Anti-lock control circuit and vehicle

Abstract

The utility model provides an anti-lock control circuit and a vehicle. The anti-lock control circuit comprises a control module, a self-checking module, a sampling module and a processor, the control module comprises a control switch; the control switch is connected with the brake valve and / or the motor and used for adjusting the brake valve and / or the motor so as to execute anti-lock control. The self-checking module is connected with one end of the control switch and is used for receiving and responding to the detection signal to output or stop outputting a constant-current signal; the sampling module is connected with the control switch and is used for sampling to obtain self-checking signals when the self-checking module and the control switch are in different states; the processor is connected with the control module, the self-checking module and the sampling module; and the processor is used for controlling the control module to execute anti-lock control and fault detection. According to the anti-lock control circuit, the function of preventing wheels from being locked is achieved, and fault detection is conducted on the anti-lock control circuit or the brake valve or the motor.

Description

Technical Field

[0001] This application relates to anti-lock control technology, and in particular, to an anti-lock control circuit and a vehicle. Background Art

[0002] When a vehicle is in motion, if a braking occurs during braking, it is easy to cause the wheels to lock, thereby causing the vehicle to lose control and resulting in hazards such as traffic accidents.

[0003] Currently, the solution to wheel lock is usually to install an anti-lock control system in the vehicle. The anti-lock control system can monitor the wheel speed in real time and determine whether the wheels are locked based on the wheel speed. The anti-lock control system can adjust the braking force applied to the wheel when it detects that the wheel is about to lock, preventing the wheel from locking. Most dual-channel or single-channel anti-lock control systems are designed based on traditional integrated circuit solutions and do not provide a detection function for the status of the solenoid valve and / or the motor, which cannot meet the needs of users. Summary of the Utility Model

[0004] This application provides an anti-lock control circuit and a vehicle to solve the problem that the anti-lock control system cannot meet the needs of users.

[0005] In a first aspect, this application provides an anti-lock control circuit, including: a control module, a self-check module, a sampling module, and a processor;

[0006] The control module includes a control switch; the control switch is connected to a brake valve and / or a motor, and the control switch is used to adjust the brake valve and / or the motor to perform anti-lock control;

[0007] The self-check module is connected to one end of the control switch. The self-check module is used to receive a detection signal and output or stop outputting a constant current signal in response to different states of the detection signal;

[0008] The sampling module is connected to the control switch. The sampling module is used to sample self-check signals in different states of the self-check module and the control switch, and the self-check signals are used for fault detection;

[0009] The processor is connected to the control module, the self-check module, and the sampling module; the processor is used to control the control module to perform anti-lock control, and control the self-check module to output / stop outputting a constant current signal, and perform fault detection based on the self-check signals sampled by the sampling module.

[0010] Optionally, the control module includes: a brake valve control module and / or a motor control module;

[0011] The brake valve control module includes: a brake valve power switch, a brake valve control switch, a first driver, and a second driver; one end of the brake valve power switch is connected to a power supply, the other end of the brake valve power switch is connected to one end of the brake valve, and the control end of the brake valve power switch is connected to the first driver; the first driver is used to control the conduction / disconnection of the brake valve power switch;

[0012] One end of the brake valve control switch is connected to the other end of the brake valve, the other end of the brake valve control switch is grounded, and the control end of the brake valve control switch is connected to the second driver; the second driver is used to control the conduction / disconnection of the brake valve control switch to adjust the braking force of the brake valve;

[0013] The motor control module includes: a first motor control switch, a second motor control switch, and a third driver; one end of the first motor control switch is connected to a power supply, the other end of the first motor control switch is connected to one end of the second motor control switch and the motor, the other end of the second motor control switch is grounded, and the control ends of the first motor control switch and the second motor control switch are connected to the third driver; the third driver is used to control the conduction / disconnection of the first motor control switch and the second motor control switch to adjust the rotation speed of the motor.

[0014] Optionally, the first driver includes: a boost unit and a first drive unit;

[0015] One end of the boost unit is connected to a power supply, and the other end of the boost unit is connected to the brake valve power switch through the first drive unit; the boost unit is used to boost the power supply and then output it;

[0016] The first drive unit is connected to the output end of the boost unit and is used to conduct / disconnect the connection between the boost unit and the brake valve power switch to control the conduction / disconnection of the brake valve power switch.

[0017] Optionally, the boost unit includes: a first half-bridge drive, a first diode, a second diode, a first capacitor, and a second capacitor;

[0018] The positive electrode of the first diode is connected to a power supply, and the negative electrode of the first diode is connected to the positive electrode of the second diode and one end of the first capacitor;

[0019] One end of the first half-bridge drive receives a boost control signal, and the other end of the first half-bridge drive is connected to the other end of the first capacitor;

[0020] The negative electrode of the second diode is connected to one end of the second capacitor and serves as the output terminal of the boost unit; the other end of the second capacitor is grounded.

[0021] Optionally, the brake valve includes: a first normally open brake valve and a first normally closed brake valve that constitute a first brake channel, and a second normally open brake valve and a second normally closed brake valve that constitute a second brake channel; the brake valve control switch includes: a first switch, a second switch, a third switch, and a fourth switch; the second driver includes: a first dual low-side driver and a second dual low-side driver;

[0022] One end of the first switch is connected to the first normally open brake valve, one end of the second switch is connected to the first normally closed brake valve, and the control ends of the first switch and the second switch are connected to the first dual low-side driver; one end of the third switch is connected to the second normally open brake valve, one end of the fourth switch is connected to the second normally closed brake valve, and the control ends of the third switch and the fourth switch are connected to the second dual low-side driver; the other ends of the first switch, the second switch, the third switch, and the fourth switch are all grounded.

[0023] Optionally, the detection signal includes a first detection signal and / or a second detection signal; the self-check module includes: a brake valve self-check module and / or a motor self-check module;

[0024] The brake valve self-check module is connected to one end of the brake valve control switch; the brake valve self-check module is configured to output or stop outputting a constant current signal according to the first detection signal; wherein, when detecting the brake valve power switch, the brake valve self-check module stops outputting the constant current signal; when detecting the brake valve control switch or the brake valve, the brake valve self-check module outputs the constant current signal;

[0025] The motor self-check module is connected to one end of the motor control switch; the motor self-check module is configured to output or stop outputting a constant current signal according to the second detection signal; wherein, when detecting the first motor control switch, the motor self-check module stops outputting the constant current signal; when detecting the second motor control switch or the motor, the motor self-check module outputs the constant current signal.

[0026] Optionally, the sampling module includes: a brake valve sampling module and / or a motor sampling module;

[0027] The brake valve sampling module is connected to the other end of the brake valve power switch and one end of the brake valve control switch through the brake valve; the brake valve sampling module is used to sample the self-check signals in different states of the brake valve self-check module and the brake valve control switch; the motor sampling module is connected to the other end of the first motor control switch and one end of the second motor control switch; the motor sampling module is used to sample the self-check signals in different states of the motor self-check module, the first motor control switch, and the second motor control switch.

[0028] Optionally, the self-check signal includes a brake valve self-check signal and / or a motor self-check signal;

[0029] The brake valve self-check signal includes the sampling voltage when the brake valve power switch is off and the brake valve self-check module stops outputting a constant current signal, the sampling voltage when the brake valve power switch is off, the brake valve control switch is off, and the brake valve self-check module outputs a constant current signal, and the sampling voltage when the brake valve power switch is off, the brake valve control switch is on, and the brake valve self-check module outputs a constant current signal. The motor self-check signal includes the sampling voltage when both the first motor control switch and the second motor control switch are off and the motor self-check module stops outputting a constant current signal, and the sampling voltage when both the first motor control switch and the second motor control switch are off and the motor self-check module outputs a constant current signal.

[0030] Optionally, the brake valve sampling module includes a first brake valve sampling module and / or a second brake valve sampling module;

[0031] The first brake valve sampling module includes: a first low-pass filter and a first voltage-dividing network; one end of the first voltage-dividing network is connected to the other end of the brake valve power switch and one end of the brake valve control switch through the brake valve; the other end of the first voltage-dividing network is connected to one end of the first low-pass filter; the other end of the first low-pass filter serves as the output end of the first brake valve sampling module;

[0032] The second brake valve sampling module includes: a second voltage-dividing network; one end of the second voltage-dividing network is connected to one end of the brake valve, and the other end of the second voltage-dividing network serves as the output end of the second brake valve sampling module.

[0033] Optionally, the motor sampling module includes: a first motor sampling module and / or a second motor sampling module;

[0034] The first sampling module of the motor includes: a second low-pass filter and a third voltage dividing network; one end of the third voltage dividing network is connected to the other end of the first motor control switch and one end of the second motor control switch; the other end of the third voltage dividing network is connected to one end of the second low-pass filter; the other end of the second low-pass filter serves as the output end of the motor sampling module;

[0035] The second sampling module of the motor includes: a fourth voltage dividing network; one end of the fourth voltage dividing network is connected to one end of the motor, and the other end of the fourth voltage dividing network serves as the output end of the second sampling module of the motor.

[0036] Optionally, the brake valve self-checking module and / or the motor self-checking module includes a constant current source module and a constant current source control module; the constant current source module includes: a transistor, a second driving unit, and a current stabilizing unit; one end of the transistor is connected to a power supply, the other end of the transistor is connected to one end of the current stabilizing unit, the control end of the transistor is connected to one end of the second driving unit and the other end of the current stabilizing unit, and the output end of the current stabilizing unit outputs a constant current signal; one end of the constant current source control module receives a first detection signal / second detection signal, and the other end of the constant current source control module is connected to the other end of the second driving unit; the constant current source control module is configured to control the constant current source module to output / stop outputting a constant current signal according to the first detection signal / second detection signal.

[0037] Optionally, the constant current source control module includes: a fifth switch and a sixth switch; one end of the fifth switch is connected to the other end of the second driving unit, the other end of the fifth switch is connected to a power supply, the control end of the fifth switch is connected to one end of the sixth switch, the other end of the sixth switch is grounded, and the control end of the sixth switch receives a first detection signal / second detection signal.

[0038] Optionally, the current stabilizing unit includes: a voltage stabilizing diode and a first resistor; one end of the voltage stabilizing diode is connected to the other end of the transistor and one end of the first resistor, the other end of the voltage stabilizing diode is connected to the third end of the transistor, and the third end of the voltage stabilizing diode is connected to the other end of the first resistor.

[0039] Optionally, the anti-lock control circuit further includes a wheel speed detection module;

[0040] The wheel speed detection module is connected to the processor and the wheel, and is configured to detect the rotational speed of the wheel and output a wheel speed signal to the processor to adjust the brake valve and / or the motor.

[0041] Optionally, the wheel speed detection module includes: a wheel speed sensor and a wheel speed sensor conditioning unit;

[0042] The wheel speed sensor is connected to the wheel and is used to obtain the rotational speed signal of the wheel;

[0043] The wheel speed sensor conditioning unit is connected to the wheel speed sensor and is used to convert the rotational speed signal of the wheel into a voltage signal.

[0044] In a second aspect, the present application provides a vehicle, including: the anti-lock control circuit according to any one of the first aspects.

[0045] The anti-lock control circuit and the vehicle provided by the present application adjust the brake valve by connecting the control switch of the brake valve to apply or release the braking force to the wheel, and / or reduce the rotational speed of the motor by connecting the control switch of the motor, so as to achieve the function of preventing the wheel from locking. The self-check module can be in different states in response to different detection signals to output or stop outputting a constant current signal, and the processor realizes the fault detection of the anti-lock control circuit or the brake valve or the motor according to the self-check signals sampled by the sampling module when the self-check module and the control switch are in different states. Description of the Drawings

[0046] The drawings here are incorporated into the specification and constitute a part of this specification, showing the embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0047] Figure 1 It is a schematic structural diagram of an anti-lock control circuit provided by an embodiment of the present application;

[0048] Figure 2 It is a schematic structural diagram of another anti-lock control circuit provided by an embodiment of the present application;

[0049] Figure 3 It is a schematic structural diagram of a first driver provided by an embodiment of the present application;

[0050] Figure 4 It is a schematic structural diagram of a self-check module provided by an embodiment of the present application;

[0051] Figure 5 It is a schematic structural diagram of a brake valve sampling module provided by an embodiment of the present application;

[0052] Figure 6 It is a schematic structural diagram of a motor sampling module provided by an embodiment of the present application;

[0053] Figure 7 It is a schematic structural diagram of a power supply module provided by an embodiment of the present application;

[0054] Figure 8 It is a schematic structural diagram of a third anti-lock control circuit provided by an embodiment of the present application;

[0055] Figure 9 Schematic diagram of the structure of the fourth anti-lock control circuit provided by the embodiment of the present application;

[0056] Figure 10 Schematic flow chart of a self-checking method for an anti-lock control circuit provided by the embodiment of the present application;

[0057] Figure 11 Schematic flow chart of another self-checking method for an anti-lock control circuit provided by the embodiment of the present application;

[0058] Figure 12 Schematic flow chart of the third self-checking method for an anti-lock control circuit provided by the embodiment of the present application;

[0059] Figure 13 Schematic diagram of the structure of a self-checking device for an anti-lock control circuit provided by the embodiment of the present application;

[0060] Figure 14 Schematic diagram of the structure of an electronic device provided by the embodiment of the present application.

