Braking control system

Abstract

To enable a redundant control device to recognize that abnormality occurs in a first braking control device out of the first braking control device and the redundant control device.SOLUTION: The braking control system 60 includes a first braking ECU70 for operating the first hydraulic braking device 26 and the first electric parking actuators 31, a second braking ECU80 for operating the second hydraulic braking device 27, and a redundant ECU90 for operating the second electric parking actuators 32. The second braking ECU80 transmits, to the redundant ECU70, communication availability information regarding whether or not communication with the first braking ECU90 is normal. The redundant ECU90 determines that an abnormality has occurred in the first braking ECU80 when the received communication availability information is information indicating that the communication between the second braking ECU70 and the first braking ECU90 is not normal and when the communication between the redundant ECU70 and the first braking ECU70 is not normal.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a braking control system mounted on a vehicle. [Background technology]

[0002] Patent Document 1 discloses a vehicle equipped with a first electric parking actuator that generates a parking braking force on a first wheel among a plurality of wheels, and a second electric parking actuator that generates a parking braking force on a second wheel among a plurality of wheels. The braking system of the vehicle is equipped with an upstream hydraulic braking device and a downstream hydraulic braking device as braking devices that generate normal braking forces on the plurality of wheels, as well as a first controller that controls the downstream hydraulic braking device and a second controller that controls the upstream hydraulic braking device.

[0003] When the parking brake switch is operated, the first controller operates the first electric parking actuator to generate parking braking force on the first wheel. The first controller also transmits an operation instruction to the second controller via the in-vehicle network. The second controller operates the second electric parking actuator based on the received operation instruction to generate parking braking force on the second wheel. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] European Patent No. 3529118 Summary of the Invention [Problem to be solved by the invention]

[0005] An object of the present invention is to enable one of a plurality of controllers to recognize that an abnormality has occurred in the other controller. [Means for solving the problem]

[0006] A brake control system for solving the above problem is applied to a vehicle including a first wheel and a second wheel, a first wheel cylinder provided on the first wheel, a second wheel cylinder provided on the second wheel, first and second hydraulic brake devices configured to adjust the hydraulic pressure of the wheel cylinders, a first electric parking actuator configured to generate a parking braking force on the first wheel, and a second electric parking actuator configured to generate a parking braking force on the second wheel. The brake control system includes a first brake control device that operates the first hydraulic brake device and at least one of the electric parking actuators, a second brake control device that is capable of communicating with the first brake control device and that operates the second hydraulic brake device, and a redundant control device that is capable of communicating with the first brake control device and the second brake control device and that operates at least one of the electric parking actuators. Each of the first brake control device and the redundant control device is capable of receiving a parking brake operation request, which is a request related to parking braking. The second brake control device is configured to transmit communication availability information, which is information regarding whether communication with the first brake control device is normal, to the redundant control device. If the communication availability information received from the second brake control device indicates that communication between the second brake control device and the first brake control device is not normal, and if both of the following are true, the redundant control device determines that an abnormality has occurred in the first brake control device. [Effects of the Invention]

[0007] The braking control system has an advantage that the redundant control device can recognize that an abnormality has occurred in the first braking control device, out of the first braking control device and the redundant control device. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing the configuration of a vehicle equipped with a braking control system according to a first embodiment. [Figure 2] FIG. 2 is a configuration diagram showing the braking control system of FIG. 1 and an electric parking device controlled by the braking control system. [Figure 3] Figure 3 is a flowchart showing (a) a series of processes executed by the second brake ECU when determining that an abnormality has occurred in the first brake ECU provided in the brake control system of Figure 1 or when determining that communication using the brake communication line is not normal, and (b) a flowchart showing a series of processes executed by the redundant ECU. [Figure 4] Figure 4 is a flowchart showing a series of processes executed by the second brake ECU when determining that an abnormality has occurred in the redundant ECU provided in the brake control system of Figure 1, where (a) is a flowchart showing a series of processes executed by the first brake ECU. [Figure 5] Figure 5 shows, when determining that communication using the first global communication line provided in the vehicle of Figure 1 is not normal, (a) is a flowchart showing a series of processes executed by the integrated ECU, (b) is a flowchart showing a series of processes executed by the redundant ECU, and (c) is a flowchart showing a series of processes executed by the first brake ECU and the second brake ECU. [Figure 6] 6A is a flowchart showing a series of processes executed by the first brake ECU when the brake control system of FIG. 1 is normal, and FIG. 6B is a flowchart showing a series of processes executed by the redundant ECU. [Figure 7] FIG. 7 is a flowchart showing a series of processes executed by the redundant ECU when it is determined that an abnormality has occurred in the first brake ECU provided in the brake control system of FIG. [Figure 8] FIG. 8 is a flowchart showing a series of processes executed by the first brake ECU when it is determined that an abnormality has occurred in the redundant ECU included in the brake control system of FIG. [Figure 9]Figure 9 is a flowchart showing (a) a series of processes executed by the first brake ECU when it is determined that an abnormality has occurred in the brake communication line provided in the brake control system of Figure 1, and (b) a flowchart showing a series of processes executed by the redundant ECU. [Figure 10] Figure 10 is a flowchart showing (a) a series of processes executed by the first braking ECU when it is determined that communication using the first global communication line provided in the vehicle of Figure 1 is not normal, and (b) a flowchart showing a series of processes executed by the redundant ECU. [Figure 11] FIG. 11 is a diagram showing an outline of the brake control system of the second embodiment. [Figure 12] FIG. 12 is a diagram showing an outline of the brake control system of the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] (First embodiment) A first embodiment of a braking control system will be described with reference to FIGS. <Vehicle configuration> Fig. 1 shows a vehicle 10 to which a braking control system 60 is applied. Fig. 2 shows the braking control system 60. As shown in Figs. 1 and 2, the vehicle 10 further includes a plurality of wheels, friction brakes 20 in the same number as the wheels, a hydraulic braking device 25, and an electric parking device 30. The plurality of wheels include a first wheel 11 and a second wheel 12. An example of the first wheel 11 and the second wheel 12 is the rear wheels.

[0010] Each of the multiple friction brakes 20 has a rotating body 21 that rotates integrally with the corresponding wheel, a friction material 22, and a wheel cylinder 23. The friction brake 20 is configured to generate a braking force at the corresponding wheel by pressing the friction material 22 against the rotating body 21. The higher the hydraulic pressure in the wheel cylinder 23, the greater the force pressing the friction material 22 against the rotating body 21, and therefore the greater the braking force generated at the wheel.

