Distributed EMB communication control system and control method
By using a distributed EMB communication control system with redundant central domain controllers and an independent CAN bus, the systemic failure caused by water ingress into the wheel-end controller connectors was resolved, ensuring that the vehicle could still brake normally in the event of a failure, thus improving the reliability and safety of the system.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- WUHU BETHEL ELECTRONICS CONTROL SYST
- Filing Date
- 2026-04-24
- Publication Date
- 2026-06-16
Smart Images
Figure CN122226591A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of automotive brake-by-wire technology, and in particular to a distributed EMB communication control system and control method. Background Technology
[0002] In automotive electronic and electrical architectures, especially in systems designed for advanced autonomous driving and integrated chassis control, redundancy is commonly employed to achieve high reliability and functional safety. Common solutions include setting up redundant domain controllers (such as primary and backup central domain controllers) and deploying redundant communication networks for critical actuators (such as wheel-end actuators in brake-by-wire systems).
[0003] A typical technical solution is as follows: Figure 1 As shown, the four wheel-end controllers (or wheel-end actuators) are each connected via two independent Controller Area Network (CAN) buses. One (CAN1) connects to the primary domain controller, and the other (CAN2) connects to the backup domain controller, thus creating redundancy in the communication path. Ideally, if any CAN bus or any domain controller fails, the system can switch to the other path to maintain control of the actuators, thereby ensuring that critical functions such as braking are not lost.
[0004] However, this technical solution has inherent drawbacks in terms of physical layout and adaptability to extreme environments. Because the wheel-end controller is located near the wheel, space is extremely limited, and the two redundant CAN buses it connects to are typically integrated into a single physical connector to save space and simplify wiring harness assembly. Meanwhile, the wheel end is one of the harshest operating environments in the entire vehicle, constantly exposed to conditions such as heavy rain, water accumulation, mud splashes, salt spray, and high humidity.
[0005] Although the connector is designed to be waterproof, the risk of water ingress into the connector always exists and cannot be completely eliminated as the vehicle ages, the sealing materials deteriorate, or accidental damage occurs. If water enters a connector of a wheel-end controller, it is highly likely to cause an internal short circuit. Failure modes include: short circuit between the CAN_H and CAN_L signal lines, short circuit between the signal line and power (Vbat), or short circuit to ground (GND). This short circuit will have a serious consequence: the two CAN buses (CAN1 and CAN2), originally designed to be independent and redundant, will simultaneously fail because they are physically connected at the point of failure.
[0006] At this point, the primary and backup domain controllers at the upper level will be completely unable to communicate with the wheel-end actuator via any CAN bus, rendering the redundancy design completely ineffective in this fault mode. More seriously, if the short circuit causes abnormal bus voltage, it may even interfere with other nodes on the same CAN network, leading to a wider range of faults. In this situation, the vehicle will completely lose its braking ability on that wheel, causing a severe imbalance in braking force distribution and a sharp increase in braking distance during emergency braking, potentially even leading to loss of vehicle control and posing a significant safety hazard. Summary of the Invention
[0007] In view of the shortcomings of the prior art described above, the purpose of this application is to provide a distributed EMB communication control system and control method to solve the technical problem that a single physical point failure, such as water ingress into the wheel end controller connector, causes other wheel end controllers to fail simultaneously, and then the local failure spreads into a systemic loss of function.
[0008] To achieve the above and other related objectives, a first aspect of this application provides a distributed EMB communication control system. The distributed EMB communication control system includes: a central control module, a wheel-end execution module, and a communication module; wherein,
[0009] The central control module includes a redundant first central domain controller and a second central domain controller, with the first central domain controller configured as the master controller.
[0010] The wheel-end execution module includes a left front execution unit, a right front execution unit, a left rear execution unit, and a right rear execution unit;
[0011] The communication module includes a first public communication module and a second private communication module;
[0012] The first central domain controller and the second central domain controller are configured to transmit vehicle-level shared status information and control commands through the first common communication module; and
[0013] The first central domain controller and the second central domain controller are configured to transmit shared status information and clamping force request signals of the wheel-end execution module through the second private communication module.
[0014] In some embodiments of the first aspect of this application, when the first central domain controller fails, the second central domain controller is configured to take over the functions of the main controller and transmit the shared status information of the wheel-end execution module and the clamping force request signal through the second private communication module.
[0015] In some embodiments of the first aspect of this application, the first common communication module includes: a first common controller local area network (Controller Area Network) bus and a second common controller local area network (Controller Area Network) bus; wherein,
[0016] The first common controller LAN bus and the second common controller LAN bus are respectively connected to the first central domain controller and the second central domain controller, and are configured to transmit vehicle-level shared status information to the first central domain controller and the second central domain controller; and are configured to transmit the clamping force request signal to the wheel end actuator module.