[0061] Description of the reference numerals:

[0062] 1: Control module; 2: Self-checking module; 3: Sampling module; 4: Wheel speed detection module; 5: Power supply module; 6: Processor; 11: Brake valve control module; 12: Motor control module; 21: Brake valve self-checking module; 22: Motor self-checking module; 31: Brake valve sampling module; 32: Motor sampling module; 41: Wheel speed sensor; 42: Wheel speed sensor conditioning unit; 51: Reverse connection protection unit; 52: Overvoltage protection unit; 53: Voltage conversion unit; 110: Control switch; 111: Brake valve power switch; 112: Brake valve control switch; 113: First driver; 114: Second driver; 115: First dual low-side drive; 116: Second dual low-side drive; 121: First motor control switch; 122: Second motor control switch; 123: Third driver; 201: Constant current source module; 202: Constant current source control module; 203: Transistor; 204: Second drive unit; 205: Current stabilizing unit; 206: Zener diode; 207: First resistor; 208: Fifth switch; 209: Sixth switch; 311: First brake valve sampling module; 312: Second brake valve sampling module; 313: First low-pass filter; 314: First voltage dividing network; 315: Second voltage dividing network; 321: First motor sampling module; 322: Second motor sampling module; 323: Second low-pass filter; 324: Third voltage dividing network; 325: Fourth voltage dividing network; 1131: Boosting unit; 1132: First drive unit.

[0063] Through the above-mentioned accompanying drawings, specific embodiments of the present application have been shown, and will be described in more detail hereinafter. These drawings and the textual description are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. Detailed Description of the Embodiments

[0064] Here, the exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numerals in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0065] During the driving process of a vehicle, if a single braking occurs during braking, it is easy to cause the wheels to lock, resulting in the vehicle losing control and causing hazards such as traffic accidents.

[0066] Currently, the solution to wheel locking is usually to install an anti-lock braking system (ABS) in the vehicle. The ABS can monitor the wheel speed in real time and determine whether the wheels are locked based on the wheel speed. The ABS can adjust the braking force applied to the wheel when it detects that the wheel is about to lock, preventing the wheel from locking. Most dual-channel or single-channel ABS are designed based on traditional integrated circuit solutions and do not provide the function of detecting the state of solenoid valves and / or motors, which cannot meet the needs of users.

[0067] In view of this, the present application proposes an anti-lock braking control circuit designed using discrete components to improve the replaceability of components. Additionally, a self-check module and a sampling module are newly added. When the user needs to detect the braking valve and / or motor, the self-check module can output or stop outputting the signal source for detection according to different stages of detection. Under the action of the signal source, different self-check signals can appear at the target detection points of the anti-lock braking control circuit, and the sampling module collects the target self-check signals for fault detection.

[0068] The anti-lock braking control circuit proposed by the present application is applicable to two-wheeled vehicles and can also be used in any electronic device with a braking valve and / or motor. It performs anti-lock braking control on the electronic device by adjusting the braking valve and / or motor, and conducts fault detection on the braking valve and / or motor of the electronic device. The embodiments of the present application are illustrated by taking anti-lock braking control of two-wheeled vehicles and fault diagnosis of the braking valve and / or motor of two-wheeled vehicles as examples.

[0069] The technical solution of the present application and how the technical solution of the present application solves the above technical problems will be described in detail below with specific embodiments. The following several specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

[0070] Figure 1 It is a schematic structural diagram of an anti-lock control circuit provided by an embodiment of the present application. As Figure 1 shown, the anti-lock control circuit may include: a control module 1, a self-check module 2, a sampling module 3, and a processor 6.

[0071] Among them, the control module 1 includes a control switch 110; the control switch 110 is connected to the brake valve and / or the motor, and the control switch is used to adjust the brake valve and / or the motor to perform anti-lock control. The control switch 110 may be, for example, any switch that conducts based on a high level or a low level. For example, a triode, a metal-oxide-semiconductor field-effect transistor (MOSFET), also known as a MOS transistor, a thyristor, etc. For example, the control switch 110 connected to the brake valve can adjust the brake valve, and the control switch 110 connected to the motor can adjust the motor. The brake valve may be, for example, a valve that opens or closes under the control of the control switch 110 to adjust the braking force applied to the wheel, such as a normally open solenoid valve, a normally closed solenoid valve, etc. The motor may be, for example, a motor whose speed increases or decreases under the control of the control switch 110, such as a DC brushless motor, a hub motor, a DC brushed motor, etc.

[0072] In one example, the control module 1 can receive an anti-lock control signal. When the wheel is about to lock, it responds to the anti-lock control signal and turns on or off the control switch 110 to quickly open or close the brake valve, so as to repeatedly apply and release the braking force to the wheel to achieve the effect of point braking; and / or, turn on or off the control switch 110 to reduce the speed of the motor to achieve the function of preventing the wheel from locking.

[0073] The self-check module 2 is connected to one end of the control switch 110. The self-check module 2 may be, for example, any circuit that can output or stop outputting a constant current signal, such as a transistor constant current source with enable, an operational amplifier constant current source with enable, a constant current diode with enable, a constant current switching power supply with enable, etc. The self-check module 2 is used to receive a detection signal and output or stop outputting a constant current signal in response to different states of the detection signal. The detection signal may be automatically triggered when the anti-lock control circuit is powered on, or may be triggered by the user when the user needs to perform a fault detection on the anti-lock control circuit.

[0074] The sampling module 3 is connected to the control switch 110. The sampling module 3 can be, for example, any circuit that can collect voltage signals, such as a voltage dividing network, a voltage sensor, or the like. The sampling module 3 is used to sample the self-check signals in different states of the self-check module 2 and the control switch 110, and the self-check signals are used for fault detection. For example, when the power supply of the brake valve is disconnected, the control switch 110 connected to the brake valve is disconnected, and the self-check module 2 outputs a constant current signal, the control switch 110 can be fault-detected according to the sampling signal; or, when the control switch 110 connected to the motor is disconnected, and the self-check module 2 outputs a constant current signal, the motor connected to the control switch 110 can be fault-detected according to the sampling signal, etc.

[0075] The processor 6 is connected to the control module 1, the self-check module 2, and the sampling module 3. The processor 6 is used to control the control module 1 to perform anti-lock control, and control the self-check module 2 to output / stop outputting a constant current signal, and perform fault detection according to the self-check signal sampled by the sampling module 3.

[0076] In an example, the processor 6 can send an anti-lock control signal to the control module 1, and a detection signal to the self-check module 2, and receive the self-check signal output by the sampling module 3. The processor 6 can be, for example, any device that can output a high-level or low-level signal based on logical conditions, such as a single-chip microcomputer, an embedded processor, a programmable logic device, or any other processor. Optionally, in addition to the processor, it can also include the peripheral circuit unit of the processor.

[0077] The processor 6 can set the rules for sending the anti-lock control signal and / or the detection signal. The processor 6 can send the anti-lock control signal to the control module 1 and / or send the detection signal to the self-check module 2 according to the preset rules. The processor 6 can preset the rules for performing fault detection, and perform fault detection on the anti-lock control circuit, the brake valve, or the motor according to the received self-check signal. The processor 6 can be a device integrated with the anti-lock control circuit, or a device independent of the anti-lock control circuit. In this embodiment of the application, the example of the processor 6 being a device integrated with the anti-lock control circuit is used for illustration.

[0078] In summary, the anti-lock control circuit provided by the embodiment of the present application adjusts the brake valve through the control switch connected to the brake valve to apply or release the braking force to the wheel, and / or reduces the speed of the motor through the control switch connected to the motor, so as to achieve the function of preventing the wheel from locking. The self-check module can be in different states in response to different detection signals to output or stop outputting a constant current signal. The processor performs fault detection on the anti-lock control circuit, the brake valve, or the motor according to the self-check signals sampled by the sampling module when the self-check module and the control switch are in different states.

[0079] Figure 2 This is a schematic structural diagram of another anti-lock control circuit provided by an embodiment of the present application. As Figure 2 shown, the control module 1 includes: a brake valve control module 11 and / or a motor control module 12.

[0080] The brake valve control module 11 includes: a brake valve power switch 111, a brake valve control switch 112, a first driver 113, and a second driver 114; one end of the brake valve power switch 111 is connected to a power supply, the other end of the brake valve power switch 111 is connected to one end of the brake valve, and the control end of the brake valve power switch 111 is connected to the first driver 113.

[0081] One end of the brake valve control switch 112 is connected to the other end of the brake valve, the other end of the brake valve control switch 112 is grounded, and the control end of the brake valve control switch 112 is connected to the second driver 114; the second driver 114 is used to control the brake valve control switch 112 to conduct / disconnect, so as to adjust the braking force of the brake valve.

[0082] The brake valve power switch 111 and the brake valve control switch 112 can both be, for example, any switch that conducts based on a high level or a low level. For example, a triode, a MOS transistor, a thyristor, etc. The types of the brake valve power switch 111 and the brake valve control switch 112 can be the same or different. For example, the brake valve power switch 111 can be a triode, and the brake valve control switch 112 can be a MOS transistor. The embodiments of the present application do not limit this.

[0083] Correspondingly, the first driver 113 can be any device that can cooperate with a high-side enable signal to send a driving signal to the brake valve power switch 111 to drive the brake valve power switch 111 to conduct / disconnect. The second driver 114 can be, for example, any device that can cooperate with a low-side enable signal to send a driving signal to the brake valve control switch 112 to drive the brake valve control switch 112 to conduct / disconnect. The high-side enable signal and the low-side enable signal can both be issued by the processor 6, for example.

[0084] The motor control module 12 includes: a first motor control switch 121, a second motor control switch 122, and a third driver 123; one end of the first motor control switch 121 is connected to a power supply, the other end of the first motor control switch 121 is connected to one end of the second motor control switch 122 and the motor, the other end of the second motor control switch 122 is grounded, and the control ends of the first motor control switch 121 and the second motor control switch 122 are connected to the third driver 123; the third driver 123 is used to control the first motor control switch 121 and the second motor control switch 122 to conduct / disconnect, so as to adjust the rotation speed of the motor.

[0085] The first motor control switch 121 and the second motor control switch 122 can both be, for example, any switch that conducts based on a high level or a low level. For example, a triode, a MOS transistor, a thyristor, etc. Correspondingly, the third driver 123 can be any circuit that can cooperate with the motor control signal to send driving signals to the first motor control switch 121 and the second motor control switch 122 to drive the first motor control switch 121 and the second motor control switch 122 to conduct / disconnect. The third driver 123 can be, for example, a half-bridge drive. The motor control signal can be sent by the processor 6, for example. In specific implementation, the types of the first motor control switch 121 and the second motor control switch 122 can be the same to improve the control accuracy and simplify the circuit structure of the third driver 123.

[0086] For example, the processor 6 sends a high-side enable signal to the first driver 113, which is a high-level signal. The first driver 113 conducts the brake valve power switch 111 to connect the brake valve to the power supply. When the wheel is about to lock up, the processor 6 sends a brake valve control signal to the second driver 114 and / or a motor control signal to the third driver 123 to adjust the brake valve and / or the motor.

[0087] The brake valve control signal can be, for example, a PWM signal. When the brake valve control signal is at a high level, the second driver 114 drives the brake valve control switch 112 to conduct, thereby conducting the power supply circuit of the brake valve; when the brake valve control signal is at a low level, the second driver 114 drives the brake valve control switch 112 to disconnect, thereby disconnecting the power supply circuit of the brake valve. By controlling the power supply / stopping the power supply of the brake valve, the braking force applied to the wheel can be adjusted.

[0088] The motor control signal can be, for example, a PWM signal. When the motor control signal is at a high level, the third driver 123 controls the first motor control switch 121 to conduct and the second motor control switch 122 to disconnect, and the motor starts to run; when the motor control signal is at a low level, the third driver 123 controls the first motor control switch 121 to disconnect and the second motor control switch 122 to conduct. At this time, the motor continues to run due to inertia and the internal coil of the motor is freewheeling through the second motor control switch 122 while charging the bootstrap capacitor connected to the third driver 123. By adjusting the duty cycle of the motor control signal, the speed of the motor can be adjusted.

[0089] In summary, when the wheel is about to lock up, the anti-lock control circuit controls the brake valve control switch to conduct / disconnect to adjust the power supply / stop the power supply of the brake valve, thereby adjusting the braking force applied to the wheel, and / or, by controlling the first motor control switch to conduct / disconnect and the second motor control switch to conduct / disconnect to adjust the speed of the motor, thereby preventing the wheel from locking up.