[0011] Of the multiple wheel cylinders 23, the wheel cylinder 23 provided on the first wheel 11 corresponds to the "first wheel cylinder," and the wheel cylinder 23 provided on the second wheel 12 corresponds to the "second wheel cylinder."

[0012] The hydraulic braking device 25 includes a first hydraulic braking device 26 and a second hydraulic braking device 27. Each of the first hydraulic braking device 26 and the second hydraulic braking device 27 is configured to be able to adjust the hydraulic pressure of the plurality of wheel cylinders 23. The first hydraulic braking device 26 is configured to be able to adjust the hydraulic pressure of the plurality of wheel cylinders 23 individually. The second hydraulic braking device 27 is configured to be able to generate, in the plurality of wheel cylinders 23, hydraulic pressure corresponding to a required braking force, which is a required value of braking force for the vehicle 10. An example of the configuration of the first hydraulic braking device 26 and the second hydraulic braking device 27 is disclosed in Japanese Patent Application Laid-Open No. 2024-76857.

[0013] The electric parking device 30 includes a first electric parking actuator 31 and a second electric parking actuator 32. The first electric parking actuator 31 is configured to generate a parking braking force at the first wheel 11. The second electric parking actuator 32 is configured to generate a parking braking force at the second wheel 12. Each of the electric parking actuators 31, 32 has an electric motor. The electric parking actuators 31, 32 can generate a parking braking force at the wheel according to the drive of the electric motor. For example, when the electric motor is driven, the friction material 22 of the friction brake 20 is pressed against the rotating body 21, thereby generating a parking braking force at the wheels 11, 12. An example of the configuration of the electric parking actuators 31, 32 is disclosed in Japanese Patent Application Laid-Open No. 2022-85637.

[0014] <In-vehicle network> The in-vehicle network of the vehicle 10 will be described with reference to FIGS. The vehicle 10 is equipped with multiple electronic control units. Hereinafter, the electronic control units will be referred to as "ECUs." ECU is an abbreviation for "Electronic Control Unit." The vehicle 10 is equipped with an in-vehicle network for communication between the multiple ECUs. The in-vehicle network has multiple global communication lines. An example of a global communication line is the CAN bus. "CAN" is an abbreviation for "Control Area Network."

[0015] The plurality of global communication lines includes a first global communication line 201 and a second global communication line 202 . <ECUs other than those that make up the braking control system> The vehicle 10 includes an integrated ECU 51 and a shift ECU 52 as ECUs other than the ECUs constituting the braking control system 60. The integrated ECU 51 transmits various types of information, requests, and commands to the other ECUs via the in-vehicle network. For example, when an occupant of the vehicle 10 operates the parking brake operation switch 41, the integrated ECU 51 transmits a parking brake operation request, which is a request related to parking braking, to the first global communication line 201 and the second global communication line 202, as indicated by arrow X1 in FIG. 2. The parking brake operation switch 41 is an operation unit operated by the occupant to activate the electric parking device 30. For example, the parking brake operation switch 41 is installed inside the vehicle cabin.

[0016] The parking brake operation request includes an apply request and a release request. The apply request is a request to generate parking braking force. The release request is a request to release the state in which parking braking force is being applied.

[0017] The shift ECU 52 controls a shift device provided in the vehicle 10. The shift ECU 52 transmits, to the second global communication line 202, range information that is information corresponding to the shift range selected in the shift device.

[0018] <Braking control system> 1 and 2, the braking control system 60 includes a plurality of ECUs related to vehicle braking, including a first braking ECU 70, a second braking ECU 80, and a redundant ECU 90.

[0019] The first brake ECU 70 activates the first hydraulic braking device 26. The first brake ECU 70 activates at least one of the multiple electric parking actuators 31, 32. In this respect, the first brake ECU 70 corresponds to a "first brake control device." In this embodiment, the first brake ECU 70 activates only the first electric parking actuator 31 of the multiple electric parking actuators 31, 32.

[0020] The first brake ECU 70 has a processing circuit 71 and a drive circuit 73. The processing circuit 71 has a CPU and a memory that stores control programs executed by the CPU. The control programs include a control program for operating the first hydraulic braking device 26 and a control program for operating the first electric parking actuator 31. The CPU executes the control programs in the memory, allowing the processing circuit 71 to operate the first hydraulic braking device 26 and the first electric parking actuator 31.

[0021] The drive circuit 73 is a circuit for driving the electric motor of the first electric parking actuator 31. When the drive circuit 73 operates based on a command from the processing circuit 71, the drive circuit 73 outputs a drive signal. The electric motor is driven based on the drive signal, thereby operating the first electric parking actuator 31.

[0022] The second brake ECU 80 activates the second hydraulic braking device 27. On the other hand, the second brake ECU 80 does not control the electric parking device 30. In this respect, the second brake ECU 80 corresponds to a "second brake control device." The second brake ECU 80 has a processing circuit 81. The processing circuit 81 has a CPU and a memory. The memory stores a control program for activating the second hydraulic braking device 27. The CPU executes this control program, which allows the processing circuit 81 to activate the second hydraulic braking device 27.

[0023] The redundant ECU 90 does not control the hydraulic braking device 25. However, the redundant ECU 90 operates at least one of the multiple electric parking actuators 31, 32. In this respect, the redundant ECU 90 corresponds to a "redundant control device." In this embodiment, the redundant ECU 90 operates only the second electric parking actuator 32 out of the multiple electric parking actuators 31, 32.

[0024] The redundant ECU 90 has a processing circuit 91 and a drive circuit 93. The processing circuit 91 has a CPU and a memory. The memory stores a control program for operating the second electric parking actuator 32. The CPU executes this control program, which enables the processing circuit 91 to operate the second electric parking actuator 32.

[0025] The drive circuit 93 is a circuit for driving the electric motor of the second electric parking actuator 32. When the drive circuit 93 operates based on a command from the processing circuit 91, the drive circuit 93 outputs a drive signal. The electric motor is driven based on the drive signal, thereby operating the second electric parking actuator 32.

[0026] The braking control system 60 has a braking communication line 61 as an in-vehicle network for communication between a plurality of control devices related to vehicle braking. An example of the braking communication line 61 is a CAN bus. The first braking ECU 70, the second braking ECU 80, and the redundant ECU 90 can communicate via the braking communication line 61. On the other hand, the braking communication line 61 cannot be used for communication with ECUs other than those constituting the braking control system 60.