[0017] In some embodiments of the first aspect of this application, the second private communication module includes: a first private controller local area network (Controller Area Network) bus, a second private controller local area network (Controller Area Network) bus, a third private controller local area network (Controller Area Network) bus, a fourth private controller local area network (Controller Area Network) bus, a fifth private controller local area network (Controller Area Network) bus, and a sixth private controller local area network (Controller Area Network) bus; wherein,
[0018] The first central domain controller is connected to the left front execution unit via the first private controller LAN bus, to the right front execution unit via the second private controller LAN bus, and to the left rear execution unit and the right rear execution unit via the third private controller LAN bus;
[0019] The second central domain controller is connected to the right front execution unit via the fourth private controller LAN bus, to the left front execution unit via the fifth private controller LAN bus, and to the left rear execution unit and the right rear execution unit via the sixth private controller LAN bus.
[0020] In some embodiments of the first aspect of this application, the left front execution unit includes a left front wheel end controller and a left front wheel end motor, the right front execution unit includes a right front wheel end controller and a right front wheel end motor, the left rear execution unit includes a left rear wheel end controller and a left rear wheel end motor, and the right rear execution unit includes a right rear wheel end controller and a right rear wheel end motor.
[0021] In some embodiments of the first aspect of this application, the main controller is configured to acquire and parse the driver's brake pedal operation to obtain braking demand, and output a clamping force request signal to the left front wheel end controller, the right front wheel end controller, the left rear wheel end controller and the right rear wheel end controller according to the braking demand;
[0022] The left front wheel end controller, the right front wheel end controller, the left rear wheel end controller, and the right rear wheel end controller are configured to drive the left front wheel end motor, the right front wheel end motor, the left rear wheel end motor, and the right rear wheel end motor respectively according to the clamping force request signal.
[0023] To achieve the above and other related objectives, a second aspect of this application provides a distributed EMB communication control method for implementing the distributed EMB communication control system described in any one of the first aspects of this application. The distributed EMB communication control method includes:
[0024] In response to the driver's brake pedal operation, a clamping force request signal is obtained;
[0025] The first central domain controller, which acts as the main controller, sends the clamping force request signal to the wheel end execution module through the first private controller LAN bus, the second private controller LAN bus, and the third private controller LAN bus.
[0026] Simultaneously, the second central domain controller sends the clamping force request signal to the wheel end execution module through the fourth private controller LAN bus, the fifth private controller LAN bus and the sixth private controller LAN bus;
[0027] The wheel-end execution module receives and responds to the clamping force request signal sent by the first central domain controller, and performs a braking clamping operation.
[0028] In some embodiments of the second aspect of this application, a switchover of control is triggered when the first central domain controller fails;
[0029] The wheel-end execution module receives and responds to the clamping force request signal sent by the second central domain controller, and performs a braking clamping operation.
[0030] In some embodiments of the second aspect of this application, when any execution unit in the wheel-end execution module is unable to receive the clamping force request signal or perform the braking clamping operation due to a fault, the communication interruption on the private controller local area network bus corresponding to the faulty execution unit is restricted at the faulty execution unit.
[0031] Communication and control between other non-faulty execution units and their corresponding private controller LAN buses remain normal, enabling them to continue receiving and responding to the clamping force request signal and performing braking clamping operations.
[0032] To achieve the above and other related objectives, a third aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the distributed EMB communication control method described in any of the second aspects.
[0033] To achieve the above and other related objectives, a fourth aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory;
[0034] The processor is configured to execute the computer program so that the electronic device, when executed, implements the distributed EMB communication control method according to any of the second aspects.
[0035] As described above, the distributed EMB communication control system and control method of this application have the following beneficial effects:
[0036] This application ensures that even if a single physical point fault such as "water ingress into the connector causing a physical short circuit in both CAN channels" occurs, the fault can be effectively isolated to the minimum extent. The interruption of the communication link corresponding to the faulty wheel end will not cause the normal communication link of other wheel ends to fail. The primary domain controller and the backup domain controller can still control all other functionally normal wheel end actuators through their respective healthy communication paths. Attached Figure Description
[0037] Figure 1 The diagram shows the structure of an existing technical solution.
[0038] Figure 2 The diagram shown is a schematic representation of the distributed EMB communication control system according to an embodiment of this application.
[0039] Figure 3 The diagram shown is a schematic representation of the communication redundancy architecture of the distributed EMB communication control system according to an embodiment of this application.
[0040] Figure 4 The diagram shows a normal control flow of the distributed EMB communication control method according to an embodiment of this application.
[0041] Figure 5 The diagram shows a control flow diagram of a first central domain controller failure according to an embodiment of this application.
[0042] Figure 6 The diagram shows a control flow diagram for a single wheel-end controller failure according to an embodiment of this application.