[0090] Continue as Figure 2 shown, the detection signal may include a first detection signal and / or a second detection signal; the self-check module 2 includes: a brake valve self-check module 21 and / or a motor self-check module 22;

[0091] The brake valve self-check module 21 is connected to one end of the brake valve control switch 112. The brake valve self-check module 21 may be, for example, any module that outputs a constant current signal under the control of a high-level or low-level signal. The brake valve self-check module 21 is configured to output or stop outputting a constant current signal according to the first detection signal; the first detection signal may be, for example, any high-level or low-level signal issued by the processor 6, and is used to characterize the fault detection of the brake valve power switch 111, the brake valve control switch 112, or the brake valve. Among them, when detecting the brake valve power switch 111, the brake valve self-check module 21 stops outputting a constant current signal; when detecting the brake valve control switch 112 or the brake valve, the brake valve self-check module 21 outputs a constant current signal.

[0092] The motor self-check module 22 is connected to one end of the motor control switch. The motor self-check module 22 may be, for example, any module that outputs a constant current signal under the control of a high-level or low-level signal. The motor self-check module 22 is configured to output or stop outputting a constant current signal according to the second detection signal; the second detection signal may be, for example, any high-level or low-level signal issued by the processor 6, and is used to characterize the fault detection of the first motor control switch 121, the second motor control switch 122, or the motor. Among them, when detecting the first motor control switch 121, the motor self-check module 22 stops outputting a constant current signal; when detecting the second motor control switch 122 or the motor, the motor self-check module 22 outputs a constant current signal.

[0093] Continue as Figure 2 shown, the sampling module 3 includes: a brake valve sampling module 31 and / or a motor sampling module 32;

[0094] The brake valve sampling module 31 is connected to the other end of the brake valve power switch 111 and, through the brake valve, to one end of the brake valve control switch 112; the brake valve sampling module 31 is configured to sample the self-check signals in different states of the brake valve self-check module 21 and the brake valve control switch 112.

[0095] Among them, the brake valve self-check signal may include the sampling voltage when the brake valve power switch 111 is disconnected and the brake valve self-check module 21 stops outputting a constant current signal, the sampling voltage when the brake valve power switch 111 is disconnected, the brake valve control switch 112 is disconnected, and the brake valve self-check module 21 outputs a constant current signal, the sampling voltage when the brake valve power switch 111 is disconnected, the brake valve control switch 112 is turned on, and the brake valve self-check module 21 outputs a constant current signal, etc.

[0096] The motor sampling module 32 is connected to the other end of the first motor control switch 121 and one end of the second motor control switch 122; the motor sampling module 32 is used to sample the self-check signals in different states of the motor self-check module 22, the first motor control switch 121, and the second motor control switch 122.

[0097] Among them, the motor self-check signals may include the sampled voltage when both the first motor control switch 121 and the second motor control switch 122 are disconnected and the motor self-check module 22 stops outputting a constant current signal, the sampled voltage when both the first motor control switch 121 and the second motor control switch 122 are disconnected and the motor self-check module 22 outputs a constant current signal, etc.

[0098] Based on Figure 2 the self-check signals collected by the anti-lock control circuit shown, fault detection can be performed, and the embodiments of the present application do not limit the method for fault detection.

[0099] Next, a possible implementation manner of self-checking the brake valve by combining the brake valve self-check module 21 and the brake valve sampling module 31, and self-checking the motor by combining the motor self-check module 22 and the motor sampling module 32 will be exemplified and described respectively.

[0100] (1) Brake valve self-check

[0101] S1. Control the brake valve power switch 111 to be disconnected, and control the brake valve self-check module 21 to stop outputting a constant current signal; and obtain the first self-check signal sampled by the brake valve sampling module 31; the first self-check signal is used to detect whether the brake valve power switch 111 is normal. A possible implementation manner may include the following steps, for example:

[0102] 1. The processor 6 sends a high-side enable signal to the first driver 113 to be a low-level signal, and the brake valve power switch 111 is disconnected; the processor 6 sends a first detection signal to the brake valve self-check module 21 to be a low-level signal, and the brake valve self-check module 21 stops outputting a constant current signal.

[0103] 2. The processor 6 obtains the first self-check signal through the sampled voltage collected by the brake valve sampling module 31. When the voltage value of the first self-check signal is 0 volts (Voltage, V), the brake valve power switch 111 is normal; when the voltage value of the first self-check signal is not 0V, the brake valve power switch 111 is abnormal.

[0104] S2. If the brake valve power switch 111 is normal, control the brake valve power switch 111 to disconnect, the brake valve control switch 112 to disconnect, and control the brake valve self-check module 21 to output a constant current signal; and obtain the second self-check signal sampled by the brake valve sampling module 31. The second self-check signal is used to detect whether the brake valve control switch 112 is normal. A possible implementation may include the following steps:

[0105] 1. The processor 6 sends a high-side enable signal to the first driver 113 as a low-level signal, and the brake valve power switch 111 disconnects; the processor 6 sends a brake valve control signal to the second driver 114 as a low-level signal, and the brake valve control switch 112 disconnects; the processor 6 sends a first detection signal to the brake valve self-check module 21 as a high-level signal, and the brake valve self-check module 21 outputs a constant current signal.

[0106] 2. The processor 6 obtains the second self-check signal through the sampled voltage collected by the brake valve sampling module 31. When the voltage value of the second self-check signal is not 0V, the brake valve control switch 112 is normal; when the voltage value of the second self-check signal is 0V, the brake valve control switch 112 is abnormal.

[0107] S3. If the brake valve control switch 112 is normal, control the brake valve power switch 111 to disconnect, the brake valve control switch 112 to conduct, and control the brake valve self-check module 21 to output a constant current signal; and obtain the third self-check signal sampled by the brake valve sampling module 31. The third self-check signal is used to detect whether the brake valve is normal. A possible implementation may include the following steps:

[0108] 1. The processor 6 sends a high-side enable signal to the first driver 113 as a low-level signal, and the brake valve power switch 111 disconnects; the processor 6 sends a brake valve control signal to the second driver 114 as a high-level signal, and the brake valve control switch 112 conducts; the processor 6 sends a first detection signal to the brake valve self-check module 21 as a high-level signal, and the brake valve self-check module 21 outputs a constant current signal.

[0109] 2. The processor 6 obtains the third self-check signal through the sampled voltage collected by the brake valve sampling module 31. When the voltage value of the third self-check signal is between the first preset voltage value and the second preset voltage value, the brake valve control switch 112 is normal; when the voltage value of the third self-check signal is less than the first preset voltage value, the brake valve control switch 112 is short-circuited to the ground; when the voltage value of the third self-check signal is greater than the second preset voltage value, the brake valve control switch 112 is open. Wherein, the second preset voltage value is greater than the first preset voltage value.

[0110] The brake valve in the embodiment of the present application can be one or multiple. When there are multiple brake valves, the method in step S3 can be used to detect the target brake valve in sequence.

[0111] (2) Motor self-check

[0112] S1. Control the first motor control switch 121 and the second motor control switch 122 to disconnect, and control the motor self-check module 22 to stop outputting a constant current signal; and obtain the fourth self-check signal sampled by the motor sampling module 32. The fourth self-check signal is used to detect whether the first motor control switch 121 is normal. A possible implementation manner may include the following steps:

[0113] 1. The processor 6 stops sending motor control signals to the third driver 123, and the first motor control switch 121 and the second motor control switch 122 are disconnected; the processor 6 sends a second detection signal to the motor self-check module 22 as a low-level signal, and the motor self-check module 22 stops outputting a constant current signal.

[0114] 2. The processor 6 obtains the fourth self-check signal through the sampled voltage collected by the motor sampling module 32. When the voltage value of the fourth self-check signal is 0V, the first motor control switch 121 is normal; when the voltage value of the fourth self-check signal is not 0V, the first motor control switch 121 is abnormal.

[0115] S2. If the first motor control switch 121 is normal, control the motor self-check module 22 to output a constant current signal; and obtain the fifth self-check signal sampled by the motor sampling module 32. The fifth self-check signal is used to detect whether the second motor control switch 122 / motor is normal. A possible implementation manner may include the following steps:

[0116] 1. The processor 6 stops sending motor control signals to the third driver 123, and the first motor control switch 121 and the second motor control switch 122 are disconnected; the processor 6 sends a second detection signal to the motor self-check module 22 as a high-level signal, and the motor self-check module 22 outputs a constant current signal.

[0117] 2. The processor 6 obtains the fifth self-check signal through the sampled voltage collected by the motor sampling module 32. When the voltage value of the fifth self-check signal is greater than 0V and less than the third preset voltage value, both the second motor control switch 122 and the motor are normal; when the voltage value of the fifth self-check signal is 0V, the second motor control switch 122 or the motor is short-circuited to the ground; when the voltage value of the fifth self-check signal is the third preset voltage value, the motor is open-circuited.

[0118] The following will separately describe Figure 2Describe the structures of the first driver 113, the brake valve self-check module 21 and / or the motor self-check module 22, the brake valve sampling module 31, and the motor sampling module 32 in it.

[0119] (1) The first driver 113

[0120] Figure 3 It is a schematic structural diagram of a first driver provided by an embodiment of the present application. Taking the brake valve power switch 111 as an NMOS transistor as an example, as Figure 3 shown, the first driver 113 may include, for example: a boost unit 1131 and a first drive unit 1132. One end of the boost unit 1131 is connected to the power supply, and the other end of the boost unit 1131 is connected to the brake valve power switch 111 through the first drive unit 1132; the boost unit 1131 is used to boost the power supply and then output; the first drive unit 1132 is connected to the output end of the boost unit 1131, and is used to conduct / disconnect the connection between the boost unit 1131 and the brake valve power switch 111 to control the conduction / disconnection of the brake valve power switch 111.

[0121] The following will separately describe each unit of the first driver 113.

[0122] (1) The boost unit 1131

[0123] The boost unit 1131 may be, for example, any circuit that realizes voltage boosting through an analog circuit.

[0124] As Figure 3 shown, the boost unit 1131 includes: a first half-bridge driver U1, a first diode D1, a second diode D2, a first capacitor C1, and a second capacitor C2. The positive electrode of the first diode D1 is connected to the power supply, and the negative electrode of the first diode D1 is connected to the positive electrode of the second diode D2 and one end of the first capacitor C1; one end of the first half-bridge driver U1 receives a boost control signal, and the other end of the first half-bridge driver U1 is connected to the other end of the first capacitor C1; the negative electrode of the second diode D2 is connected to one end of the second capacitor C2 and serves as the output end of the boost unit 1131; the other end of the second capacitor C2 is grounded.

[0125] The first half-bridge driver U1 receives a boost control signal, and the boost control signal may be, for example, a PWM square wave output by the processor 6 or the PWM square wave generator. Figure 3Taking the boost control signal sent by the processor 6 to the first half-bridge driver U1 as an example for illustration. When the PWM signal is a high-level signal, the boost unit 1131 charges the first capacitor C1 through the first diode D1 and the voltage of the power supply. When the PWM signal is a low-level signal, the first half-bridge driver U1 outputs in a push-pull manner to transfer the voltage obtained by charging on the first capacitor C1 to the second capacitor C2 through the second diode D2. Therefore, the second capacitor C2 can obtain a boost voltage VPump higher than the voltage of the input power supply. The boost voltage VPump is input to the gate of the brake valve power switch 111 through the first drive unit 1132 to drive the brake valve power switch 111 to conduct.

[0126] (2) The first drive unit 1132

[0127] The first drive unit 1132 can be, for example, any circuit that realizes the connection between the boost unit 1131 and the brake valve power switch 111 through an analog circuit. Continuing to take the brake valve power switch 111 as an NMOS transistor as an example to illustrate the structure of the first drive unit 1132.

[0128] As Figure 3 shown, the first drive unit 1132 includes: a Darlington tube composed of a triode Q9, a triode Q17, and a triode Q21, a resistor R65, and a pull-up resistor R64. The base of the triode Q9 receives the high-side enable signal. The base of the triode Q21 is connected to the collector of the triode Q9 through the resistor R65 and is connected to the boost voltage VPump through the pull-up resistor R64. The emitter of the triode Q21 is connected to the base of the triode Q17. The collector of the triode Q21 is connected to the collector of the triode Q17. The emitter of the triode Q17 is connected to the boost voltage VPump.

[0129] In an example, the triode Q9 receives the high-side enable signal MCU_HD_EN from the processor 6. When the high-side enable signal MCU_HD_EN is a high-level signal, the triode Q9 conducts. The collector of the triode Q9 sends a low-level signal to the base of the triode Q21 through the resistor R65. The Darlington tube composed of the triode Q17 and the triode Q21 conducts. The first drive unit 1132 conducts the connection between the boost unit 1131 and the brake valve power switch 111, and the brake valve power switch 111 conducts. When the high-side enable signal MCU_HD_EN is a low-level signal, the triode Q9 disconnects. The base of the triode Q21 accesses a high-level signal through the pull-up resistor. The Darlington tube composed of the triode Q17 and the triode Q21 disconnects. The first drive unit 1132 disconnects the connection between the boost unit 1131 and the brake valve power switch 111, and the brake valve power switch 111 disconnects.