[0027] <Processing flow when determining that an abnormality has occurred in the first brake ECU or when determining that communication between the first brake ECU and the redundant ECU via the brake communication line 61 is not normal> Referring to Figure 3, the flow of the abnormality determination process executed when the second brake ECU 80 and the redundant ECU 90 are normal will be described. Here, the flow of the process when determining that an abnormality has occurred in the first brake ECU 70 or when determining that communication between the first brake ECU 70 and the redundant ECU 90 using the brake communication line 61 is abnormal will be described. Figure 3(a) shows a series of processes executed by the second brake ECU 80. Figure 3(b) shows a series of processes executed by the redundant ECU 90.

[0028] 3(a), in step S11, the processing circuit 81 of the second brake ECU 80 transmits a monitoring signal to the first brake ECU 70 via the first global communication line 201. The monitoring signal is a signal for checking whether the destination ECU is operating normally.

[0029] When the first brake ECU 70 receives the monitoring signal from the first global communication line 201, the processing circuit 71 of the first brake ECU 70 transmits a reply signal, which is a response signal to the monitoring signal, to the second brake ECU 80 via the first global communication line 201.

[0030] In this way, if the second brake ECU 80 can receive the reply signal transmitted by the first brake ECU 70 to the first global communication line 201, the second brake ECU 80 can determine that the first brake ECU 70 is normal. However, if an abnormality occurs in the first brake ECU 70 or if communication between the second brake ECU 80 and the first brake ECU 70 via the first global communication line 201 is not normal, the second brake ECU 80 cannot receive the reply signal from the first brake ECU 70 via the first global communication line 201.

[0031] In the following step S13, the processing circuit 81 of the second brake ECU 80 transmits a monitoring signal to the first brake ECU 70 via the brake communication line 61. When the first brake ECU 70 receives the monitoring signal from the brake communication line 61 , the processing circuit 71 of the first brake ECU 70 transmits a response signal to the monitoring signal to the second brake ECU 80 via the brake communication line 61 .

[0032] In this way, if the second brake ECU 80 can receive the reply signal transmitted from the first brake ECU 70 to the brake communication line 61, the second brake ECU 80 can determine that the first brake ECU 70 is normal. However, if an abnormality occurs in the first brake ECU 70 or if communication between the second brake ECU 80 and the first brake ECU 70 via the brake communication line 61 is not normal, the second brake ECU 80 cannot receive the reply signal from the first brake ECU 70 via the brake communication line 61.

[0033] The processing circuit 81 of the second brake ECU 80 executes a communication determination process of step S15 when a predetermined determination time has elapsed since the monitoring signal was transmitted to the first brake ECU 70 via the brake communication line 61. In the communication determination process of step S15, the processing circuit 81 determines whether or not communication with the first brake ECU 70 was established by executing the processes of steps S11 and S13. If both the second brake ECU 80 cannot receive a reply signal from the first global communication line 201 and the second brake ECU 80 cannot receive a reply signal from the brake communication line 61, the processing circuit 81 determines that communication between the second brake ECU 80 and the first brake ECU 70 is not normal. If the second brake ECU 80 can receive a reply signal from the first global communication line 201 but cannot receive a reply signal from the brake communication line 61, the processing circuit 81 determines that the first brake ECU 70 is normal but the communication using the brake communication line 61 may not be normal. Conversely, if the second brake ECU 80 can receive a reply signal from the brake communication line 61 but cannot receive a reply signal from the first global communication line 201, the processing circuit 81 determines that the first brake ECU 70 is normal but the communication using the first global communication line 201 may not be normal. Furthermore, if the second brake ECU 80 can receive a reply signal from both the first global communication line 201 and the brake communication line 61, the processing circuit 81 determines that the first brake ECU 70 is normal and that communication between the first brake ECU 70 and the second brake ECU 80 using the first global communication line 201 and the brake communication line 61 is normal.

[0034] Then, in step S17, the processing circuit 81 transmits communication availability information, which is information relating to the result of the communication determination process in step S15, to the redundant ECU 90 via the braking communication line 61. Thereafter, the processing circuit 81 ends the series of processes shown in FIG. 3(a).

[0035] 3(b), when the redundant ECU 90 receives the communication availability information transmitted by the second brake ECU 80 in the process of step S17, the processing circuit 91 of the redundant ECU 90 executes the process of step S21. In step S21, the processing circuit 91 transmits a monitoring signal to the first brake ECU 70 via the brake communication line 61.

[0036] When the first brake ECU 70 receives the monitoring signal from the brake communication line 61 , the processing circuit 71 of the first brake ECU 70 transmits a response signal to the monitoring signal to the redundant ECU 90 via the brake communication line 61 .

[0037] In this way, if the redundant ECU 90 can receive the reply signal transmitted by the first brake ECU 70 to the brake communication line 61, the redundant ECU 90 can determine that the first brake ECU 70 is normal. However, if an abnormality occurs in the first brake ECU 70 or if communication between the redundant ECU 90 and the first brake ECU 70 via the brake communication line 61 is not normal, the redundant ECU 90 cannot receive the reply signal from the brake communication line 61.

[0038] The processing circuit 91 of the redundant ECU 90 executes a communication determination process in step S23 when a predetermined determination time has elapsed since the time the monitoring signal was transmitted to the first brake ECU 70. In the communication determination process in step S23, the processing circuit 91 determines the following two points.

[0039] ·Whether or not an abnormality has occurred in the first brake ECU 70. Whether the communication between the first brake ECU 70 and the redundant ECU 90 via the brake communication line 61 is normal.

[0040] For example, if both of the following conditions (A1) and (A2) are satisfied, the processing circuit 91 determines that an abnormality has occurred in the first braking ECU 70. On the other hand, if at least one of the conditions (A1) and (A2) is not satisfied, the processing circuit 91 determines that the first braking ECU 70 is normal.

[0041] (A1) The communication availability information received from the second brake ECU 80 is information indicating that communication between the second brake ECU 80 and the first brake ECU 70 is not normal. (A2) The communication between the redundant ECU 90 and the first brake ECU 70 is not normal.