[0043] Figure 7 The diagram shown illustrates the control flow for a dual-wheel end controller failure according to an embodiment of this application.
[0044] Figure 8 The diagram shown is a structural schematic of an electronic device according to an embodiment of this application.
[0045] Component designation explanation
[0046] 200 Distributed EMB communication control system 210 Central control module 211 First Central Domain Controller 212 Second Central Domain Controller 220 Wheel-end execution module 221 Left front execution unit 222 Right front execution unit 223 Left rear execution unit 224 Right rear execution unit 230 Communication module 231 First Public Communication Module 232 Second private communication module 800 electronic devices 801 processor 802 memory 8021 operating system 8022 app 803 Network interface 804 bus system 805 User Interface S401~S403 step S501~S504 step S601~S605 step S701~S705 step Detailed Implementation
[0047] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented in other ways.
[0048] Different specific implementation methods can be used, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.
[0049] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.
[0050] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.
[0051] Electro-mechanical braking (EMB) is an advanced automotive braking technology that combines electronic and mechanical technologies to provide a safer, more efficient, and more environmentally friendly braking solution. EMB abandons the traditional electro-hydraulic coordinated control scheme, instead using a controller that directly controls wheel-end motors via electrical signals to push the brake calipers to tighten the brake discs, thereby achieving vehicle braking. Because it uses only electrical signals and mechanical control, EMB can achieve faster braking speeds compared to traditional electro-hydraulic braking, thus reducing the vehicle's braking distance and achieving better braking performance.
[0052] To meet regulatory and functional safety requirements, current mainstream EMB control solutions adopt the above approach. Figure 1 The redundant control scheme shown is such that domain controller 1 and domain controller 2 are the upper-level controllers of the EMB system, and they are redundant with each other. The domain controllers are responsible for parsing the driver's braking needs and receiving braking requests from other controllers, and then sending the parsed braking force requests to the four wheel-end controllers. After receiving the braking requests, the four wheel-end controllers control the calipers to tighten, thereby achieving vehicle braking.
[0053] Its redundancy strategy is as follows:
[0054] 1. When both domain controllers and two CAN channels are working normally, domain controller 1 has the highest priority, and the four wheel-end controllers only execute braking requests issued by domain controller 1 via CAN1;
[0055] 2. When CAN1 fails, the four wheel-end controllers will only execute the braking request sent by domain controller 1 via CAN2;
[0056] 3. When CAN2 fails, the four wheel-end controllers continue to execute only the braking requests issued by domain controller 1 via CAN1;
[0057] 4. When domain controller 1 fails, the four wheel-end controllers will only execute the braking request sent by domain controller 2 via CAN1;
[0058] 5. When domain controller 2 fails, the four wheel-end controllers continue to execute only the braking requests sent by domain controller 1 via CAN1;
[0059] The above solutions ensure that the entire EMB system can still achieve normal braking control even in the event of a single point of failure.
[0060] However, the above solutions have inherent drawbacks in terms of physical layout and adaptability to extreme environments. Since the wheel-end controller is located near the wheel and space is extremely limited, the two redundant CAN buses it connects to are usually integrated into the same physical connector to save space and simplify wiring harness assembly. Although the connector is designed to be waterproof, the risk of water entering the connector always exists and cannot be completely eliminated as the vehicle ages, the sealing materials age, or it is accidentally damaged.
[0061] If water gets into the connector of a wheel-end controller, it is highly likely to cause a short circuit in the internal circuitry, resulting in the simultaneous failure of the two independent and backup CAN buses (CAN1 and CAN2) due to their physical connection at the point of failure. In this situation, the vehicle will completely lose its braking ability for that wheel, causing a severe imbalance in braking force distribution and a sharp increase in braking distance during emergency braking, and may even lead to loss of vehicle control, posing a significant safety hazard.
[0062] At least to address the aforementioned technical problems, this application provides a distributed EMB communication control system and control method, which sets up a public CAN bus group and a private CAN bus group. When one or two wheel-end controllers fail due to water ingress into their connectors, the private CAN buses connected to the connectors of other wheel-end controllers remain undisturbed, thereby receiving the clamping force request signal output by the central domain controller and performing braking. This ensures that the vehicle can still brake in time and stop safely even if one or two wheel-end controllers fail.
[0063] The principles and implementation methods of the distributed EMB communication control system and control method described in this application will be explained in detail below with reference to the accompanying drawings, so that those skilled in the art can understand the distributed EMB communication control system and control method of this embodiment without creative effort.
[0064] To facilitate understanding of the embodiments of this application, please refer to the accompanying drawings. Figure 2 and appendix Figure 3 Detailed explanation. Please refer to [link / reference]. Figure 2 The diagram shows a schematic representation of the distributed EMB communication control system provided in an embodiment of this application.