[0130] Therefore, by sending a high-side enable signal to the first drive unit 1132, when the high-side enable signal is a high-level signal, the brake valve power switch 111 can be controlled to conduct, so as to turn on the power supply of the brake valve; when the high-side enable signal is a low-level signal, the brake valve power switch 111 can be controlled to disconnect, so as to turn off the power supply of the brake valve.

[0131] It should be understood that when other switches are used for the brake valve power switch 111, its drive circuit can be adaptively adjusted according to the required drive signal. Specifically, reference can be made to the drive circuit architecture of existing switches, which will not be elaborated here.

[0132] (2) Brake valve self-check module 21 and / or motor self-check module 22

[0133] The brake valve self-check module 21 and / or the motor self-check module 22 can be any circuit that realizes the output of a constant current signal through an analog circuit. Specifically, in implementation, the structures of these two self-check modules can be the same to simplify the implementation method. Hereinafter, the brake valve self-check module 21 and / or the motor self-check module 22 with the same structure will be taken as an example for schematic illustration.

[0134] Figure 4 This is a schematic structural diagram of a self-check module provided by an embodiment of the present application. As Figure 4 shown, the self-check module includes a constant current source module 201 and a constant current source control module 202; optionally, the constant current source module 201 includes: a transistor 203, a second drive unit 204, and a current stabilizing unit 205; one end of the transistor 203 is connected to the power supply, the other end of the transistor 203 is connected to one end of the current stabilizing unit 205, the control end of the transistor 203 is connected to one end of the second drive unit 204 and the other end of the current stabilizing unit 205, and the output end of the current stabilizing unit 205 outputs a constant current signal; one end of the constant current source control module 202 receives a first detection signal / second detection signal, and the other end of the constant current source control module 202 is connected to the other end of the second drive unit 204; the constant current source control module 202 is used to control the constant current source module 201 to output / stop outputting a constant current signal according to the first detection signal / second detection signal.

[0135] The constant current source module 201 is any module that can output a constant current signal. For example, it can be a transistor constant current source, an operational amplifier constant current source, a constant current diode, a constant current switching power supply, etc. Figure 4 Taking the constant current source module 201 as a transistor constant current source as an example for schematic illustration. The constant current source control module 202 is any switch that conducts / disconnects based on a high level or a low level. For example, a triode, a MOS transistor, a thyristor, etc. The constant current source control module 202 is used to control the constant current source module 201 to output / stop outputting a constant current signal.

[0136] The second driving unit 204 is used to drive the transistor 203 to conduct when the constant current source control module 202 is turned on and the current stabilizing unit 205 has not reached the feedback point. When the transistor 203 is a triode, the second driving unit 204 may include, for example, a bias resistor.

[0137] The current stabilizing unit 205 can be any unit that can stabilize the current signal output by the transistor 203 at a constant value. The current stabilizing unit 205 may include: a voltage stabilizing diode 206 and a first resistor 207; one end of the voltage stabilizing diode 206 is connected to the other end of the transistor 203 and one end of the first resistor 207, the other end of the voltage stabilizing diode 206 is connected to the third end of the transistor 203, and the third end of the voltage stabilizing diode 206 is connected to the other end of the first resistor 207.

[0138] For example, when the first detection signal / second detection signal input by the constant current source control module 202 is a high-level signal, the constant current source control module 202 is turned on, and the power supply drives the transistor 203 to conduct through the second driving unit 204, and the current flows through the first resistor 207 and generates a voltage drop across the first resistor 207. When the voltage drop across the first resistor 207 reaches the preset voltage value of the voltage stabilizing diode 206, the other end of the voltage stabilizing diode 206 pulls down the voltage of the other end of the transistor 203 to ensure that the voltage drop generated across the first resistor 207 when the current flows through the first resistor 207 does not exceed the preset voltage value; when the voltage across the first resistor 207 is lower than the preset voltage value, the other end of the voltage stabilizing diode 206 pulls up the voltage of the other end of the transistor 203 to increase the current flowing through the first resistor 207, and the self-checking module outputs a constant current signal.

[0139] When the first detection signal / second detection signal input by the constant current source control module 202 is a low-level signal, the constant current source control module 202 is turned off, thereby disconnecting the connection between the second driving unit 204 and the power supply, and the transistor 203 does not conduct. No current flows through the first resistor 207, and the self-checking module stops outputting the constant current signal.

[0140] Optionally, the constant current source control module 202 includes: a fifth switch 208 and a sixth switch 209; one end of the fifth switch 208 is connected to the other end of the second driving unit 204, the other end of the fifth switch 208 is connected to the power supply, the control end of the fifth switch 208 is connected to one end of the sixth switch 209, the other end of the sixth switch 209 is grounded, and the control end of the sixth switch 209 receives the first detection signal / second detection signal.

[0141] For example, when the first detection signal / second detection signal received by the sixth switch 209 is a high-level signal, the sixth switch conducts, sends a low-level signal to the control end of the fifth switch 208, the fifth switch conducts, and the constant current source control module 202 conducts.

[0142] When the first detection signal / second detection signal received by the sixth switch 209 is at a low level, the sixth switch is turned off and does not send a low-level signal to the control terminal of the fifth switch 208. The fifth switch is turned off, and the constant current source control module 202 is turned off. By using the combination of the fifth switch 208 and the sixth switch 209, when the high-level voltage value of the first detection signal / second detection signal is different from the voltage value of the power supply connected to the other end of the fifth switch 208, the constant current source control module 202 can also be controlled to conduct / turn off.

[0143] (III) Brake valve sampling module 31

[0144] Figure 5 This is a schematic structural diagram of a brake valve sampling module provided by an embodiment of the present application. As Figure 5 shown, the brake valve sampling module 31 includes: a brake valve first sampling module 311 and / or a brake valve second sampling module 312; by setting different sampling precisions for the two sampling modules, more accurate sampling voltages can be obtained.

[0145] The brake valve first sampling module 311 includes: a first low-pass filter 313 and a first voltage dividing network 314; one end of the first voltage dividing network 314 is connected to the other end of the brake valve power switch 111 and is connected to one end of the brake valve control switch 112 through the brake valve; the other end of the first voltage dividing network 314 is connected to one end of the first low-pass filter 313; the other end of the first low-pass filter 313 serves as the output terminal of the brake valve first sampling module 311; the first voltage dividing network 314 is used to divide the voltage at the other end of the brake valve power switch 111 and one end of the brake valve to obtain a proportional voltage; the first low-pass filter 313 is used to filter out the noise of the proportional voltage and output the sampling voltage.

[0146] The brake valve second sampling module 312 includes: a second voltage dividing network 315; one end of the second voltage dividing network 315 is connected to one end of the brake valve, and the other end of the second voltage dividing network 315 serves as the output terminal of the brake valve second sampling module 312. The second voltage dividing network 315 is used to divide the voltage at one end of the brake valve to obtain a proportional voltage and output the sampling voltage. A possible implementation is that the brake valve second sampling module 312 is connected to one end of the brake valve through a third diode D3, and the third diode D3 is used to maintain unidirectional current flow.

[0147] (IV) Motor sampling module 32

[0148] Figure 6 This is a schematic structural diagram of a motor sampling module provided by an embodiment of the present application. As Figure 6 shown, the motor sampling module 32 includes: a motor first sampling module 321 and / or a motor second sampling module 322;

[0149] The first sampling module 321 of the motor includes: a second low-pass filter 323 and a third voltage dividing network 324; one end of the third voltage dividing network 324 is connected to the other end of the first motor control switch 121 and one end of the second motor control switch 122; the other end of the third voltage dividing network 324 is connected to one end of the second low-pass filter 323; the other end of the second low-pass filter 323 serves as the output end of the first sampling module 321 of the motor;

[0150] The second sampling module 322 of the motor includes: a fourth voltage dividing network 325; one end of the fourth voltage dividing network 325 is connected to one end of the motor, and the other end of the fourth voltage dividing network 325 serves as the output end of the second sampling module 322 of the motor. In a possible implementation, the second sampling module 322 of the motor is connected to one end of the motor through a fourth diode D4, and the fourth diode D4 is used to keep the current flowing unidirectionally.

[0151] Optionally, the anti-lock control circuit further includes a wheel speed detection module 4; the wheel speed detection module 4 is connected to the processor 6 and the wheel.

[0152] The wheel speed detection module 4 can be, for example, any module that can detect the rotational speed of the wheel and convert it into a voltage signal, and is used to detect the rotational speed of the wheel and output a wheel speed signal to the processor 6 to adjust the brake valve and / or the motor. The processor 6 can, for example, detect whether the wheel is about to lock according to the change of the wheel speed signal according to a preset rule, and when the wheel is about to lock, adjust the brake valve and / or the motor through the control switch 110 to perform anti-lock control.

[0153] In a possible implementation, the wheel speed detection module 4 can include: a wheel speed sensor 41 and a wheel speed sensor conditioning unit 42; the wheel speed sensor 41 is connected to the wheel, and the wheel speed sensor 41 can be, for example, any device that obtains the rotational speed signal of the wheel, such as a magnetoresistive wheel speed sensor, a Hall effect wheel speed sensor, etc. After the wheel speed sensor 41 obtains the rotational speed signal of the wheel, it outputs a current source signal to the wheel speed conditioning unit 42.

[0154] The wheel speed sensor conditioning unit 42 is connected to the wheel speed sensor 41. The wheel speed sensor conditioning unit 42 can be, for example, any unit that can convert the current source signal into a voltage signal. The wheel speed sensor conditioning unit 42 conditions the current source signal of the wheel speed sensor 41 through internal current sampling and a voltage comparator to output a Pulse Width Modulation (PWM) voltage signal; and inputs it to the processor 6 for wheel speed signal acquisition. For the implementation of the wheel speed sensor conditioning unit 42, reference can be made to the description of the prior art, which will not be elaborated here.

[0155] It should be understood, Figure 2Only the units related to the present application in the anti-lock control circuit are exemplarily given. The embodiments of the present application only exemplarily illustrate the functions related to the present application. In specific implementation, whether the anti-lock control circuit has other units and other functions is not limited in the embodiments of the present application.

[0156] The anti-lock control circuit may further include: a power supply module 5.

[0157] Figure 7 It is a schematic structural diagram of a power supply module provided by an embodiment of the present application. As Figure 7 shown, one end of the power supply module 5 is connected to an external power supply input, and the other end of the power supply module 5 is respectively connected to the power supply terminals of the brake valve control module 11, the motor control module 12, the brake valve self-check module 21, the motor self-check module 22, and the wheel speed sensor 41. The third end of the power supply module 5 is respectively connected to the processor 6, the wheel speed sensor conditioning unit 42, the brake valve self-check module 21, and the motor self-check module 22; the power supply module 5 is used to supply power to other modules in the anti-lock control circuit.

[0158] The power supply module 5 may include, for example: an anti-reverse connection protection unit 51, an overvoltage protection unit 52, and a voltage conversion unit 53; one end of the anti-reverse connection protection unit 51 is connected to the external power supply input, the other end of the anti-reverse connection protection unit 51 outputs a power supply and is connected to one end of the overvoltage protection unit 52, the other end of the overvoltage protection unit 52 is connected to one end of the voltage conversion unit 53, and the other end of the voltage conversion unit 53 outputs a stepped-down working power supply as the third end of the power supply module 5. The circuit of the voltage conversion unit 53 may be a general step-down circuit and is implemented by an analog circuit, which will not be specifically described here.

[0159] The anti-lock control circuit of the embodiment of the present application can be applied to the scenario of a single brake valve or the scenario of multiple brake valves. For example, for a vehicle, each wheel can correspond to a brake channel, and each brake channel can be composed of a normally open brake valve and a normally closed brake valve. Controlling the brake valve of the channel can prevent the wheel corresponding to the channel from locking. The structure of the anti-lock control circuit will be described below for an application scenario including two brake channels, and each brake channel includes two brake valves.

[0160] Figure 8 It is a schematic structural diagram of the third anti-lock control circuit provided by an embodiment of the present application. Figure 8 The brake valve control module 11, the brake valve self-check module 21, and the brake valve sampling module 31 in the anti-lock control circuit are schematically illustrated through a specific circuit structure. As Figure 8As shown, the brake valve includes: a first normally open brake valve A1 and a first normally closed brake valve A2 that form a first brake channel, and a second normally open brake valve A3 and a second normally closed brake valve A4 that form a second brake channel.

[0161] The brake valve control module 11 includes: a brake valve power switch 111, a first driver 113, a brake valve control switch 112, and a second driver 114.