[0042] Furthermore, if the condition (A2) is not satisfied under the condition (A1) being satisfied, the processing circuit 91 determines that the communication between the first braking ECU 70 and the redundant ECU 90 via the braking communication line 61 is not normal. On the other hand, if the condition (A2) is satisfied under the condition (A1) being satisfied, the processing circuit 91 determines that the communication between the first braking ECU 70 and the redundant ECU 90 via the braking communication line 61 is normal.

[0043] Then, in step S25, the processing circuit 91 transmits information indicating the result of the communication determination process in step S23 to the second braking ECU 80 via the braking communication line 61. Thereafter, the processing circuit 91 ends the series of processes shown in FIG. 3(b).

[0044] <Processing flow when determining that an abnormality has occurred in the redundant ECU> 4, the flow of processing when determining that an abnormality has occurred in the redundant ECU 90 when the first brake ECU 70 and the second brake ECU 80 are normal will be described. Fig. 4(a) shows a series of processing executed by the second brake ECU 80. Fig. 4(b) shows a series of processing executed by the first brake ECU 70.

[0045] As shown in FIG. 4( a ), in step S 41 , the processing circuit 81 of the second braking ECU 80 transmits a monitoring signal to the redundant ECU 90 via the braking communication line 61 . If the redundant ECU 90 can receive the monitoring signal from the braking communication line 61 , the processing circuit 91 of the redundant ECU 90 transmits a response signal to the monitoring signal to the second braking ECU 80 via the braking communication line 61 .

[0046] In this way, if the second brake ECU 80 can receive the reply signal transmitted by the redundant ECU 90 to the brake communication line 61, the second brake ECU 80 can determine that the redundant ECU 90 is normal. However, if an abnormality occurs in the redundant ECU 90 or if communication between the second brake ECU 80 and the redundant ECU 90 via the brake communication line 61 is not normal, the second brake ECU 80 cannot receive the reply signal from the brake communication line 61.

[0047] When a predetermined determination time has elapsed since the time the monitoring signal was transmitted, the processing circuit 81 of the second brake ECU 80 executes a communication determination process in step S43. In the communication determination process in step S43, the processing circuit 81 determines whether the communication between the second brake ECU 80 and the redundant ECU 90 is normal. If the second brake ECU 80 is able to receive a reply signal from the redundant ECU 90, the processing circuit 81 determines that the communication between the second brake ECU 80 and the redundant ECU 90 is normal. On the other hand, if the second brake ECU 80 is unable to receive a reply signal from the redundant ECU 90, the processing circuit 81 determines that the communication between the second brake ECU 80 and the redundant ECU 90 is not normal.

[0048] Then, in step S45, the processing circuit 81 transmits communication availability information, which is information relating to the result of the communication determination process in step S43, to the first brake ECU 70 via the brake communication line 61. Thereafter, the processing circuit 81 ends the series of processes shown in FIG. 4(a).

[0049] 4(b), when the first brake ECU 70 receives the communication availability information transmitted by the second brake ECU 80 in the process of step S45, the processing circuit 71 of the first brake ECU 70 executes the process of step S51. In step S51, the processing circuit 71 transmits a monitoring signal to the redundant ECU 90 via the brake communication line 61.

[0050] If the redundant ECU 90 can receive the monitoring signal from the braking communication line 61 , the processing circuit 91 of the redundant ECU 90 transmits a response signal to the monitoring signal to the first braking ECU 70 via the braking communication line 61 .

[0051] In this way, if the first brake ECU 70 can receive the reply signal transmitted by the redundant ECU 90 to the brake communication line 61, the first brake ECU 70 can determine that the redundant ECU 90 is normal. However, if an abnormality occurs in the redundant ECU 90 or if communication between the redundant ECU 90 and the first brake ECU 70 via the brake communication line 61 is not normal, the first brake ECU 70 cannot receive the reply signal from the brake communication line 61.

[0052] The processing circuit 71 of the first brake ECU 70 executes a communication determination process in step S53 when a predetermined determination time has elapsed since the time the monitoring signal was transmitted to the redundant ECU 90. In the communication determination process in step S53, the processing circuit 71 determines whether an abnormality has occurred in the redundant ECU 90. For example, if both of the following conditions (A3) and (A4) are met, the processing circuit 71 determines that an abnormality has occurred in the redundant ECU 90. On the other hand, if at least one of the conditions (A3) and (A4) is not met, the processing circuit 71 determines that the redundant ECU 90 is normal. However, if either one of the conditions (A3) and (A4) is met, it can be assumed that communication using the brake communication line 61 is abnormal.

[0053] (A3) The communication between the second brake ECU 80 and the redundant ECU 90 via the brake communication line 61 is not normal. (A4) The communication between the first brake ECU 70 and the redundant ECU 90 via the brake communication line 61 is not normal.

[0054] Then, in step S55, the processing circuit 71 transmits information indicating the result of the communication determination process in step S53 to the second brake ECU 80 via the brake communication line 61. This allows the first brake ECU 70 and the second brake ECU 80 to share information about whether the redundant ECU 90 is normal or abnormal. Thereafter, the processing circuit 71 ends the series of processes shown in FIG. 4(b).

[0055] <Processing flow when determining that communication using the first global communication line is not normal> Referring to Figure 5, the flow of processing when determining that communication using the first global communication line 201 is abnormal when the multiple ECUs 70, 80, and 90 are normal will be described. Figure 5(a) shows a series of processing executed by the integrated ECU 51. Figure 5(b) shows a series of processing executed by the redundant ECU 90. Figure 5(c) shows a series of processing executed by the first brake ECU 70 and the second brake ECU 80.

[0056] As shown in FIG. 5( a ), in step S111 , the processing circuit of the integrated ECU 51 transmits a monitoring signal to the first brake ECU 70 and the second brake ECU 80 via the first global communication line 201 .

[0057] When the first brake ECU 70 receives the monitoring signal from the first global communication line 201, the processing circuit 71 of the first brake ECU 70 transmits a reply signal to the monitoring signal to the integrated ECU 51 via the first global communication line 201. When the second brake ECU 80 receives the monitoring signal from the first global communication line 201, the processing circuit 81 of the second brake ECU 80 transmits a reply signal to the monitoring signal to the integrated ECU 51 via the first global communication line 201.

[0058] In this way, if the integrated ECU 51 can receive a reply signal from at least one of the first brake ECU 70 and the second brake ECU 80 via the first global communication line 201, it can be assumed that the communication using the first global communication line 201 is normal. However, if the integrated ECU 51 cannot receive a reply signal from either the first brake ECU 70 or the second brake ECU 80, it can be assumed that the communication using the first global communication line 201 may not be normal.