[0065] like Figure 2 As shown, the distributed EMB communication control system 200 includes: a central control module 210, a wheel-end execution module 220, and a communication module 230; wherein, the central control module 210 includes a redundantly configured first central domain controller 211 and a second central domain controller 212, and the first central domain controller 211 is configured as the master controller; the wheel-end execution module 220 includes a left front execution unit 221, a right front execution unit 222, a left rear execution unit 223, and a right rear execution unit 224; the communication module 230 includes a first common communication module 231 and a second private communication module 232.
[0066] In this embodiment, the first central domain controller 211 and the second central domain controller 212 are configured to transmit vehicle-level shared status information and control commands through the first communication module; and the first central domain controller 211 and the second central domain controller 212 are configured to transmit wheel-end execution module 220 shared status information and clamping force request signals through the second private communication module 232.
[0067] In this embodiment, when the first central domain controller 211 fails, the second central domain controller 212 is configured to take over the function of the main controller and transmit the shared status information and clamping force request signal of the wheel end execution module 220 through the second private communication module 232.
[0068] The first central domain controller 211 and the second central domain controller 212 are redundant to each other, and both use multi-core microprocessors with the same or similar performance and run the same control method. After system initialization, the first central domain controller 211 is designated as the master controller, responsible for the motion coordination and decision-making of the whole vehicle. The second central domain controller 212 serves as a backup controller, synchronizing the status and data of the first central domain controller 211 in real time, so as to quickly take over the first central domain controller 211 as the master controller when the first central domain controller 211 fails.
[0069] In this embodiment, the first common communication module 231 includes a first common controller local area network (DCLAN) bus and a second common controller local area network (DCLAN) bus; wherein the first common controller local area network (DCLAN) bus and the second common controller local area network (DCLAN) bus are respectively connected to the first central domain controller 211 and the second central domain controller 212, and are configured to transmit vehicle-level shared status information to the first central domain controller 211 and the second central domain controller 212; and are configured to transmit clamping force request signals to the wheel-end execution module 220.
[0070] The first common controller local area network bus and the second common controller local area network bus constitute the vehicle's backbone communication network, connecting the first central domain controller 211 and the second central domain controller 212, as well as other nodes that need to exchange vehicle-level information. The transmission content of the first common controller local area network bus and the second common controller local area network bus is a backup for each other.
[0071] In this embodiment, the second private communication module 232 includes a first private controller local area network bus, a second private controller local area network bus, a third private controller local area network bus, a fourth private controller local area network bus, a fifth private controller local area network bus, and a sixth private controller local area network bus.
[0072] The first central domain controller 211 is connected to the left front execution unit 221 via the first private controller LAN bus, to the right front execution unit 222 via the second private controller LAN bus, and to the left rear execution unit 223 and the right rear execution unit 224 via the third private controller LAN bus; the second central domain controller 212 is connected to the right front execution unit 222 via the fourth private controller LAN bus, to the left front execution unit 221 via the fifth private controller LAN bus, and to the left rear execution unit 223 and the right rear execution unit 224 via the sixth private controller LAN bus.
[0073] It should be noted that the first private controller LAN bus, the second private controller LAN bus, the third private controller LAN bus, the fourth private controller LAN bus, the fifth private controller LAN bus, and the sixth private controller LAN bus are physically completely independent wiring harnesses.
[0074] In this embodiment, the left front execution unit 221 includes a left front wheel end controller and a left front wheel end motor, the right front execution unit 222 includes a right front wheel end controller and a right front wheel end motor, the left rear execution unit 223 includes a left rear wheel end controller and a left rear wheel end motor, and the right rear execution unit 224 includes a right rear wheel end controller and a right rear wheel end motor.
[0075] In this embodiment, the main controller is configured to acquire and parse the driver's brake pedal operation to obtain the braking demand, and output a clamping force request signal to the left front wheel end controller, the right front wheel end controller, the left rear wheel end controller, and the right rear wheel end controller according to the braking demand.
[0076] Next, the left front wheel end controller, the right front wheel end controller, the left rear wheel end controller, and the right rear wheel end controller are configured to drive the left front wheel end motor, the right front wheel end motor, the left rear wheel end motor, and the right rear wheel end motor respectively according to the clamping force request signal.
[0077] like Figure 3 The diagram shown is a schematic of the communication redundancy architecture of the distributed EMB communication control system according to an embodiment of this application.
[0078] In this embodiment, public CAN1 is the first common controller LAN bus, public CAN2 is the second common controller LAN bus, WCU_FL is the left front wheel end controller, WCU_FR is the right front wheel end controller, WCU_RL is the left rear wheel end controller, WCU_RR is the right rear wheel end controller, private CAN1 is the first private controller LAN bus, private CAN2 is the second private controller LAN bus, private CAN3 is the third private controller LAN bus, private CAN4 is the fourth private controller LAN bus, private CAN5 is the fifth private controller LAN bus, private CAN6 is the sixth private controller LAN bus, CCU1 is the first central domain controller, and CCU2 is the second central domain controller.