[0162] Among them, the brake valve control switch 112 includes: a first switch Q4, a second switch Q5, a third switch Q6, and a fourth switch Q7. The second driver 114 includes: a first dual low-side driver 115 and a second dual low-side driver 116. One end of the first switch Q4 is connected to the first normally open brake valve A1, one end of the second switch Q5 is connected to the first normally closed brake valve A2, and the control ends of the first switch Q4 and the second switch Q5 are connected to the first dual low-side driver 115; the first dual low-side driver 115 is used to drive the first switch Q4 and / or the second switch Q5 to conduct / turn off, so as to conduct / turn off the power supply of the first normally open brake valve A1 and / or the first normally closed brake valve A2. One end of the third switch Q6 is connected to the second normally open brake valve A3, one end of the fourth switch Q7 is connected to the second normally closed brake valve A4, and the control ends of the third switch Q6 and the fourth switch Q7 are connected to the second dual low-side driver 116; the second dual low-side driver 116 is used to drive the third switch Q6 and / or the fourth switch Q7 to conduct / turn off, so as to conduct / turn off the power supply of the second normally open brake valve A3 and / or the second normally closed brake valve A4. The other ends of the first switch Q4, the second switch Q5, the third switch Q6, and the fourth switch Q7 are all grounded.

[0163] The brake valve power switch 111 may include: a MOS transistor Q3. The power supply terminals of the first normally open brake valve A1, the first normally closed brake valve A2, the second normally open brake valve A3, and the second normally closed brake valve A4 are connected to the power supply through the MOS transistor Q3; the MOS transistor Q3 is used to conduct / turn off the connection between the power supply terminals of the first normally open brake valve A1, the first normally closed brake valve A2, the second normally open brake valve A3, and the second normally closed brake valve A4 and the power supply.

[0164] The first driver 113 includes: a boost unit 1131 and a first drive unit 1132. The first drive unit 1132 includes: a Darlington transistor composed of a triode Q9, a triode Q17, and a triode Q21, a resistor R65, and a pull-up resistor R64. The base of the triode Q9 receives the high-side enable signal MCU_HD_EN. The base of the triode Q21 is connected to the collector of the triode Q9 through the resistor R65 and is connected to the boost voltage VPump through the pull-up resistor R64. The emitter of the triode Q21 is connected to the base of the triode Q17. The collector of the triode Q21 is connected to the collectors of the triode Q17 and the gate of the MOS transistor Q3. The emitter of the triode Q17 is connected to the boost voltage VPump output by the boost unit 1131. The boost unit 1131 is not shown in Figure 8 The first driver 113 is used to conduct the connection between the MOS transistor Q3 and the boost voltage VPump.

[0165] The brake valve self-check module 21 includes: the transistor 203 includes a triode Q12, the bias resistor includes a resistor R78, the constant current source control module 202 includes a fifth switch 208 composed of a triode Q23 and a sixth switch 209 composed of a triode Q24, the voltage regulator 206 includes an adjustable voltage regulator U11, and the first resistor 207 includes a resistor R77. The base of the triode Q24 receives the first detection signal VALVE_QC_EN. The collector of the triode Q24 is connected to the base of the triode Q23. The emitter of the triode Q24 is grounded. The emitter of the triode Q23 is connected to the working power supply. The collector of the triode Q23 is connected to one end of the resistor R78. The other end of the resistor R78 is connected to the base of the triode Q12. The collector of the triode Q12 is connected to the working power supply. The emitter of the triode Q12 is connected to one end of the resistor R77 and to the pin 1 of the adjustable voltage regulator U11. The pin 2 of the adjustable voltage regulator U11 is connected to the base of the triode Q12. The pin 3 of the adjustable voltage regulator U11 is connected to the other end of the resistor R77 to output a constant current signal. In a possible implementation, the brake valve self-check module 21 outputs the constant current signal through the diode D3.

[0166] When the first detection signal VALVE_QC_EN is a high-level signal, the triode Q24 conducts, the base of the triode Q23 becomes a low-level signal, and the triode Q23 conducts; the connection between the base of the triode Q12 and the working power supply through the resistor R78 conducts, and the triode Q12 conducts; the current flows through the resistor R77 and a voltage drop is generated across the resistor R77. When the voltage drop across the resistor R77 reaches the preset voltage value of the adjustable voltage regulator U11, the voltage value of the base of the triode Q12 is pulled down by the 2nd pin of the adjustable voltage regulator U11 to ensure that the voltage generated across the resistor R77 by the current flowing through the resistor R77 does not exceed the preset voltage value; when the voltage across the resistor R77 is lower than the preset voltage value, the voltage of the base of the triode Q12 is pulled up by the 2nd pin of the adjustable voltage regulator U11 to increase the current flowing through the resistor R77, so that the brake valve self-check module 21 outputs a constant current signal.

[0167] When the first detection signal VALVE_QC_EN is a low-level signal, the triode Q24 is turned off, the base of the triode Q23 becomes a high-level signal, the triode Q23 is turned off, the connection between the base of the triode Q12 and the working power supply through the resistor R78 is disconnected, and the triode Q12 is turned off; no current flows through the resistor R77, so that the brake valve self-check module 21 stops outputting a constant current signal.

[0168] The brake valve first sampling module 311 includes: a first low-pass filter 313 composed of a resistor R74 and a capacitor C48 and a first voltage division network 314 composed of a resistor R75 and a resistor R76;

[0169] One end of the resistor R75 is connected to the source electrode of the MOS transistor Q3, and is connected to the drain electrode of the first switch Q4 through the first normally open brake valve A1, connected to the drain electrode of the second switch Q5 through the first normally closed brake valve A2, connected to the drain electrode of the third switch Q6 through the second normally open brake valve A3, and connected to the drain electrode of the fourth switch Q7 through the second normally closed brake valve A4; the other end of the resistor R75 is connected to one end of the resistor R76 and one end of the resistor R74, the other end of the resistor R76 is grounded, the other end of the resistor R74 is connected to one end of the capacitor C48 to output the self-check signal ADC_VALVE_HS, and the other end of the capacitor C48 is grounded.

[0170] The brake valve second sampling module 312 includes: a second voltage division network 315 composed of a resistor R79 and a resistor R82. One end of the resistor R79 is connected to one end of the first normally open brake valve A1, one end of the first normally closed brake valve A2, one end of the second normally open brake valve A3, and one end of the second normally closed brake valve A4 through the diode D3; the other end of the resistor R79 is connected to one end of the resistor R82 to output the self-check signal ADC_VALVE_QC, and the other end of the resistor R82 is grounded.

[0171] Based on Figure 8The self-check signal collected by the anti-lock control circuit shown can be used for fault detection of the anti-lock control circuit or the brake valve. The embodiments of the present application do not limit the method for fault detection.

[0172] Next, Figure 8 For the anti-lock control circuit shown, in the scenario where the corresponding brake valve includes the first normally open brake valve A1, the first normally closed brake valve A2, the second normally open brake valve A3, and the second normally closed brake valve A4, a possible implementation manner of how to control the brake valve and perform self-check on the brake valve will be illustrated by examples.

[0173] (1) Brake valve control

[0174] The processor 6 sends a high-side enable signal MCU_HD_EN to the triode Q9, which is a high-level signal, and the MOS transistor Q3 conducts to connect the first normally open brake valve A1, the first normally closed brake valve A2, the second normally open brake valve A3, and the second normally closed brake valve A4 to the power supply. For the specific method of controlling the conduction / disconnection of the MOS transistor Q3 through the high-side enable signal MCU_HD_EN, reference can be made to Figure 3 the description, which will not be elaborated here.

[0175] When it is detected that the wheel of the first braking channel is about to lock, the processor 6 can send a first brake valve control signal and / or a second brake valve control signal to the first dual low-side driver 115. The first brake valve control signal and the second brake valve control signal can be PWM signals, for example. When the first brake valve control signal is at a low level, the first dual low-side driver 115 can control the first switch Q4 to conduct to connect the power supply of the first normally open brake valve A1; when the second brake valve control signal is at a low level, the first dual low-side driver 115 can control the second switch Q5 to conduct to connect the power supply of the first normally closed brake valve A2; when the first brake valve control signal is at a high level, the first dual low-side driver 115 can control the first switch Q4 to disconnect to disconnect the power supply of the first normally open brake valve A1; when the second brake valve control signal is at a high level, the first dual low-side driver 115 can control the second switch Q5 to disconnect to disconnect the power supply of the first normally closed brake valve A2. By adjusting the power supply / stopping the power supply of the first normally open brake valve A1 and the first normally closed brake valve A2, the braking force of the first braking channel is adjusted to prevent the wheel corresponding to the first braking channel from locking.

[0176] When it is detected that the wheels of the second braking channel are about to lock up, the processor 6 can send a third braking valve control signal and / or a fourth braking valve control signal to the second dual low-side driver 116. The third braking valve control signal and the fourth braking valve control signal can be, for example, PWM signals. When the third braking valve control signal is at a low level, the second dual low-side driver 116 can control the third switch Q6 to conduct, so as to conduct the power supply of the second normally open braking valve A3; when the fourth braking valve control signal is at a low level, the second dual low-side driver 116 can control the fourth switch Q7 to conduct, so as to conduct the power supply of the second normally closed braking valve A4; when the third braking valve control signal is at a high level, the second dual low-side driver 116 can control the third switch Q6 to disconnect, so as to disconnect the power supply of the second normally open braking valve A3; when the fourth braking valve control signal is at a high level, the second dual low-side driver 116 can control the fourth switch Q7 to disconnect, so as to disconnect the power supply of the second normally closed braking valve A4. By adjusting the power supply / stopping the power supply of the second normally open braking valve A3 and the second normally closed braking valve A4, the braking force of the second braking channel is adjusted, so as to prevent the wheels corresponding to the second braking channel from locking up.

[0177] (2) Braking Valve Self-Test

[0178] S1. Control the MOS transistor Q3 to disconnect, and control the braking valve self-test module 21 to stop outputting a constant current signal; and, obtain the first self-test signal sampled by the braking valve sampling module 31; the first self-test signal is used to detect whether the MOS transistor Q3 is normal. A possible implementation manner can include the following steps, for example:

[0179] 1. The processor 6 sends a high-side enable signal MCU_HD_EN to the triode Q9 as a low-level signal, and the MOS transistor Q3 disconnects; the processor 6 sends a first detection signal VALVE_QC_EN to the triode Q24 as a low-level signal, and the braking valve self-test module 21 stops outputting a constant current signal.

[0180] 2. The first voltage dividing network 314 composed of the resistor R75 and the resistor R76 divides the collected target voltage HSD to obtain a proportional voltage. The first low-pass filter 313 composed of the resistor R74 and the capacitor C48 filters the proportional voltage and then generates a sampling voltage ADC_VALVE_HS and inputs it into the processor 6. The processor 6 can include an analog-to-digital converter (ADC), and the processor 6 detects the voltage of ADC_VALVE_HS through the analog-to-digital converter ADC and obtains the voltage value of the target voltage HSD through proportional conversion, that is, the first self-test signal. When the voltage value of the first self-test signal is 0V, the MOS transistor Q3 is normal; when the voltage value of the first self-test signal is not 0V, the MOS transistor Q3 is abnormal.

[0181] S2. If the MOS transistor Q3 is normal, control the MOS transistor Q3, the first switch Q4, the second switch Q5, the third switch Q6, and the fourth switch Q7 to disconnect, and control the brake valve self-check module 21 to output a constant current signal; and obtain the second self-check signal sampled by the brake valve sampling module 31. The second self-check signal is used to detect whether the brake valve control switch 112 is normal. A possible implementation may include the following steps:

[0182] 1. The processor 6 sends a high-side enable signal MCU_HD_EN to the triode Q9, which is a low-level signal, and the MOS transistor Q3 disconnects; the processor 6 sends brake valve control signals to the first dual low-side driver 115 and the second dual low-side driver 116, both of which are low-level signals, and the first switch Q4, the second switch Q5, the third switch Q6, and the fourth switch Q7 disconnect; the processor 6 sends a first detection signal VALVE_QC_EN to the triode Q24, which is a high-level signal, and the brake valve self-check module 21 outputs a constant current signal.

[0183] 2. The first voltage division network 314 composed of the resistor R75 and the resistor R76 samples the target voltage HSD and divides the voltage to obtain a proportional voltage. The first low-pass filter 313 composed of the resistor R74 and the capacitor C48 filters the proportional voltage and then generates a sampled voltage ADC_VALVE_HS and inputs it to the processor 6. The processor 6 detects the voltage of ADC_VALVE_HS through the analog-to-digital converter ADC and obtains the voltage value of the target voltage HSD through proportional conversion, that is, the second self-check signal. When the voltage value of the second self-check signal is not 0V, the first switch Q4, the second switch Q5, the third switch Q6, and the fourth switch Q7 are all normal; when the voltage value of the second self-check signal is 0V, at least one of the first switch Q4, the second switch Q5, the third switch Q6, and the fourth switch Q7 is abnormal.