[0059] The processing circuit of the integrated ECU 51 executes communication determination processing in step S113 when a predetermined determination time has elapsed since the time when the monitoring signal was transmitted to the first global communication line 201. In the communication determination processing in step S113, the processing circuit determines whether communication using the first global communication line 201 is normal. If the integrated ECU 51 cannot receive a reply signal from either the first brake ECU 70 or the second brake ECU 80, the processing circuit determines that communication using the first global communication line 201 is not normal. If the integrated ECU 51 can receive a reply signal from at least one ECU out of the first brake ECU 70 and the second brake ECU 80, the processing circuit determines that communication using the first global communication line 201 is normal.

[0060] Then, in step S115, the processing circuit of the integrated ECU 51 transmits information relating to the result of the communication determination process in step S113 to the redundant ECU 90 via the second global communication line 202. Thereafter, the processing circuit ends the series of processes shown in FIG.

[0061] 5B, when the redundant ECU 90 receives the information transmitted by the integrated ECU 51 in the process of step S115, the processing circuit 91 of the redundant ECU 90 executes the process of step S121. In step S121, the processing circuit 91 transmits a monitoring signal to the first braking ECU 70 and the second braking ECU 80 via the braking communication line 61.

[0062] When the first brake ECU 70 and the second brake ECU 80 are normal and communication with the ECUs 70, 80, 90 using the brake communication line 61 is normal, each of the first brake ECU 70 and the second brake ECU 80 can receive the monitoring signal transmitted from the redundant ECU 90. As shown in FIG. 5(c), in step S131, the processing circuit 71 of the first brake ECU 70 and the processing circuit 81 of the second brake ECU 80 each transmits a reply signal in response to the monitoring signal to the redundant ECU 90 via the brake communication line 61. Then, the processing circuits 71, 81 end the series of processes shown in FIG. 5(c).

[0063] When a predetermined determination time has elapsed since the monitoring signal was transmitted to the first brake ECU 70 and the second brake ECU 80, the processing circuit 91 of the redundant ECU 90 executes the communication determination process of step S123.

[0064] If the first braking ECU 70 and the second braking ECU 80 are normal and communication with ECUs 70, 80, and 90 using the braking communication line 61 is normal, the redundant ECU 90 can receive the reply signals sent by the first braking ECU 70 and the second braking ECU 80 from the braking communication line 61 before the communication determination process of step S123 is started.

[0065] In the communication determination process of step S123, the processing circuit 91 determines whether or not communication between the redundant ECU 90 and the first brake ECU 70 and the second brake ECU 80 via the brake communication line 61 is normal. In the following step S125, a message that communication using the first global communication line 201 is not normal is transmitted to the first brake ECU 70 and the second brake ECU 80 via the brake communication line 61. Thereafter, the processing circuit 91 ends the series of processes shown in FIG. 5(b).

[0066] <Processing flow for parking braking when the brake control system is normal> Referring to Figure 6, the flow of processing when the electric parking device 30 is operated under the condition that the brake control system 60 is normal will be explained. Figure 6(a) shows a series of processing executed by the first brake ECU 70. Figure 6(b) shows a series of processing executed by the redundant ECU 90. Here, "the brake control system 60 is normal" means that all of the following conditions (B1) to (B4) are met.

[0067] (B1) All ECUs 70, 80, and 90 are normal. (B2) The first brake ECU 70 can receive a parking brake operation request via the first global communication line 201.

[0068] (B3) The redundant ECU 90 can receive a parking brake operation request via the second global communication line 202. (B4) Communication between the plurality of ECUs 70, 80, 90 via the braking communication line 61 is normal.

[0069] The processing circuit 71 of the first brake ECU 70 repeatedly executes the series of processes shown in Fig. 6(a). In step S211, the processing circuit 71 of the first brake ECU 70 determines whether the first brake ECU 70 has received a parking brake operation request via the first global communication line 201. If the first brake ECU 70 has received a parking brake operation request (S211: YES), the processing circuit 71 proceeds to step S213. On the other hand, if the first brake ECU 70 has not received a parking brake operation request (S211: NO), the processing circuit 71 temporarily terminates the series of processes shown in Fig. 6(a).

[0070] In step S213, the processing circuit 71 activates the first electric parking actuator 31 based on the parking brake operation request received via the first global communication line 201. If the parking brake operation request is an apply request, the processing circuit 71 activates the first electric parking actuator 31 to generate a parking braking force on the first wheel 11. If the parking brake operation request is a release request, the processing circuit 71 activates the first electric parking actuator 31 to release the state in which the parking braking force is being generated on the first wheel 11.

[0071] In the following step S215, the processing circuit 71 transmits an operation instruction to the redundant ECU 90 via the brake communication line 61. The operation instruction is an instruction corresponding to the parking brake operation request received by the first brake ECU 70 via the first global communication line 201. Thereafter, the processing circuit 71 temporarily ends the series of processes shown in FIG. 6(a).

[0072] The processing circuit 91 of the redundant ECU 90 repeatedly executes the series of processes shown in FIG. 6(b). In step S221, the processing circuit 91 determines whether the redundant ECU 90 has received the activation command transmitted by the first braking ECU 70 to the braking communication line 61. If the redundant ECU 90 has not received the activation command (S221: NO), the processing circuit 91 temporarily terminates the series of processes shown in FIG. 6(b). On the other hand, if the redundant ECU 90 has received the activation command (S221: YES), the processing circuit 91 proceeds to step S223.

[0073] In step S223, the processing circuit 91 operates the second electric parking actuator 32 based on the operation command received from the first brake ECU 70. If the operation command is a command corresponding to an apply request, the processing circuit 91 operates the second electric parking actuator 32 to generate a parking braking force on the second wheel 12. If the operation command is a command corresponding to a release request, the processing circuit 91 operates the second electric parking actuator 32 to release the state in which the parking braking force is being generated on the second wheel 12. After that, the processing circuit 91 temporarily ends the series of processes shown in FIG. 6(b).

[0074] <Processing flow for parking braking when it is determined that an abnormality has occurred in the first brake ECU> The flow of processing when an abnormality occurs in the first brake ECU 70 while the redundant ECU 90 is operating normally will be described with reference to Fig. 7. Fig. 7 shows a series of processing steps executed by the redundant ECU 90. The processing circuit 91 of the redundant ECU 90 repeatedly executes the series of processing steps.