[0079] Specifically, public CAN1 is connected to CCU1 and CCU2 respectively, and public CAN2 is connected to CCU1 and CCU2 respectively; CCU1 is connected to WCU_FL through private CAN1, to WCU_FR through private CAN2, and to WCU_RL and WCU_RR through private CAN3; CCU2 is connected to WCU_FR through private CAN4, to WCU_FL through private CAN5, and to WCU_RL and WCU_RR through private CAN6.
[0080] In this embodiment, under normal conditions, after the driver presses the brake pedal, CCU1 acquires and parses the driver's brake pedal operation to obtain the braking demand and generates a clamping force request signal. Then, it sends the clamping force request signal to WCU_FL, WCU_FR, WCU_RL and WCU_RR through private CAN1, private CAN2 and private CAN3 respectively. WCU_FL, WCU_FR, WCU_RL and WCU_RR perform braking according to the clamping force request signal.
[0081] At the same time, CCU2 synchronously executes the same control method as CCU1 and sends clamping force request signals to WCU_FL, WCU_FR, WCU_RL and WCU_RR, but WCU_FL, WCU_FR, WCU_RL and WCU_RR do not respond to the clamping force request signals sent by CCU2.
[0082] When WCU_FL, WCU_FR, WCU_RL, and WCU_RR receive a failure or degradation of CCU1, they respond to the clamping force request signal sent by CCU2 and perform braking.
[0083] When a water ingress occurs in the connector of one of the wheel-end controllers (WCU_FL, WCU_FR, WCU_RL, and WCU_RR), causing all wiring connected to that wheel-end controller to short-circuit to ground and resulting in the failure of the private CAN bus, the private CAN buses connected to other wheel-end controllers will continue to operate normally.
[0084] For example, when water enters the connector of WCU_FL, causing the private CAN1 and private CAN5 connected to it to fail, while private CAN2, private CAN3, private CAN4, and private CAN6 function normally, then WCU_FR, WCU_RL, and WCU_RR connected to it can normally receive the clamping force request signal sent by the main controller (CCU1 or CCU2) and perform braking normally, still providing 6.43 m / s. 2 The braking deceleration ensures the vehicle stops safely.
[0085] For example, if water gets into the connector of WCU_RL, private CAN3 and private CAN6 will fail, but private CAN1, private CAN2, private CAN4 and private CAN5 will still work normally. The main controller (CCU1 or CCU2) can still send clamping force request signals to WCU_FL and WCU_FR, thereby controlling the two front wheels of the vehicle to perform braking to provide more than half of the braking deceleration and ensure that the vehicle stops safely.
[0086] In addition to handling water inlet conditions at the single wheel end controller, it can also handle water inlet conditions at the two front wheel ends or the two rear wheel ends.
[0087] For example, when water enters the two front wheel controllers (WCU_FL and WCU_FR), causing private CAN1, private CAN2, private CAN4, and private CAN5 to fail, private CAN3 and private CAN5 will still function normally, and the two rear wheel controllers (WCU_RL and WCU_RR) will still have emergency braking capabilities, thereby ensuring that the vehicle can be safely stopped.
[0088] Based on the aforementioned distributed EMB communication control system, the corresponding distributed EMB communication control method is executed, which covers normal operation mode and multiple fault response modes.
[0089] like Figure 4 The diagram shown illustrates the normal control flow provided in an embodiment of this application. It includes the following steps:
[0090] Step S401: In response to the driver's brake pedal operation, obtain a clamping force request signal;
[0091] Step S402: The first central domain controller, acting as the main controller, sends a clamping force request signal to the wheel end execution module through the first private controller LAN bus, the second private controller LAN bus, and the third private controller LAN bus.
[0092] Simultaneously, the second central domain controller sends a clamping force request signal to the wheel end execution module through the fourth private controller LAN bus, the fifth private controller LAN bus and the sixth private controller LAN bus;
[0093] Step S403: The wheel end execution module receives and responds to the clamping force request signal sent by the first central domain controller and performs a braking clamping operation.
[0094] In this embodiment, the first central domain controller acts as the main controller. Based on the driver's brake pedal operation, it analyzes the braking demand and outputs a clamping force request signal according to the braking demand.
[0095] Specifically, the first central domain controller parses the braking demand based on the brake pedal operation, and runs the core braking control algorithm based on the braking demand, the current vehicle speed, vehicle load distribution, road surface estimated adhesion coefficient, and other information to calculate the optimal clamping force required for each of the four wheels, forming a first clamping force request array, and further generating and outputting the first clamping force request signal.