[0184] S3. If the first switch Q4, the second switch Q5, the third switch Q6, and the fourth switch Q7 are all normal, control the MOS transistor Q3 to disconnect and one of the first switch Q4, the second switch Q5, the third switch Q6, and the fourth switch Q7 to conduct, and control the brake valve self-check module 21 to output a constant current signal; and obtain the third self-check signal sampled by the brake valve sampling module 31. The third self-check signal is used to detect whether the brake valve connected to the conducting switch among the first switch Q4, the second switch Q5, the third switch Q6, and the fourth switch Q7 is normal. A possible implementation may include the following steps:

[0185] 1. The processor 6 sends a low-level signal of the high-side enable signal MCU_HD_EN to the triode Q9, and the MOS transistor Q3 is turned off; the processor 6 sends a high-level signal of the first brake valve control signal to the first dual low-side driver 115, and the first switch Q4 is turned on; the processor 6 sends a low-level signal of the second brake valve control signal to the first dual low-side driver 115, and the second switch Q5 is turned off; the processor 6 sends low-level signals of the third brake valve control signal and the fourth brake valve control signal to the second dual low-side driver 116, and the third switch Q6 and the fourth switch Q7 are turned off; the processor 6 sends a high-level signal of the first detection signal VALVE_QC_EN to the triode Q24, and the brake valve self-check module 21 outputs a constant current signal.

[0186] 2. The second voltage division network 315 composed of the resistor R79 and the resistor R82 collects the target voltage HSD and performs voltage division to generate the sampled voltage ADC_VALVE_QC and inputs it into the processor 6. The processor 6 detects the voltage of ADC_VALVE_QC through the analog-to-digital converter ADC and obtains the voltage value of the target voltage HSD through proportional conversion, that is, the third self-check signal. When the voltage value of the third self-check signal is between the first preset voltage value and the second preset voltage value, the first normally open brake valve A1 is normal; when the voltage value of the third self-check signal is less than the first preset voltage value, the first normally open brake valve A1 is short-circuited to the ground; when the voltage value of the third self-check signal is greater than the second preset voltage value, the first normally open brake valve A1 is open. Among them, the second preset voltage value is greater than the first preset voltage value. For example, the first preset voltage value can be 0.5V, and the second preset voltage value can be 1V.

[0187] 3. Referring to the above method, when controlling the second switch Q5 to be turned on, it is possible to detect whether the first normally closed brake valve A2 is normal; when controlling the third switch Q6 to be turned on, it is possible to detect whether the second normally open brake valve A3 is normal; and when controlling the fourth switch Q7 to be turned on, it is possible to detect whether the second normally closed brake valve A4 is normal.

[0188] Figure 9 It is a schematic structural diagram of the fourth anti-lock control circuit provided by the embodiment of the present application. Figure 9 The motor control module 12, the motor self-check module 22, and the motor sampling module 32 in the anti-lock control circuit are illustrated through a specific circuit structure. As Figure 9As shown, the first motor control switch 121 includes: MOS transistor Q1, the second motor control switch 122 includes: MOS transistor Q2, and the third driver 123 includes: half-bridge driver U2; the half-bridge driver U2 includes, for example: HO pin, LO pin; the motor control module 12 further includes: bootstrap capacitor C44, resistor R73, resistor R64, diode D13. The drain of MOS transistor Q1 is connected to the power supply, the source of MOS transistor Q1 is connected to the drain of MOS transistor Q2, half-bridge driver U2, and motor M1, the source of MOS transistor Q2 is grounded, the gate of MOS transistor Q1 is connected to the HO pin of half-bridge driver U2, and the gate of MOS transistor Q2 is connected to the LO pin of half-bridge driver U2; one end of bootstrap capacitor C44 is connected to the source of MOS transistor Q1 and the drain of MOS transistor Q2 through resistor R73, the other end of bootstrap capacitor C44 is connected to half-bridge driver U2 and connected to the power supply through diode D13 and resistor R64; the half-bridge driver U2 is used to control the on / off of MOS transistor Q1 and MOS transistor Q2 to adjust the speed of motor M1.

[0189] The motor self-check module 22 includes: the transistor 203 includes triode Q8, the bias resistor includes resistor R88, the constant current source control module 202 includes triodes Q10 and Q11, the voltage regulator diode 206 includes adjustable voltage regulator U12, and the first resistor 207 includes resistor R87. The base of triode Q11 receives the second detection signal MOTOR_QC_EN, the collector of triode Q11 is connected to the base of triode Q10, the emitter of triode Q11 is grounded, the emitter of triode Q10 is connected to the working power supply, the collector of triode Q10 is connected to one end of resistor R88, the other end of resistor R88 is connected to the base of triode Q8, the collector of triode Q8 is connected to the working power supply, the emitter of triode Q8 is connected to one end of resistor R87 and to the 1 pin of adjustable voltage regulator U12; the 2 pin of adjustable voltage regulator U12 is connected to the base of triode Q8, and the 3 pin of adjustable voltage regulator U12 is connected to the other end of resistor R87 to output a constant current signal. In a possible implementation, the motor self-check module 22 outputs a constant current signal through diode D4.

[0190] When the second detection signal MOTOR_QC_EN is a high-level signal, the triode Q11 conducts, the base of the triode Q10 becomes a low-level signal, and the triode Q10 conducts; the connection between the base of the triode Q8 and the working power supply through the resistor R88 conducts, and the triode Q8 conducts; the current flows through the resistor R87 and generates a voltage drop across the resistor R87. When the voltage drop across the resistor R87 reaches the preset voltage value of the adjustable voltage regulator U12, the voltage value of the base of the triode Q8 is pulled low by the 2nd pin of the adjustable voltage regulator U12 to ensure that the voltage generated across the resistor R87 by the current flowing through the resistor R87 does not exceed the preset voltage value; when the voltage across the resistor R87 is lower than the preset voltage value, the voltage of the base of the triode Q8 is pulled high by the 2nd pin of the adjustable voltage regulator U12 to increase the current flowing through the resistor R87, so that the motor self-check module 22 outputs a constant current signal.

[0191] When the second detection signal MOTOR_QC_EN is a low-level signal, the triode Q11 is turned off, the base of the triode Q10 becomes a high-level signal, the triode Q10 is turned off, the connection between the base of the triode Q8 and the working power supply through the resistor R88 is disconnected, and the triode Q8 is turned off; no current flows through the resistor R87, so that the motor self-check module 22 stops outputting a constant current signal.

[0192] The motor first sampling module 321 includes: a second low-pass filter 323 composed of a resistor R84 and a capacitor C58 and a third voltage dividing network 324 composed of a resistor R85 and a resistor R86. One end of the resistor R85 is connected to the source electrode of the MOS transistor Q1 and the drain electrode of the MOS transistor Q2; the other end of the resistor R85 is connected to one end of the resistor R86 and one end of the resistor R84, the other end of the resistor R86 is grounded, the other end of the resistor R84 is connected to one end of the capacitor C58 to output a self-check signal ADC_MOTOR_HS, and the other end of the capacitor C58 is grounded.

[0193] The motor second sampling module 322 includes: a fourth voltage dividing network 325 composed of a resistor R89 and a resistor R92. One end of the resistor R89 is connected to one end of the motor M1 through a diode D4; the other end of the resistor R89 is connected to one end of the resistor R92 to output a self-check signal ADC_MOTOR_QC, and the other end of the resistor R92 is grounded.

[0194] Based on Figure 9 the self-check signals collected by the anti-lock control circuit shown, fault detection of the anti-lock control circuit or the motor can be performed, and the method for fault detection in the embodiments of the present application is not limited.

[0195] Next, Figure 9 for the anti-lock control circuit shown, in the scenario where the corresponding motor includes the motor M1, a possible implementation manner of how to control the motor and perform self-check on the motor will be illustrated by way of example.

[0196] (1) Motor Control

[0197] The processor 6 can send the first motor control signal MOTOR_PWM_P and the second motor control signal MOTOR_PWM_N to the half-bridge driver U2 to control the rotation speed of the motor M1. Among them, the first motor control signal MOTOR_PWM_P and the second motor control signal MOTOR_PWM_N can be PWM signals with the same frequency. When one signal is a high-level signal, the other signal is a low-level signal; for example: when the first motor control signal MOTOR_PWM_P is a high-level signal and the second motor control signal MOTOR_PWM_N is a low-level signal, the pin HO outputs a high-level signal and the pin LO outputs a low-level signal; when the first motor control signal MOTOR_PWM_P is a low-level signal and the second motor control signal MOTOR_PWM_N is a low-level signal, the pin HO outputs a low-level signal and the pin LO outputs a low-level signal, which can prevent the MOS transistors Q1 and Q2 from conducting simultaneously. Specifically as follows:

[0198] When the processor 6 sends the second motor control signal MOTOR_PWM_N as a high-level signal and the first motor control signal MOTOR_PWM_P as a low-level signal to the half-bridge driver U2, the half-bridge driver U2 sends a high-level signal to the MOS transistor Q2 through the pin LO and a low-level signal to the MOS transistor Q1 through the pin HO. The MOS transistor Q2 conducts and the MOS transistor Q1 disconnects. The power supply circuit of the capacitor C44 is conducted and the capacitor C44 is charged; when the processor 6 sends the second motor control signal MOTOR_PWM_N as a low-level signal and the first motor control signal MOTOR_PWM_P as a high-level signal to the half-bridge driver U2, the half-bridge driver U2 sends a low-level signal to the MOS transistor Q2 through the pin LO and a high-level signal to the MOS transistor Q1 through the pin HO. The MOS transistor Q2 disconnects and the pin HO uses the just-charged C44 as a charge pump to drive the MOS transistor Q1 to conduct. At this time, the motor M1 starts to operate. Continuing the above operation, when the MOS transistor Q1 is disconnected and the MOS transistor Q2 is conducted, it can provide freewheeling for the motor M1 to ensure that the motor M1 can continue to rotate, and at the same time charge the bootstrap capacitor C44 to prepare for the next conduction of the MOS transistor Q1. By controlling the duty cycles of the first motor control signal MOTOR_PWM_P and the second motor control signal MOTOR_PWM_N, different rotation speeds of the motor M1 can be adjusted.

[0199] When the wheel is about to lock up, the processor 6 can send a first motor control signal MOTOR_PWM_P and a second motor control signal MOTOR_PWM_N with an adjusted duty cycle to the half-bridge driver U2 to adjust the rotational speed of the motor M1. For example, the rotational speed of the motor M1 can be reduced by decreasing the duty cycle of the first motor control signal MOTOR_PWM_P.

[0200] (2) Motor Self-Test

[0201] S1. Control the MOS transistors Q1 and Q2 to disconnect, and control the triode Q11 to stop outputting a constant current signal; and, obtain a fourth self-test signal sampled by the motor sampling module 32; the fourth self-test signal is used to detect whether the MOS transistor Q1 is normal. A possible implementation may include the following steps, for example:

[0202] 1. The processor 6 stops sending motor control signals to the half-bridge driver U2, and the MOS transistors Q1 and Q2 disconnect; the processor 6 sends a second detection signal MOTOR_QC_EN to the triode Q11 as a low-level signal, and the brake valve self-test module 21 stops outputting a constant current signal.

[0203] 2. The third voltage division network 324 composed of the resistor R85 and the resistor R86 collects the target voltage MOTOR+ and performs voltage division to obtain a proportional voltage. The second low-pass filter 323 composed of the resistor R84 and the capacitor C58 filters the proportional voltage and then generates a sampled voltage ADC_MOTOR_HS and inputs it to the processor 6. The processor 6 may include, for example, an analog-to-digital converter (ADC). The processor 6 detects the voltage of the ADC_MOTOR_HS through the ADC and obtains the voltage value of the target voltage MOTOR+ through proportional conversion, that is, the fourth self-test signal. When the voltage value of the fourth self-test signal is 0V, the MOS transistor Q1 is normal; when the voltage value of the fourth self-test signal is not 0V, the MOS transistor Q1 is abnormal.

[0204] S2. If the MOS transistor Q1 is normal, control the triode Q11 to output a constant current signal; and, obtain a fifth self-test signal sampled by the motor sampling module 32; the fifth self-test signal is used to detect whether the MOS transistor Q2 / motor is normal. A possible implementation may include the following steps, for example:

[0205] 1. The processor 6 stops sending motor control signals to the half-bridge driver U2, and the MOS transistors Q1 and Q2 disconnect; the processor 6 sends a second detection signal MOTOR_QC_EN to the triode Q11 as a high-level signal, and the brake valve self-test module 21 outputs a constant current signal.