[0075] In step S311, the processing circuit 91 determines whether the redundant ECU 90 has received a parking brake operation request via the second global communication line 202. If the redundant ECU 90 has received a parking brake operation request (S311: YES), the processing circuit 91 proceeds to step S313. On the other hand, if the redundant ECU 90 has not received a parking brake operation request (S311: NO), the processing circuit 91 temporarily ends the series of processes shown in FIG.

[0076] In step S313, the processing circuit 91 activates the second electric parking actuator 32 based on the parking brake operation request received via the second global communication line 202. If the parking brake operation request is an apply request, the processing circuit 91 activates the second electric parking actuator 32 to generate a parking braking force on the second wheel 12. If the parking brake operation request is a release request, the processing circuit 91 activates the second electric parking actuator 32 to release the state in which the parking braking force is being generated on the second wheel 12. Thereafter, the processing circuit 91 temporarily ends the series of processes shown in FIG. 7.

[0077] <Processing flow for parking braking when it is determined that an abnormality has occurred in the redundant ECU> The flow of processing when an abnormality occurs in the redundant ECU 90 while the first brake ECU 70 is operating normally will be described with reference to Fig. 8. Fig. 8 shows a series of processing steps executed by the first brake ECU 70. The processing circuit 71 of the first brake ECU 70 repeatedly executes the series of processing steps.

[0078] In step S411, the processing circuit 71 determines whether or not the first brake ECU 70 has received a parking brake operation request via the first global communication line 201. If the first brake ECU 70 has received a parking brake operation request (S411: YES), the processing circuit 71 proceeds to step S413. On the other hand, if the first brake ECU 70 has not received a parking brake operation request (S411: NO), the processing circuit 71 temporarily ends the series of processes shown in FIG.

[0079] In step S413, the processing circuit 71 activates the first electric parking actuator 31 based on the parking brake operation request received via the first global communication line 201. If the parking brake operation request is an apply request, the processing circuit 71 activates the first electric parking actuator 31 to generate a parking braking force on the first wheel 11. If the parking brake operation request is a release request, the processing circuit 71 activates the first electric parking actuator 31 to release the state in which the parking braking force is being generated on the first wheel 11. After that, the processing circuit 71 temporarily ends the series of processes shown in FIG. 8.

[0080] <Processing flow for parking braking when communication between the first brake ECU and the redundant ECU via the brake communication line is not normal> Referring to Figure 9, a process flow related to parking braking will be described when communication between the first brake ECU 70 and the redundant ECU 90 via the brake communication line 61 is not normal when the multiple ECUs 70, 80, 90 are normal. Figure 9(a) shows a series of processes executed by the first brake ECU 70. Figure 9(b) shows a series of processes executed by the redundant ECU 90. The processing circuit 71 of the first brake ECU 70 repeatedly executes the series of processes shown in Figure 9(a). The processing circuit 91 of the redundant ECU 90 repeatedly executes the series of processes shown in Figure 9(b).

[0081] 9A, in step S511, the processing circuit 71 of the first brake ECU 70 determines whether or not the first brake ECU 70 has received a parking brake operation request via the first global communication line 201. If the first brake ECU 70 has received a parking brake operation request (S511: YES), the processing circuit 71 proceeds to step S513. On the other hand, if the first brake ECU 70 has not received a parking brake operation request (S511: NO), the processing circuit 71 temporarily terminates the series of processes shown in FIG.

[0082] In step S513, the processing circuit 71 operates the first electric parking actuator 31 based on the parking brake operation request, similar to step S213 in Fig. 6(a). After that, the processing circuit 71 temporarily ends the series of processes shown in Fig. 9(a).

[0083] 9(b), in step S521, the processing circuit 91 of the redundant ECU 90 determines whether or not the redundant ECU 90 has received a parking brake operation request via the second global communication line 202. If the redundant ECU 90 has received a parking brake operation request (S521: YES), the processing circuit 91 proceeds to step S523. On the other hand, if the redundant ECU 90 has not received a parking brake operation request (S521: NO), the processing circuit 91 temporarily terminates the series of processes shown in FIG. 9(b).

[0084] In step S523, the processing circuit 91 determines whether the parking brake operation request received by the redundant ECU 90 is a release request. If the parking brake operation request is a release request (S523: YES), the processing circuit 91 proceeds to step S525. On the other hand, if the parking brake operation request is not a release request (S523: NO), the parking brake operation request is an apply request, so the processing circuit 91 temporarily terminates the series of processes shown in FIG. 9(b). In other words, if the parking brake operation request is an apply request, the processing circuit 91 does not operate the second electric parking actuator 32.

[0085] In step S525, based on the release request, the processing circuit 91 operates the second electric parking actuator 32 to release the parking braking force from the second wheel 12. After that, the processing circuit 91 temporarily ends the series of processes shown in FIG.

[0086] <Processing flow for parking braking when communication via the first global communication line is not normal> 10, a process flow related to parking braking when communication via the first global communication line 201 is not normal while communication via the second global communication line 202 and the braking communication line 61 is normal will be described. FIG. 10(a) shows a series of processes executed by the first braking ECU 70. FIG. 10(b) shows a series of processes executed by the redundant ECU 90. The processing circuit 71 of the first braking ECU 70 repeatedly executes the series of processes shown in FIG. 10(a). The processing circuit 91 of the redundant ECU 90 repeatedly executes the series of processes shown in FIG. 10(b).

[0087] As shown in FIG. 10(b), in step S621, the processing circuit 91 of the redundant ECU 90 determines whether the redundant ECU 90 has received a parking brake operation request via the second global communication line 202. If the redundant ECU 90 has received a parking brake operation request (S621: YES), the processing circuit 91 proceeds to step S623. On the other hand, if the redundant ECU 90 has not received a parking brake operation request (S621: NO), the processing circuit 91 temporarily terminates the series of processes shown in FIG. 10(b). In step S623, the processing circuit 91 transmits the received parking brake operation request to the first brake ECU 70 via the brake communication line 61.

[0088] As shown in Fig. 10(a), in step S611, the processing circuit 71 of the first brake ECU 70 determines whether or not the first brake ECU 70 has received a parking brake operation request via the brake communication line 61. If the first brake ECU 70 has received a parking brake operation request (S611: YES), the processing circuit 71 proceeds to step S613. On the other hand, if the first brake ECU 70 has not received a parking brake operation request (S611: NO), the processing circuit 71 temporarily ends the series of processes shown in Fig. 10(a).