[0096] The second central domain controller acts as a backup controller, runs the same control algorithm as the first central domain controller, and forms a second clamping force request array, further generating and outputting a second clamping force request signal.
[0097] The first central domain controller sends a first clamping force request signal to the left front wheel end controller, the right front wheel end controller, the left rear wheel end controller, and the right rear wheel end controller via the first private controller LAN bus, the second private controller LAN bus, and the third private controller LAN bus connected to it.
[0098] Meanwhile, the second central domain controller sends the second clamping force request signal to the left front wheel end controller, the right front wheel end controller, the left rear wheel end controller, and the right rear wheel end controller via the fourth private controller LAN bus, the fifth private controller LAN bus, and the sixth private controller LAN bus connected to it.
[0099] The left front wheel end controller, the right front wheel end controller, the left rear wheel end controller, and the right rear wheel end controller receive the first clamping force request signal and the second clamping force request signal, and perform a braking clamping operation according to the first clamping force request signal sent by the first central domain controller.
[0100] It should be noted that the calculation process of the control algorithms of the first central domain controller and the second central domain controller is executed in parallel.
[0101] It should be noted that the first clamping force request array and the second clamping force request array are the same under theoretical, ideal and absolutely strict synchronization conditions. In actual implementation, the first clamping force request array and the second clamping force request array are almost identical, but there are extremely small differences that have no practical impact.
[0102] As the core algorithm of the vehicle operation control program, the braking control algorithm is a common technical means in this field. Therefore, the detailed calculation process of the braking control algorithm is not the main content of this embodiment and will not be described in detail here.
[0103] like Figure 5 The diagram shown is a schematic representation of the control flow for a first central domain controller failure according to an embodiment of this application. It includes the following steps:
[0104] Step S501: In response to the detection of a fault in the first central domain controller;
[0105] Step S502: Trigger control switch, the second central domain controller is upgraded to the master controller and takes over the control decision-making power of the first central domain controller; and the private CAN message content sent by the second central domain controller to each wheel end controller through the fourth private controller LAN bus, the fifth private controller LAN bus and the sixth private controller LAN bus is switched to "master control command for direct execution";
[0106] Step S503: The second central domain controller broadcasts its new master control status through the first common controller LAN bus and the second common controller LAN bus.
[0107] Step S504: After each wheel-end controller detects a communication interruption or invalid command on the first private controller LAN bus, the second private controller LAN bus, and the third private controller LAN bus, and receives the private CAN message content of "master control command for direct execution" sent by the second central domain controller, each wheel-end controller begins to respond and execute the second clamping force request signal from the second central domain controller.
[0108] The process of the first central domain controller failing and switching control of the main controller should be completed within milliseconds. The driver may only feel a slight change in the force characteristics of the brake pedal, while the braking performance itself is not significantly interrupted or diminished.
[0109] like Figure 6 The diagram shown is a schematic representation of the control flow for a single wheel-end controller failure according to an embodiment of this application. Taking a failure of the left front wheel-end controller WCU_FL, with the first private controller LAN bus (private CAN1) and the fifth private controller LAN bus (private CAN5) failing, and the first central domain controller CCU1 as the master controller, the following steps are included:
[0110] Step S601: In response to the first central domain controller detecting a communication interruption with the left front wheel end controller via the first private controller LAN bus, and the second central domain controller detecting a communication interruption with the left front wheel end controller via the fifth private controller LAN bus.
[0111] Step S602: The first central domain controller and the second central domain controller work together through the first common communication module to diagnose and confirm that the left front wheel end controller is faulty.
[0112] Step S603: The first central domain controller marks the left front wheel as "unavailable / failed" in its braking control algorithm;
[0113] Step S604: The first central domain controller continues to send clamping force request signals to the right front wheel end controller, the left rear wheel end controller, and the right rear wheel end controller via the second private controller LAN bus and the third private controller LAN bus.
[0114] Step S605: The right front wheel end controller, the left rear wheel end controller, and the right rear wheel end controller perform a braking clamping operation based on the received clamping force request signal.
[0115] In some implementations, after detecting a fault in the left front wheel end controller and marking the left front wheel as "unavailable / failed", the first central domain controller activates the vehicle brake redistribution control operator. Under the constraint that the left front wheel braking function is completely lost, the optimal braking force distribution problem is resolved. Under the premise of meeting the total braking force requirement, the braking force of the three healthy wheels (right front wheel, left rear wheel, and right rear wheel) is adjusted to minimize the yaw moment generated by the vehicle, thereby maximizing the directional stability during braking and avoiding deviation or fishtailing.