[0206] 2. The fourth voltage dividing network 325 composed of resistor R89 and resistor R92 samples the target voltage MOTOR+ and divides the voltage to generate a sampled voltage ADC_MOTOR_QC which is input to the processor 6. The processor 6 detects the voltage of ADC_MOTOR_QC through the analog-to-digital converter ADC and obtains the voltage value of the target voltage MOTOR+ through proportional conversion, that is, the fifth self-check signal. When the voltage value of the fifth self-check signal is greater than 0V and less than the third preset voltage value, the MOS transistor Q2 and the motor are both normal; when the voltage value of the fifth self-check signal is 0V, the MOS transistor Q2 or the motor is short-circuited to the ground; when the voltage value of the fifth self-check signal is the third preset voltage value, the motor is open-circuited. The third preset voltage value can be, for example, 1V.

[0207] Further, when the motor M1 is running, the third voltage dividing network 324 composed of resistor R85 and resistor R86 can also sample the rotation speed signal of the motor M1 and divide the voltage to obtain a proportional voltage. Then, the second low-pass filter 323 composed of resistor R84 and capacitor C58 filters the proportional voltage to generate a DC sampled voltage ADC_MOTOR_HS which is input to the processor 6. The processor 6 can estimate the rotation speed of the motor through the sampled voltage ADC_MOTOR_HS to achieve the rotation speed monitoring of the motor M1.

[0208] Based on the above embodiments, the present application also provides a self-check method for an anti-lock control circuit, and this method is applied to any one of the anti-lock control circuits described in the foregoing embodiments. Figures 1-9 The execution subject of this method can be, for example, a self-check tool, such as a processor, or an electronic device installed with a self-check tool. The present application takes the execution subject as a self-check tool as an example for illustration.

[0209] Figure 10 It is a schematic flowchart of a self-check method for an anti-lock control circuit provided by an embodiment of the present application. As Figure 10 shown, this method can include the following steps, for example:

[0210] S101. The self-check tool controls the control switch 110 and the self-check module 2 of the anti-lock control circuit, and obtains the self-check signals sampled by the sampling module 3 of the anti-lock control circuit when the self-check module 2 and the control switch 110 are in different states.

[0211] Combined with Figure 1The anti-lock control circuit shown, the control switch 110 can be connected to the brake valve and / or the motor. The self-check tool can turn on / off the control switch 110 by sending a high-level or low-level control signal to the control switch 110, and control the self-check module 2 to output / stop outputting a constant current signal by sending a high-level or low-level detection signal to the self-check module 2. The sampling module 3 can sample the self-check signals in different states of the self-check module 2 and the control switch 110, and send the self-check signals to the self-check tool.

[0212] For example, when the power supply of the brake valve is disconnected, the self-check tool can send a low-level control signal to the control switch 110 connected to the brake valve, and the control switch 110 is turned off; the self-check tool sends a high-level detection signal to the self-check module 2 connected to the brake valve, and the self-check module 2 outputs a constant current signal, and the self-check tool can receive the self-check signal sampled by the sampling module 3. Or, the self-check tool can send a low-level control signal to the control switch 110 connected to the motor, and the control switch 110 is turned off; the self-check tool outputs a high-level detection signal to the self-check module 2 connected to the motor, and the self-check module 2 outputs a constant current signal, and the self-check tool can receive the self-check signal sampled by the sampling module 3.

[0213] S102. The self-check tool performs fault detection according to the self-check signal.

[0214] For example, when the control switch 110 connected to the brake valve is turned off and the self-check module 2 outputs a constant current signal, the self-check tool can perform fault detection on the control switch 110 according to the self-check signal sampled by the sampling module 3; or, when the control switch 110 connected to the motor is turned off and the self-check module 2 outputs a constant current signal, the self-check tool can perform fault detection on the motor connected to the control switch 110 according to the self-check signal sampled by the sampling module 3, etc.

[0215] In summary, for the self-check method of the anti-lock control circuit provided by the embodiment of the present application, the self-check tool controls the control switch 110 and the self-check module 2 of the anti-lock control circuit to make the control switch 110 and the self-check module 2 in different states; the self-check tool realizes the self-check function of the anti-lock control circuit by receiving the self-check signals sampled by the sampling module 3 in different states of the self-check module 2 and the control switch 110.

[0216] Figure 11 It is a schematic flowchart of another self-check method of the anti-lock control circuit provided by the embodiment of the present application. Combining Figure 2 the anti-lock control circuit shown, this method can be used to perform self-check on the brake valve control module 11 or the brake valve. As Figure 11 shown, this method can, for example, include the following steps:

[0217] S201. The self-check tool controls the power switch 111 of the brake valve to disconnect and controls the brake valve self-check module 21 to stop outputting a constant current signal; and, obtains a first self-check signal sampled by the brake valve sampling module 31; the first self-check signal is used to detect whether the power switch 111 of the brake valve is normal.

[0218] For example, the self-check tool sends a high-side enable signal to the first driver 113 as a low-level signal, and the power switch 111 of the brake valve disconnects; the self-check tool sends a first detection signal to the brake valve self-check module 21 as a low-level signal, and the brake valve self-check module 21 stops outputting a constant current signal; the self-check tool obtains the first self-check signal through the sampled voltage collected by the brake valve sampling module 31.

[0219] S202. The self-check tool determines whether the power switch 111 of the brake valve is normal according to the first self-check signal.

[0220] For example, the self-check tool can determine that the power switch 111 of the brake valve is normal when the voltage value of the first self-check signal is 0 volts (Voltage, V); when the voltage value of the first self-check signal is not 0V, it is determined that the power switch 111 of the brake valve is abnormal.

[0221] If the power switch 111 of the brake valve is normal, then step S203 is executed.

[0222] S203. The self-check tool controls the power switch 111 of the brake valve to disconnect, the brake valve control switch 112 to disconnect, and controls the brake valve self-check module 21 to output a constant current signal; and, obtains a second self-check signal sampled by the brake valve sampling module 31; the second self-check signal is used to detect whether the brake valve control switch 112 is normal.

[0223] For example, the self-check tool sends a high-side enable signal to the first driver 113 as a low-level signal, and the power switch 111 of the brake valve disconnects; the self-check tool sends a brake valve control signal to the second driver 114 as a low-level signal, and the brake valve control switch 112 disconnects; the self-check tool sends a first detection signal to the brake valve self-check module 21 as a high-level signal, and the brake valve self-check module 21 outputs a constant current signal. The self-check tool obtains the second self-check signal through the sampled voltage collected by the brake valve sampling module 31.

[0224] S204. The self-check tool determines whether the brake valve control switch 112 is normal according to the second self-check signal.

[0225] For example, the self-check tool can determine that the brake valve control switch 112 is normal when the voltage value of the second self-check signal is not 0V; when the voltage value of the second self-check signal is 0V, it is determined that the brake valve control switch 112 is abnormal.

[0226] If the brake valve control switch 112, then step S205 is executed.

[0227] S205. The self-check tool controls the power switch 111 of the brake valve to be disconnected, the control switch 112 of the brake valve to be turned on, and controls the brake valve self-check module 21 to output a constant current signal; and, obtains a third self-check signal sampled by the brake valve sampling module 31; the third self-check signal is used to detect whether the brake valve is normal.

[0228] For example, the self-check tool sends a high-side enable signal to the first driver 113 as a low-level signal, and the power switch 111 of the brake valve is disconnected; the self-check tool sends a brake valve control signal to the second driver 114 as a high-level signal, and the control switch 112 of the brake valve is turned on; the self-check tool sends a first detection signal to the brake valve self-check module 21 as a high-level signal, and the brake valve self-check module 21 outputs a constant current signal. The self-check tool obtains the third self-check signal through the sampling voltage collected by the brake valve sampling module 31

[0229] S206. The self-check tool determines whether the brake valve is normal according to the second self-check signal.

[0230] For example, the self-check tool can determine that the control switch 112 of the brake valve is normal when the voltage value of the third self-check signal is between a first preset voltage value and a second preset voltage value; determine that the control switch 112 of the brake valve is short-circuited to the ground when the voltage value of the third self-check signal is less than the first preset voltage value; determine that the control switch 112 of the brake valve is open when the voltage value of the third self-check signal is greater than the second preset voltage value. Wherein, the second preset voltage value is greater than the first preset voltage value.

[0231] In summary, for the self-check method of the anti-lock control circuit provided in the embodiment of the present application, the self-check tool controls the power switch 111 of the brake valve, the control switch 112 of the brake valve, and the brake valve self-check module 21, so that the power switch 111 of the brake valve, the control switch of the brake valve, and the brake valve self-check module 21 are in different states. The self-check tool realizes the function of self-checking the brake valve control module 11 or the brake valve in the anti-lock control circuit by receiving the self-check signals sampled by the brake valve sampling module 31 when the power switch 111 of the brake valve, the control switch of the brake valve, and the brake valve self-check module 21 are in different states.

[0232] Figure 12 It is a schematic flow chart of the third self-check method for the anti-lock control circuit provided in the embodiment of the present application. Combining Figure 2 with the anti-lock control circuit shown, this method can be used for self-checking the motor control module 12 or the motor. As Figure 12 shown, this method may include the following steps, for example:

[0233] S301. The self-check tool controls the first motor control switch 121 and the second motor control switch 122 to disconnect, and controls the motor self-check module 22 to stop outputting a constant current signal; and, obtains the fourth self-check signal sampled by the motor sampling module 32; the fourth self-check signal is used to detect whether the first motor control switch 121 is normal.

[0234] For example, the self-check tool stops sending motor control signals to the third driver 123, and the first motor control switch 121 and the second motor control switch 122 are disconnected; the self-check tool sends a second detection signal to the motor self-check module 22 as a low-level signal, and the motor self-check module 22 stops outputting a constant current signal. The self-check tool obtains the fourth self-check signal through the sampled voltage collected by the motor sampling module 32.

[0235] S302. The self-check tool determines whether the first motor control switch 121 is normal according to the fourth self-check signal.

[0236] For example, the self-check tool can determine that the first motor control switch 121 is normal when the voltage value of the fourth self-check signal is 0V; and determine that the first motor control switch 121 is abnormal when the voltage value of the fourth self-check signal is not 0V.

[0237] If the first motor control switch 121 is normal, then step S303 is executed.

[0238] S303. The self-check tool controls the motor self-check module 22 to output a constant current signal; and, obtains the fifth self-check signal sampled by the motor sampling module 32; the fifth self-check signal is used to detect whether the second motor control switch 122 / motor is normal.

[0239] For example, the self-check tool stops sending motor control signals to the third driver 123, and the first motor control switch 121 and the second motor control switch 122 are disconnected; the self-check tool sends a second detection signal to the motor self-check module 22 as a high-level signal, and the motor self-check module 22 outputs a constant current signal. The self-check tool obtains the fifth self-check signal through the sampled voltage collected by the motor sampling module 32.

[0240] S304. The self-check tool determines whether the second motor control switch 122 / motor is normal according to the fifth self-check signal.

[0241] For example, when the voltage value of the fifth self-check signal is greater than 0V and less than the third preset voltage value, then both the second motor control switch 122 and the motor are normal; when the voltage value of the fifth self-check signal is 0V, then the second motor control switch 122 or the motor is short-circuited to the ground; when the voltage value of the fifth self-check signal is the third preset voltage value, then the motor is open-circuited.

[0242] In summary, for the self - checking method of the anti - lock control circuit provided by the embodiments of the present application, the self - checking tool controls the first motor control switch 121, the second motor control switch 122, and the motor self - checking module 22 to make the first motor control switch 121, the second motor control switch 122, and the motor self - checking module 22 in different states. The self - checking tool receives the self - checking signals sampled by the brake valve sampling module 31 when the first motor control switch 121, the second motor control switch 122, and the motor self - checking module 22 are in different states, so as to realize the function of self - checking the first motor control switch 121 or the second motor control switch 122 or the motor in the anti - lock control circuit.

[0243] The self - checking method of the anti - lock control circuit provided by the embodiments of the present application can be applied to self - check the above - mentioned anti - lock control circuit. Its implementation principle and technical effects are similar and will not be elaborated here.

[0244] Figure 13 It is a schematic structural diagram of a self - checking device for an anti - lock control circuit provided by the embodiments of the present application. This device is applied to self - check the anti - lock control circuit of the foregoing embodiments Figures 1-9 for self - checking, as Figure 13 shown, this device may include, for example: a processing module 1301 and a detection module 1302.

[0245] The processing module 1301 is used to control the control switch 110 of the anti - lock control circuit and the self - checking module 2, and obtain the self - checking signals sampled by the sampling module 3 of the anti - lock control circuit when the self - checking module 2 and the control switch 110 are in different states;

[0246] The detection module 1302 is used to perform fault detection according to the self - checking signals.

