enable the redundant brake controller to achieve individual braking control for each wheelset, this application first provides a method such as... Figure 1 and Figure 2 The redundant braking control system shown includes an IBC control unit, an RBU control unit, and hydraulic brake lines.

[0025] Figure 1 This is a schematic diagram of the hydraulic braking pipeline of the redundant braking control system shown in an embodiment of this application.

[0026] Figure 2 This is a schematic diagram showing the connection relationship between the RBU control unit and the hydraulic brake line in the system shown in this embodiment.

[0027] The IBC control unit is used to control the pressure build-up and depressurization of the hydraulic brake line in the brake wheel cylinder; the RBU control unit is used to control the hydraulic brake line when the IBC control unit fails.

[0028] like Figure 1 As shown, the redundant braking control system has four inlet valves and four outlet valves corresponding to the brake cylinders on the left front wheel, right front wheel, left rear wheel, and right rear wheel. Under normal circumstances, the IBC control unit controls the inlet and outlet valves to build up, release, or maintain pressure on the brake cylinders. In the event of a failure of the IBC control unit, the pipeline connecting to the plunger motor in the IBC braking unit is isolated by an isolation valve, while the isolation valve connecting to the RBU control unit is opened, allowing the redundant braking unit to inject brake fluid into the brake cylinders.

[0029] In one embodiment, the hydraulic braking line is provided with N inlet valves and N outlet valves that connect to the brake wheel cylinders, where N is the number of brake wheel cylinders.

[0030] In one embodiment, such as Figure 2 As shown, the RBU control unit is equipped with a redundant controller and a redundant enable circuit.

[0031] The redundant enable circuit is used to supply power to the inlet and outlet valves. The redundant controller is equipped with an enable interface and a valve drive interface; the enable interface controls the redundant enable circuit to supply power to the inlet and outlet valves when the IBC control unit fails, and the valve drive interface controls the inlet and outlet valves of the hydraulic brake line when the IBC control unit fails. The enable interface is electrically connected to the redundant enable circuit, and the valve drive interface is electrically connected to the inlet and outlet valves.

[0032] When the IBC control unit fails, the redundant controller of the RBU control unit detects the lack of response from the IBC control unit. The redundant controller activates the redundant enable circuit via its enable interface, supplying power to the positive terminals of the inlet and outlet valves. This ensures that the positive terminals of the inlet and outlet valves are automatically reconnected to power via the RBU control unit after the IBC control unit loses power. The valve drive interface on the redundant controller is electrically connected to the negative terminals of the inlet and outlet valves, respectively. During ABS braking or VBS control, the redundant controller activates the negative terminals of the inlet and outlet valves of each brake wheel cylinder via the valve drive interface, controlling the hydraulic adjustment of each wheel group's brake wheel cylinders to adjust the braking torque of each wheel group.

[0033] In one feasible implementation, the redundant enable circuit is equipped with a MOS transistor; the source of the MOS transistor is electrically connected to the power interface, the drain of the MOS transistor is electrically connected to the positive terminals of the inlet valve and the outlet valve of the hydraulic brake line, and the control terminal of the MOS transistor is electrically connected to the enable interface of the redundant controller.

[0034] In the embodiments of this application, such as Figure 1 As shown, the redundant enable circuit is equipped with MOS transistors M1 and M2. The sources of MOS transistors M1 and M2 are connected to the power interface VBAT, and the drains are electrically connected to the four inlet valves (ICFL, ICFR, ICRL, ICRR) and four outlet valves (OSFL, OSFR, OSRL, OSRR) of the hydraulic pipeline unit. The control terminal is connected to the enable interface of the redundant controller.

[0035] In one feasible implementation, the power interface of the redundant enable circuit is electrically connected to the power supply interface of the IBC control unit.

[0036] In the embodiments of this application, see Figure 2 The power supply VBAT is connected to the 46-pin connector of the IBC control unit and is connected in parallel to the 46-pin connector of the RBU control unit via a wiring harness. The power interface of the redundant enable circuit draws power from the 46-pin connector of the RBU control unit. When the MOS transistors M1 and M2 of the redundant enable circuit are turned on, they can draw power from the 46-pin connector of the IBC control unit and then supply power to the inlet valve and outlet valve.

[0037] When the IBC experiences an abnormal power failure, the RBU detects the power failure via the CAN bus signal, resulting in communication loss. At this time, the normally open valves CSV1 and CSV2 of the IBC are de-energized and open, while the normally closed valves PSV1 and PSV2 are de-energized and close. For example... Figure 1 The system embodiment shown turns on MOSFETs M1 and M2 through the enable interface of the redundant controller, and the power supply VBAT enables the positive terminals of the four inlet valves and four outlet valves. In this way, when the IBC control unit is powered off, the inlet valves and outlet valves can still be powered by the RBU control unit.