[0116] like Figure 7 The diagram shown is a schematic representation of the control flow for a dual-wheel-end controller failure according to an embodiment of this application. Taking a failure of the left rear wheel-end controller WCU_RL and the right rear wheel-end controller WCU_RR, with the third private controller LAN bus (private CAN3) and the sixth private controller LAN bus (private CAN6) failing, and the first central domain controller CCU1 acting as the master controller, the following steps are included:
[0117] Step S701: In response to the first central domain controller detecting a communication interruption with the left rear wheel end controller and the right rear wheel end controller via the third private controller LAN bus, and the second central domain controller detecting a communication interruption with the left rear wheel end controller and the right rear wheel end controller via the sixth private controller LAN bus, determine that the left rear wheel end controller and the right rear wheel end controller are faulty.
[0118] Step S702: The first central domain controller and the second central domain controller conduct collaborative diagnosis through the first common communication module to confirm that the left rear wheel end controller and the right rear wheel end controller are faulty.
[0119] Step S703: The first central domain controller marks the left and right rear wheels as "unavailable / failed" in its braking control algorithm.
[0120] Step S704: The first central domain controller continues to send clamping force request signals to the left front wheel end controller and the right front wheel end controller through the first private controller LAN bus and the second private controller LAN bus.
[0121] Step S705: The right front wheel end controller and the left front wheel end controller perform a braking clamping operation based on the received clamping force request signal.
[0122] It should be noted that, in the above Figures 6 to 7 In the embodiment shown, the second central domain controller executes the same braking control algorithm and control commands as the first central domain controller.
[0123] According to the distributed EMB communication control method provided in the embodiments of this application, this application also provides a computer program product, which includes: computer program code, which, when run on a computer, causes the computer to execute... Figures 4 to 7 Distributed EMB communication control method of any embodiment shown.
[0124] According to the distributed EMB communication control method provided in the embodiments of this application, this application also provides a computer-readable storage medium storing program code, which, when executed on a computer, causes the computer to perform... Figures 4 to 7 Distributed EMB communication control method of any embodiment shown.
[0125] As used in this specification, the terms "component," "module," "system," etc., are used to refer to computer-related entities, hardware, firmware, combinations of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program, and / or a computer. As illustrated, applications running on computing devices and computing devices can both be components. One or more components may reside in a process and / or an execution thread, and components may be located on a single computer and / or distributed among two or more computers. Furthermore, these components can be executed from various computer-readable media on which various data structures are stored. Components can communicate, for example, via local and / or remote processes based on signals having one or more data packets (e.g., data from two components interacting with another component between a local system, a distributed system, and / or a network, such as the Internet interacting with other systems via signals).
[0126] Figure 8 This is a schematic block diagram of an electronic device provided in an embodiment of this application. Figure 8As shown, the electronic device 800 includes at least one processor 801, a memory 802, at least one network interface 803, and a user interface 805. The various components in the device are coupled together via a bus system 804. It is understood that the bus system 804 is used to implement communication between these components. In addition to a data bus, the bus system 804 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in… Figure 8 The general will label all buses as bus systems.
[0127] The user interface 805 may include a monitor, keyboard, mouse, trackball, clicker, button, touchpad, or touch screen.
[0128] It is understood that memory 802 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM) or programmable read-only memory (PROM), which serves as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM) and synchronous static random access memory (SSRAM). The memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable categories of memory.
[0129] In this embodiment, the memory 802 is used to store various types of data to support the operation of the electronic device 800. Examples of this data include: any executable program for operation on the electronic device 800, such as the operating system 8021 and application programs 8022; the operating system 8021 contains various system programs, such as the framework layer, core library layer, driver layer, etc., for implementing various basic services and handling hardware-based tasks. The application program 8022 may contain various applications, such as a media player, browser, etc., for implementing various application services. The distributed EMB communication control method provided in this embodiment can be included in the application program 8022.
[0130] The methods disclosed in the embodiments of this application can be applied to or implemented by processor 801. Processor 801 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in processor 801 or by instructions in the form of software. The processor 801 may be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Processor 801 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. General-purpose processor 801 may be a microprocessor or any conventional processor, etc. The steps of the accessory optimization method provided in the embodiments of this application can be directly reflected as being executed by a hardware decoding processor, or being executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium, which is located in memory. The processor reads the information in the memory and combines it with its hardware to complete the steps of the aforementioned method.
[0131] In an exemplary embodiment, the electronic device 800 may be used by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), or complex programmable logic devices (CPLDs) to perform the aforementioned method.
[0132] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
[0133] In summary, the distributed EMB communication control system and method provided in this application, through the coordinated design of the communication architecture and control logic, ensures that even in the event of a single physical point fault such as "water ingress into the connector causing a physical short circuit in both CAN channels," the fault can be effectively isolated to a minimum. The interruption of the communication link corresponding to the faulty wheel end will not cause the normal communication links of other wheel ends to fail. The primary domain controller and the backup domain controller can still control all other functionally functioning wheel end actuators through their respective healthy communication paths. Therefore, this application effectively overcomes the various shortcomings of the prior art and has high industrial applicability.