[0089] In step S613, the processing circuit 71 activates the first electric parking actuator 31 based on the parking brake operation request, similar to step S213 in Fig. 6(a). In the following step S615, the processing circuit 71 transmits an operation instruction corresponding to the received parking brake operation request to the redundant ECU 90 via the brake communication line 61. Thereafter, the processing circuit 71 temporarily ends the series of processes shown in Fig. 10(a).

[0090] 10(b), after executing the process of step S623, the processing circuit 91 of the redundant ECU 90 proceeds to step S625. In step S625, the processing circuit 91 determines whether the redundant ECU 90 has received an activation command via the braking communication line 61. If the redundant ECU 90 has not received an activation command (S625: NO), the processing circuit 91 repeatedly executes the determination of step S625 until the redundant ECU 90 receives an activation command. If the redundant ECU 90 has received an activation command (S625: YES), the processing circuit 91 proceeds to step S627.

[0091] In step S627, the processing circuit 91 operates the second electric parking actuator 32 based on the operation command, similar to step S223 in Fig. 6(b). After that, the processing circuit 91 temporarily ends the series of processes shown in Fig. 10(b).

[0092] <Actions and Effects of This Embodiment> (1-1) If the second brake ECU 80 cannot communicate with the first brake ECU 70 and the redundant ECU 90 cannot communicate with the first brake ECU 70, there is a possibility that an abnormality has occurred in the first brake ECU 70.

[0093] Therefore, in the brake control system 60, the second brake ECU 80 transmits to the redundant ECU 90 communication availability information regarding whether or not communication with the first brake ECU 70 is normal. The redundant ECU 90 determines that an abnormality has occurred in the first brake ECU 70 when both the communication availability information received from the second brake ECU 80 indicates that communication between the second brake ECU 80 and the first brake ECU 70 is abnormal and the communication between the redundant ECU 90 and the first brake ECU 70 is abnormal. Therefore, in the brake control system 60, the redundant ECU 90 can recognize that an abnormality has occurred in the first brake ECU 70.

[0094] (1-2) More specifically, the second brake ECU 80 determines whether communication with the first brake ECU 70 via the first global communication line 201 is normal. The second brake ECU 80 also determines whether communication with the first brake ECU 70 via the brake communication line 61 is normal. On the other hand, the redundant ECU 90 determines whether communication with the first brake ECU 70 via the brake communication line 61 is normal.

[0095] The second brake ECU 80 transmits communication availability information, regarding whether communication between the second brake ECU 80 and the first brake ECU 70 is normal, to the redundant ECU 90 via the brake communication line 61. If both of the following are true: the communication availability information received from the second brake ECU 80 indicates that communication between the second brake ECU 80 and the first brake ECU 70 is not normal; and the communication between the redundant ECU 90 and the first brake ECU 70 is not normal, the redundant ECU 90 determines that an abnormality has occurred in the first brake ECU 70. In other words, the redundant ECU 90 can determine whether an abnormality has occurred in the first brake ECU 70 without making the brake communication line 61 redundant in the brake control system 60.

[0096] (1-3) The first brake ECU 70 controls the first hydraulic braking device 26 of the hydraulic braking device 25, and also controls the first electric parking actuator 31 of the multiple electric parking actuators 31, 32. The redundant ECU 90 does not control the hydraulic braking device 25, and controls the second electric parking actuator 32 of the multiple electric parking actuators 31, 32.

[0097] When the first brake ECU 70 is normal, the first brake ECU 70 activates one of the multiple electric parking actuators 31, 32 that it can activate, based on a parking brake activation request received via the first global communication line 201. Specifically, when the first brake ECU 70 receives a parking brake activation request via the first global communication line 201, it activates the first electric parking actuator 31 based on the parking brake activation request. Furthermore, as indicated by arrow X2 in FIG. 2 , the first brake ECU 70 transmits an activation command corresponding to the parking brake activation request to the redundant ECU 90 via the brake communication line 61. The redundant ECU 90 activates the second electric parking actuator 32 based on the activation command received via the brake communication line 61.

[0098] On the other hand, if an abnormality occurs in the first brake ECU 70, the redundant ECU 90 activates one of the multiple electric parking actuators 31, 32 that it can activate, based on the parking brake operation request received via the second global communication line 202. Specifically, the redundant ECU 90 activates the second electric parking actuator 32 based on the parking brake operation request. In other words, the brake control system 60 can generate a parking braking force on the vehicle 10 even if an abnormality occurs in the first brake ECU 70.

[0099] (Second embodiment) A second embodiment of the braking control system will be described with reference to Fig. 11. Note that the second embodiment differs from the first embodiment in part of the circuit configuration of the first braking ECU and the redundant ECU. In the following explanation, the differences from the first embodiment will be mainly described, and the same components as those in the first embodiment will be assigned the same reference numerals and redundant explanations will be omitted.

[0100] As shown in FIG. 11 , the braking control system 60A includes a plurality of ECUs configured to be able to communicate with each other via a braking communication line 61. The plurality of ECUs includes a first braking ECU 70A, a second braking ECU 80, and a redundant ECU 90A. In this embodiment, the first braking ECU 70A corresponds to the "first braking control device," and the redundant ECU 90A corresponds to the "redundant control device." Each of the first braking ECU 70A and the second braking ECU 80 is able to communicate with other on-board ECUs, such as the integrated ECU 51, via a first global communication line 201. The redundant ECU 90A is able to communicate with other on-board ECUs, such as the integrated ECU 51, via a second global communication line 202.

[0101] The first brake ECU 70A can operate any of the multiple electric parking actuators 31, 32. For example, the first brake ECU 70A includes a processing circuit 71, a first drive circuit 73A, and a second drive circuit 74A. The first drive circuit 73A is a circuit that drives the electric motor of the first electric parking actuator 31. When the first drive circuit 73A operates based on a command from the processing circuit 71, the first drive circuit 73A outputs a drive signal. The electric motor is driven based on the drive signal, thereby operating the first electric parking actuator 31. The second drive circuit 74A is a circuit that drives the electric motor of the second electric parking actuator 32. When the second drive circuit 74A operates based on a command from the processing circuit 71, the second drive circuit 74A outputs a drive signal. The electric motor is driven based on the drive signal, thereby operating the second electric parking actuator 32.