[0038] In one feasible implementation, the redundant controller is provided with a solenoid valve drive chip, which has N inlet valve drive interfaces and N outlet valve drive interfaces. Each inlet valve drive interface is electrically connected to the negative terminal of the inlet valve, and each outlet valve drive interface is electrically connected to the negative terminal of the outlet valve.

[0039] like Figure 1As shown in the embodiment of this application, the redundant controller is provided with a solenoid valve driver chip, which has a valve driver interface for the four inlet valves (ICFL, ICFR, ICRL, ICRR) and a valve driver interface for the four outlet valves (OSFL, OSFR, OSRL, OSRR).

[0040] When the IBC control unit fails, such as Figure 1 The system embodiment shown controls the opening / closing of the inlet and outlet valves through the solenoid valve drive chip. The brushless motor of the RBU control unit works to drive the plunger pump to pump the brake fluid in the master cylinder into the brake wheel cylinder. During ABS braking and VDC control, the RBU control unit can independently control the brake wheel cylinder of each wheel group to build up pressure, release pressure, or maintain pressure.

[0041] This application also provides a redundant braking control method, which is applied to the redundant braking control system of the above embodiments.

[0042] Figure 3 This is a schematic diagram of the steps of a redundant braking control method according to one embodiment.

[0043] like Figure 3 As shown, the redundant braking control method includes: 301. In response to the vehicle braking signal, determine whether the IBC control unit has failed.

[0044] If so, then execute step 302: supply power to the inlet valve and outlet valve of the hydraulic brake line through the redundant enable circuit of the RBU control unit, and control the inlet valve and outlet valve of the hydraulic brake line to perform braking through the RBU control unit. If not, proceed to step 303, and use the IBC control unit to control the inlet and outlet valves of the hydraulic brake line for braking.

[0045] Optional, such as Figure 4 As shown, step 302 specifically includes: 401. Determine whether the vehicle is in autonomous driving mode. If so, proceed to step 402. Step 402: Control the hydraulic brake line for anti-lock braking via the redundant controller of the RBU control unit.

[0046] In step 402, during the active pressure build-up process of the RBU control unit, if the wheel speed sensor detects that a certain wheel has an excessive slip ratio and is showing a tendency to lock up, it directly connects the negative terminal of the inlet valve of the corresponding brake wheel cylinder and closes the inlet valve, thus entering a pressure holding state. If the wheel is still detected to have a tendency to lock up, pressure needs to be released. In this case, the inlet valve is closed again, and the negative terminal of the outlet valve of the corresponding brake wheel cylinder is connected, allowing the brake fluid in the corresponding circuit to flow directly back into the reservoir. If the wheel acceleration begins to increase and the locking tendency weakens, pressure needs to be increased further. At this time, the RBU plunger pump can continue to work. Simply closing the outlet valve and opening the inlet valve is enough to increase pressure. Repeating this process multiple times achieves brake regulation.

[0047] Optionally, the step of controlling the hydraulic brake line for anti-lock braking via the redundant controller of the RBU control unit specifically includes: monitoring the slip ratio of each wheel, and when the wheel slip ratio is detected to be too large, maintaining, releasing, or increasing the pressure of the brake cylinder corresponding to the locked wheel through the hydraulic brake line.

[0048] If not, proceed to step 403. Step 403: Intervene in vehicle attitude by controlling the hydraulic brake lines through the RBU control unit.

[0049] Optional, such as Figure 5 As shown, step 303 specifically includes: 501. Monitor the vehicle's driving status.

[0050] 502. When oversteering is detected, apply brakes to the outer front wheel of the vehicle; In step 502, the RBU closes the USV valve of the corresponding circuit and opens the HSV valve of the corresponding circuit. The RBU control unit opens the inlet valve of the outer front wheel through the redundant valve drive chip, while closing the inlet valve of the other wheel in the same circuit. The brushless motor of the RBU control unit operates, driving the plunger pump to pump the brake fluid in the master cylinder into the wheel cylinder of the outer front wheel. After the intervention is completed, the outlet valve of the outer front wheel is opened to release the hydraulic pressure; the plunger pump of the RBU control unit stops working.

[0051] 503. When understeering is detected, apply the brakes to the inner rear wheel of the vehicle.

[0052] In step 503, the RBU control unit closes the USV valve of the corresponding circuit and opens the HSV valve of the corresponding circuit. The RBU opens the inlet valve of the inner rear wheel through the redundant valve driver chip, while closing the inlet valve of the other wheel in the same circuit. The brushless motor of the RBU control unit operates, driving the plunger pump to pump the brake fluid in the master cylinder into the wheel cylinder of the inner rear wheel. After the intervention is completed, the outlet valve of the inner rear wheel is opened to release the hydraulic pressure. The plunger pump of the RBU control unit stops working.