[0134] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.
Claims
1. A distributed EMB communication control system, characterized in that, The control system includes: a central control module, a wheel-end execution module, and a communication module; wherein... The central control module includes a redundant first central domain controller and a second central domain controller, with the first central domain controller configured as the master controller. The wheel-end execution module includes a left front execution unit, a right front execution unit, a left rear execution unit, and a right rear execution unit; The communication module includes a first public communication module and a second private communication module; The first central domain controller and the second central domain controller are configured to transmit vehicle-level shared status information and control commands through the first common communication module; and The first central domain controller and the second central domain controller are configured to transmit shared status information and clamping force request signals of the wheel-end execution module through the second private communication module.
2. The distributed EMB communication control system according to claim 1, characterized in that, When the first central domain controller fails, the second central domain controller is configured to take over the functions of the main controller and transmit the shared status information of the wheel-end execution module and the clamping force request signal through the second private communication module.
3. The distributed EMB communication control system according to claim 1, characterized in that, The first common communication module includes: a first common controller local area network (Controller Area Network) bus and a second common controller local area network (Controller Area Network) bus; wherein, The first common controller LAN bus and the second common controller LAN bus are respectively connected to the first central domain controller and the second central domain controller, and are configured to transmit vehicle-level shared status information to the first central domain controller and the second central domain controller; and are configured to transmit the clamping force request signal to the wheel end actuator module.
4. The distributed EMB communication control system according to claim 3, characterized in that, The second private communication module includes: a first private controller LAN bus, a second private controller LAN bus, a third private controller LAN bus, a fourth private controller LAN bus, a fifth private controller LAN bus, and a sixth private controller LAN bus; wherein, The first central domain controller is connected to the left front execution unit via the first private controller LAN bus, to the right front execution unit via the second private controller LAN bus, and to the left rear execution unit and the right rear execution unit via the third private controller LAN bus; The second central domain controller is connected to the right front execution unit via the fourth private controller LAN bus, to the left front execution unit via the fifth private controller LAN bus, and to the left rear execution unit and the right rear execution unit via the sixth private controller LAN bus.
5. The distributed EMB communication control system according to claim 1, characterized in that, The left front actuator includes a left front wheel end controller and a left front wheel end motor; the right front actuator includes a right front wheel end controller and a right front wheel end motor; the left rear actuator includes a left rear wheel end controller and a left rear wheel end motor; and the right rear actuator includes a right rear wheel end controller and a right rear wheel end motor.
6. The distributed EMB communication control system according to claim 5, characterized in that, The main controller is configured to acquire and parse the driver's brake pedal operation to obtain the braking demand, and output a clamping force request signal to the left front wheel end controller, the right front wheel end controller, the left rear wheel end controller and the right rear wheel end controller according to the braking demand. The left front wheel end controller, the right front wheel end controller, the left rear wheel end controller, and the right rear wheel end controller are configured to drive the left front wheel end motor, the right front wheel end motor, the left rear wheel end motor, and the right rear wheel end motor respectively according to the clamping force request signal.
7. A distributed EMB communication control method, used to implement the distributed EMB communication control system according to any one of claims 1 to 6, characterized in that, The method includes: In response to the driver's brake pedal operation, a clamping force request signal is obtained; The first central domain controller, which acts as the main controller, sends the clamping force request signal to the wheel end execution module through the first private controller LAN bus, the second private controller LAN bus, and the third private controller LAN bus. Simultaneously, the second central domain controller sends the clamping force request signal to the wheel end execution module through the fourth private controller LAN bus, the fifth private controller LAN bus and the sixth private controller LAN bus; The wheel-end execution module receives and responds to the clamping force request signal sent by the first central domain controller, and performs a braking clamping operation.
8. The distributed EMB communication control method according to claim 7, characterized in that, When the first central domain controller fails, a switch of control is triggered; The wheel-end execution module receives and responds to the clamping force request signal sent by the second central domain controller, and performs a braking clamping operation.
9. The distributed EMB communication control method according to claim 7, characterized in that, When any execution unit in the wheel-end execution module fails to receive the clamping force request signal or perform the braking clamping operation due to a malfunction, the communication interruption on the private controller local area network bus corresponding to the malfunctioning execution unit is restricted at the malfunctioning execution unit. Communication and control between other non-faulty execution units and their corresponding private controller LAN buses remain normal, enabling them to continue receiving and responding to the clamping force request signal and performing braking clamping operations.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the distributed EMB communication control method as described in any one of claims 7 to 9.
11. An electronic device comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the distributed EMB communication control method according to any one of claims 7 to 9.