[0247] In a possible implementation manner, the processing module 1301 is specifically used to control the brake valve power switch 111 to be disconnected and control the brake valve self - checking module 21 to stop outputting a constant - current signal; and obtain the first self - checking signal sampled by the brake valve sampling module 31; the first self - checking signal is used to detect whether the brake valve power switch 111 is normal;

[0248] If the brake valve power switch 111 is normal, then control the brake valve power switch 111 to be disconnected, the brake valve control switch 112 to be disconnected, and control the brake valve self - checking module 21 to output a constant - current signal; and obtain the second self - checking signal sampled by the brake valve sampling module 31; the second self - checking signal is used to detect whether the brake valve control switch 112 is normal;

[0249] If the brake valve control switch 112 is normal, control the brake valve power switch 111 to disconnect, the brake valve control switch 112 to conduct, and control the brake valve self-check module 21 to output a constant current signal; and obtain the third self-check signal sampled by the brake valve sampling module 31; the third self-check signal is used to detect whether the brake valve is normal.

[0250] A possible implementation manner, the processing module 1301 is specifically configured to control the first motor control switch 121 and the second motor control switch 122 to disconnect, and control the motor self-check module 22 to stop outputting a constant current signal; and obtain the fourth self-check signal sampled by the motor sampling module 32; the fourth self-check signal is used to detect whether the first motor control switch 121 is normal;

[0251] If the first motor control switch 121 is normal, control the motor self-check module 22 to output a constant current signal; and obtain the fifth self-check signal sampled by the motor sampling module 32; the fifth self-check signal is used to detect whether the second motor control switch 122 / motor is normal.

[0252] The self-checking device of the anti-lock control circuit provided by the embodiments of the present application can be applied to self-check the above anti-lock control circuit, and its implementation principle and technical effects are similar, and will not be elaborated here.

[0253] Figure 14 This is a schematic structural diagram of an electronic device provided by the embodiments of the present application. As Figure 14 shown, the electronic device may include: at least one processor 1401, a memory 1402.

[0254] The memory 1402 is used to store a program. Specifically, the program may include program code, and the program code includes computer operation instructions.

[0255] The memory 1402 may include a high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

[0256] The processor 1401 is configured to execute the computer execution instructions stored in the memory 1402 to implement the actions in the foregoing method embodiments. Among them, the processor 1401 may be a central processing unit (CPU), or a specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0257] Optionally, the electronic device may further include a communication interface 1403 for communicating and interacting with external devices. In a specific implementation, if the communication interface 1403, the memory 1402, and the processor 1401 are implemented independently, the communication interface 1403, the memory 1402, and the processor 1401 may be interconnected through a bus to complete communication with each other.

[0258] Optionally, in a specific implementation, if the communication interface 1403, the memory 1402, and the processor 1401 are integrated on a single chip, the communication interface 1403, the memory 1402, and the processor 1401 may complete communication through an internal interface.

[0259] This application also provides a computer-readable storage medium, which may include: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs. Specifically, the computer-readable storage medium stores program instructions for implementing the actions of the above method embodiments.

[0260] This application also provides a computer program product, which includes execution instructions stored in a readable storage medium. At least one processor of the electronic device may read the execution instructions from the readable storage medium, and the at least one processor executes the execution instructions to cause the electronic device to implement the actions of the above method embodiments.

[0261] This application also provides a vehicle, including a self-checking device or an electronic device of an anti-lock control circuit, and an anti-lock control circuit.

[0262] Those skilled in the art will readily conceive of other embodiments of this application after considering the specification and practicing the utility model disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include known common knowledge or conventional technical means in the technical field not disclosed in this application. The specification and examples are only illustrative, and the true scope and spirit of this application are pointed out by the following claims.

[0263] It should be understood that this application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is only limited by the appended claims.

Claims

1. An anti-lock braking control circuit, characterized in that: include: Control module, self-test module, sampling module and processor; The control module includes a control switch; the control switch is connected to the brake valve and / or the motor, and the control switch is used to adjust the brake valve and / or the motor to perform anti-lock control; The self-test module is connected to one end of the control switch, and is used to receive a detection signal, and in response to the detection signal being in different states, output or stop outputting a constant current signal; The sampling module is connected to the control switch, and the sampling module is used to sample and obtain self-test signals when the self-test module and the control switch are in different states, and the self-test signals are used for fault detection; The processor is connected to the control module, the self-test module and the sampling module; the processor is used to control the control module to perform anti-lock control, and control the self-test module to output / stop outputting a constant current signal, and perform fault detection according to the self-test signal sampled by the sampling module.

2. The anti-lock braking control circuit according to claim 1, characterized in that: The control module includes: a brake valve control module and / or a motor control module; The brake valve control module comprises: a brake valve power switch, a brake valve control switch, a first driver, and a second driver; one end of the brake valve power switch is connected to a power supply, the other end of the brake valve power switch is connected to one end of the brake valve, and the control end of the brake valve power switch is connected to the first driver; the first driver is used to control the on / off of the brake valve power switch; One end of the brake valve control switch is connected to the other end of the brake valve, the other end of the brake valve control switch is grounded, and the control end of the brake valve control switch is connected to the second driver; the second driver is used to control the on / off of the brake valve control switch to adjust the braking force of the brake valve; The motor control module includes: a first motor control switch, a second motor control switch, and a third driver; one end of the first motor control switch is connected to a power supply, the other end of the first motor control switch is connected to one end of the second motor control switch and the motor, the other end of the second motor control switch is grounded, and the control ends of the first motor control switch and the second motor control switch are connected to the third driver; the third driver is used to control the first motor control switch and the second motor control switch to be turned on / off to adjust the speed of the motor.

3. The anti-lock braking control circuit according to claim 2, characterized in that: The first driver comprises: a boost unit and a first driving unit; One end of the boost unit is connected to the power supply, and the other end of the boost unit is connected to the brake valve power switch through the first drive unit; the boost unit is used to boost the power supply and then output it; The first driving unit is connected to the output end of the boost unit and is used to turn on / off the connection between the boost unit and the brake valve power switch to control the brake valve power switch to turn on / off.

4. The anti-lock braking control circuit according to claim 3, characterized in that: The boost unit includes: a first half-bridge driver, a first diode, a second diode, a first capacitor, and a second capacitor; The positive electrode of the first diode is connected to the power supply, and the negative electrode of the first diode is connected to the positive electrode of the second diode and one end of the first capacitor; One end of the first half-bridge driver receives a boost control signal, and the other end of the first half-bridge driver is connected to the other end of the first capacitor; The cathode of the second diode is connected to one end of the second capacitor and serves as the output end of the boost unit; the other end of the second capacitor is grounded.

5. The anti-lock braking control circuit according to claim 2, characterized in that: The brake valve comprises: a first normally open brake valve and a first normally closed brake valve constituting a first brake channel, a second normally open brake valve and a second normally closed brake valve constituting a second brake channel; the brake valve control switch comprises: a first switch, a second switch, a third switch, and a fourth switch; the second driver comprises: a first dual low-side driver and a second dual low-side driver; One end of the first switch is connected to the first normally open brake valve, one end of the second switch is connected to the first normally closed brake valve, and the control ends of the first switch and the second switch are connected to the first dual low-side driver; one end of the third switch is connected to the second normally open brake valve, one end of the fourth switch is connected to the second normally closed brake valve, and the control ends of the third switch and the fourth switch are connected to the second dual low-side driver; the other ends of the first switch, the second switch, the third switch, and the fourth switch are all grounded.

6. The anti-lock braking control circuit according to claim 2, characterized in that: The detection signal includes a first detection signal and / or a second detection signal; the self-test module includes: a brake valve self-test module and / or a motor self-test module; The brake valve self-test module is connected to one end of the brake valve control switch; the brake valve self-test module is used to output or stop outputting a constant current signal according to a first detection signal; wherein, when detecting the brake valve power switch, the brake valve self-test module stops outputting a constant current signal; when detecting the brake valve control switch or the brake valve, the brake valve self-test module outputs a constant current signal; The motor self-test module is connected to one end of the motor control switch; the motor self-test module is used to output or stop outputting a constant current signal according to a second detection signal; wherein, when detecting the first motor control switch, the motor self-test module stops outputting the constant current signal; when detecting the second motor control switch or the motor, the motor self-test module outputs a constant current signal.

7. The anti-lock braking control circuit according to claim 2, characterized in that: The sampling module includes: a brake valve sampling module and / or a motor sampling module; The brake valve sampling module is connected to the other end of the brake valve power switch, and to one end of the brake valve control switch through the brake valve; the brake valve sampling module is used to sample and obtain self-test signals when the brake valve self-test module and the brake valve control switch are in different states; the motor sampling module is connected to the other end of the first motor control switch and one end of the second motor control switch; the motor sampling module is used to sample and obtain self-test signals when the motor self-test module and the first motor control switch and the second motor control switch are in different states.

8. The anti-lock braking control circuit according to claim 7, characterized in that: The self-test signal includes a brake valve self-test signal and / or a motor self-test signal; The brake valve self-test signal includes a sampling voltage when the brake valve power switch is disconnected and the brake valve self-test module stops outputting a constant current signal, a sampling voltage when the brake valve power switch is disconnected and the brake valve control switch is disconnected and the brake valve self-test module outputs a constant current signal, and a sampling voltage when the brake valve power switch is disconnected and the brake valve control switch is turned on and the brake valve self-test module outputs a constant current signal; The motor self-test signal includes a sampled voltage when the first motor control switch and the second motor control switch are both disconnected and the motor self-test module stops outputting a constant current signal, and a sampled voltage when the first motor control switch and the second motor control switch are both disconnected and the motor self-test module outputs a constant current signal.

9. The anti-lock braking control circuit according to claim 7, characterized in that: The brake valve sampling module includes a brake valve first sampling module and / or a brake valve second sampling module; The first sampling module of the brake valve comprises: a first low-pass filter and a first voltage-dividing network; one end of the first voltage-dividing network is connected to the other end of the brake valve power switch, and to one end of the brake valve control switch through the brake valve; the other end of the first voltage-dividing network is connected to one end of the first low-pass filter; the other end of the first low-pass filter serves as the output end of the first sampling module of the brake valve; The second sampling module of the brake valve comprises: a second voltage-dividing network; one end of the second voltage-dividing network is connected to one end of the brake valve, and the other end of the second voltage-dividing network serves as the output end of the second sampling module of the brake valve.

10. The anti-lock braking control circuit according to claim 7, characterized in that: The motor sampling module includes: a first motor sampling module and / or a second motor sampling module; The first motor sampling module includes: a second low-pass filter and a third voltage-dividing network; one end of the third voltage-dividing network is connected to the other end of the first motor control switch and one end of the second motor control switch; the other end of the third voltage-dividing network is connected to one end of the second low-pass filter; the other end of the second low-pass filter serves as the output end of the motor sampling module; The second motor sampling module comprises: a fourth voltage-dividing network; one end of the fourth voltage-dividing network is connected to one end of the motor, and the other end of the fourth voltage-dividing network serves as the output end of the second motor sampling module.

11. The anti-lock braking control circuit according to claim 6, characterized in that: The brake valve self-test module and / or the motor self-test module include a constant current source module and a constant current source control module; the constant current source module includes: a transistor, a second drive unit, and a current stabilizing unit; one end of the transistor is connected to a power supply, the other end of the transistor is connected to one end of the current stabilizing unit, the control end of the transistor is connected to one end of the second drive unit and the other end of the current stabilizing unit, and the output end of the current stabilizing unit outputs a constant current signal; one end of the constant current source control module receives a first detection signal / a second detection signal, and the other end of the constant current source control module is connected to the other end of the second drive unit; the constant current source control module is used to control the constant current source module to output / stop outputting a constant current signal according to the first detection signal / the second detection signal.

12. The anti-lock braking control circuit according to claim 11, characterized in that: The constant current source control module includes: a fifth switch and a sixth switch; one end of the fifth switch is connected to the other end of the second driving unit, the other end of the fifth switch is connected to a power supply, the control end of the fifth switch is connected to one end of the sixth switch, the other end of the sixth switch is grounded, and the control end of the sixth switch receives a first detection signal / a second detection signal.

13. The anti-lock braking control circuit according to claim 11, characterized in that: The current stabilizing unit includes: a voltage regulator tube and a first resistor; one end of the voltage regulator tube is connected to the other end of the transistor and one end of the first resistor, the other end of the voltage regulator tube is connected to the third end of the transistor, and the third end of the voltage regulator tube is connected to the other end of the first resistor.

14. The anti-lock braking control circuit according to claim 1, characterized in that: The anti-lock control circuit also includes a wheel speed detection module; The wheel speed detection module is connected to the processor and the wheel, and is used to detect the rotation speed of the wheel and output a wheel speed signal to the processor to adjust the brake valve and / or the motor.

15. The anti-lock braking control circuit according to claim 14, characterized in that: The wheel speed detection module includes: a wheel speed sensor and a wheel speed sensor conditioning unit; The wheel speed sensor is connected to the wheel and is used to obtain a rotation speed signal of the wheel; The wheel speed sensor conditioning unit is connected to the wheel speed sensor and is used for converting the rotation speed signal of the wheel into a voltage signal.

16. A vehicle, characterized in that: include: An anti-lock braking control circuit as claimed in any one of claims 1 to 15.

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