[0053] This application provides a computer-readable storage medium storing computer-executable instructions. Furthermore, another embodiment of the invention provides a computer-readable storage medium storing computer-executable instructions for executing the redundant braking control method described in the above embodiments. Exemplarily, the above-described... Figures 3 to 5 The methods and steps in the text.

[0054] It is worth noting that, since the computer-readable storage medium of the present invention is capable of executing the redundant braking control method of any of the above embodiments, the specific implementation and technical effects of the computer-readable storage medium of the present invention can be referred to the specific implementation and technical effects of the redundant braking control method of any of the above embodiments.

[0055] This application also provides a vehicle equipped with the redundant braking control system or computer-readable storage medium described in the above embodiments. The vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. It can also be a commercial vehicle, such as a van, bus, small truck, or large trailer. The vehicle needs to have an electric motor capable of outputting power or acting as a generator to store mechanical energy. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0056] Since the vehicle applies all the technical solutions of the redundant braking control system described above, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0057] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically include computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0058] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

Claims

1. A redundant braking control system for controlling the braking actuator in a drive-by-wire chassis, characterized in that, This includes the IBC control unit, RBU control unit, and hydraulic brake lines; The hydraulic brake line is equipped with N inlet valves and N outlet valves that connect to the brake wheel cylinders, where N is the number of brake wheel cylinders; The IBC control unit is used to control the pressure build-up and depressurization of the hydraulic brake line in the brake wheel cylinder; The RBU control unit is used to control the hydraulic brake line when the IBC control unit fails; The RBU control unit is equipped with a redundant controller and a redundant enabling circuit. The redundant enabling circuit is used to supply power to the inlet valve and the outlet valve. The redundant controller is used to control the redundant enabling circuit to supply power to the inlet valve and the outlet valve, as well as to control the inlet valve and the outlet valve of the hydraulic brake line. The redundant controller is equipped with an enabling interface and a valve drive interface. The enabling interface is electrically connected to the redundant enabling circuit. The valve drive interface is electrically connected to the inlet valve and the outlet valve.

2. The redundant braking control system as described in claim 1, characterized in that, The redundant enable circuit is equipped with a MOS transistor; the source of the MOS transistor is electrically connected to the power interface, the drain of the MOS transistor is electrically connected to the positive terminals of the inlet valve and outlet valve of the hydraulic brake line, and the control terminal of the MOS transistor is electrically connected to the enable interface of the redundant controller.

3. A redundant braking control system as described in claim 2, characterized in that, The power interface of the redundant enable circuit is electrically connected to the power supply interface of the IBC control unit.

4. A redundant braking control system as described in claim 1, characterized in that, The redundant controller is equipped with a solenoid valve drive chip, which has N inlet valve drive interfaces and N outlet valve drive interfaces. Each inlet valve drive interface is electrically connected to the negative terminal of the inlet valve, and each outlet valve drive interface is electrically connected to the negative terminal of the outlet valve.

5. A redundant braking control method, characterized in that, The redundant braking control method is applied to the redundant braking control system according to any one of claims 1 to 4, wherein the redundant braking control method comprises: In response to the vehicle braking signal, it determines whether the IBC control unit has failed. If so, it supplies power to the inlet and outlet valves of the hydraulic brake line through the redundant enable circuit of the RBU control unit, and controls the inlet and outlet valves of the hydraulic brake line to perform braking through the RBU control unit. If not, the IBC control unit controls the inlet and outlet valves of the hydraulic brake line to apply the brakes.

6. The redundant braking control method as described in claim 5, characterized in that, Braking is achieved by controlling the inlet and outlet valves of the hydraulic brake line through the RBU control unit, specifically including: Determine whether the vehicle is in autonomous driving mode. If so, control the hydraulic brake line to perform anti-lock braking through the redundant controller of the RBU control unit. If not, the vehicle body attitude is intervened by controlling the hydraulic brake lines through the RBU control unit.

7. The redundant braking control method as described in claim 6, characterized in that, The method of controlling the hydraulic brake line for anti-lock braking via the redundant controller of the RBU control unit specifically includes: The slip ratio of each wheel is monitored. When an excessive slip ratio is detected, the pressure of the brake cylinder corresponding to the locked wheel is maintained, released, or increased through the hydraulic brake line.

8. The redundant braking control method as described in claim 6, characterized in that, The method of intervening in vehicle posture by controlling the hydraulic brake lines through the RBU control unit specifically includes: When oversteering is detected, apply the brakes to the outer front wheel of the vehicle. When understeering is detected, apply the brakes to the inner rear wheel.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing a computer to perform the redundant braking control method as described in any one of claims 5 to 8.

10. A vehicle, characterized in that, It is equipped with a redundant braking control system as described in any one of claims 1 to 4 or a computer-readable storage medium as described in claim 9.

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