[0102] The redundant ECU 90A can operate only the second electric parking actuator 32 out of the multiple electric parking actuators 31, 32. For example, the redundant ECU 90A includes a processing circuit 91, a third drive circuit 93A, and a switch circuit 96A. The third drive circuit 93A is a circuit that drives the electric motor of the second electric parking actuator 32. When the third drive circuit 93A operates based on a command from the processing circuit 91, the third drive circuit 93A outputs a drive signal. The electric motor is driven based on the drive signal, thereby operating the second electric parking actuator 32.

[0103] The switch circuit 96A is configured to be able to select either the drive signal output by the second drive circuit 74A or the drive signal output by the third drive circuit 93A, and output it to the second electric parking actuator 32. In this embodiment, the switch circuit 96A selects either the drive signal output by the second drive circuit 74A or the drive signal output by the third drive circuit 93A, based on an instruction from the processing circuit 91.

[0104] <Processing flow for parking braking when the brake control system is normal> The following describes the process flow when the brake control system 60A is normal and the electric parking device 30 is operated. Here, "the brake control system 60A is normal" means that all of the above conditions (B1) to (B4) are met.

[0105] In this case, the processing circuit 91 of the redundant ECU 90A operates the switch circuit 96A so that the switch circuit 96A can select the drive signal output by the second drive circuit 74A. When the processing circuit 71 of the first brake ECU 70A receives a parking brake operation request via the first global communication line 201, it causes the first drive circuit 73A and the second drive circuit 74A to operate based on instructions corresponding to the parking brake operation request. The first drive circuit 73A then outputs a drive signal to the first electric parking actuator 31. This allows the processing circuit 71 to operate the first electric parking actuator 31 based on the parking brake operation request.

[0106] The drive signal output by the second drive circuit 74A is input to the switch circuit 96A of the redundant ECU 90A. The switch circuit 96A then outputs the drive signal of the second drive circuit 74A to the second electric parking actuator 32. This allows the processing circuit 71 to operate the second electric parking actuator 32 based on the parking brake operation request.

[0107] In other words, when the first brake ECU 70A is normal, the first brake ECU 70A can activate the first electric parking actuator 31 and the second electric parking actuator 32 that it can activate itself out of the multiple electric parking actuators 31, 32 based on a parking brake activation request.

[0108] <Processing flow for parking braking when it is determined that an abnormality has occurred in the first brake ECU> The flow of processing when the redundant ECU 90A is normal but an abnormality occurs in the first brake ECU 70A will be described.

[0109] In this case, the processing circuit 91 of the redundant ECU 90A operates the switch circuit 96A so that the switch circuit 96A can select the drive signal output by the third drive circuit 93A. When the processing circuit 91 of the redundant ECU 90A receives a parking brake operation request via the second global communication line 202, it causes the third drive circuit 93A to operate based on the parking brake operation request. The drive signal output by the third drive circuit 93A is then output to the switch circuit 96A. The switch circuit 96A outputs the drive signal of the third drive circuit 93A to the second electric parking actuator 32. This allows the processing circuit 91 to operate the second electric parking actuator 32 based on the parking brake operation request.

[0110] In other words, if an abnormality occurs in the first braking ECU 70A, the redundant ECU 90A can activate the second electric parking actuator 32 that it can operate itself out of the multiple electric parking actuators 31, 32 based on a parking brake activation request.

[0111] (Third embodiment) A third embodiment of the braking control system will be described with reference to Fig. 12. Note that the third embodiment differs from the above-described embodiments in part of the circuit configuration of the first braking ECU and the redundant ECU. In the following description, the differences from the above-described embodiments will be mainly described, and the same reference numerals will be used to designate the same components as those in the above-described embodiments, and redundant description will be omitted.

[0112] As shown in FIG. 12 , the braking control system 60B includes a plurality of ECUs configured to be able to communicate with each other via a braking communication line 61. The plurality of ECUs includes a first braking ECU 70B, a second braking ECU 80, and a redundant ECU 90B. In this embodiment, the first braking ECU 70B corresponds to the "first braking control device," and the redundant ECU 90B corresponds to the "redundant control device." The first braking ECU 70B and the second braking ECU 80 are able to communicate with other on-board ECUs, such as the integrated ECU 51, via a first global communication line 201. The redundant ECU 90B is able to communicate with other on-board ECUs, such as the integrated ECU 51, via a second global communication line 202.

[0113] The first brake ECU 70B can operate any of the multiple electric parking actuators 31, 32. For example, the first brake ECU 70B includes a processing circuit 71, a first drive circuit 73B, and a second drive circuit 74B. The first drive circuit 73B is a circuit that drives the electric motor of the first electric parking actuator 31. When the first drive circuit 73B operates based on a command from the processing circuit 71, the first drive circuit 73B outputs a drive signal. The electric motor is driven based on the drive signal, thereby operating the first electric parking actuator 31. The second drive circuit 74B is a circuit that drives the electric motor of the second electric parking actuator 32. When the second drive circuit 74B operates based on a command from the processing circuit 71, the second drive circuit 74B outputs a drive signal. The electric motor is driven based on the drive signal, thereby operating the second electric parking actuator 32.

[0114] The redundant ECU 90B can operate any of the multiple electric parking actuators 31, 32. For example, the redundant ECU 90B includes a processing circuit 91, a third drive circuit 93B, a fourth drive circuit 94B, a first switch circuit 96B, and a second switch circuit 97B. The third drive circuit 93B is a circuit that drives the electric motor of the first electric parking actuator 31. When the third drive circuit 93B operates based on a command from the processing circuit 91, the third drive circuit 93B outputs a drive signal. The electric motor is driven based on the drive signal, thereby operating the first electric parking actuator 31. The fourth drive circuit 94B is a circuit that drives the electric motor of the second electric parking actuator 32. When the fourth drive circuit 94B operates based on a command from the processing circuit 91, the fourth drive circuit 94B outputs a drive signal. The electric motor is driven based on the drive signal, thereby operating the second electric parking actuator 32.

[0115] The first switch circuit 96B is configured to be able to select either the drive signal output by the first drive circuit 73B or the drive signal output by the third drive circuit 93B, and output it to the first electric parking actuator 31. In this embodiment, the first switch circuit 96B selects either the drive signal output by the first drive circuit 73B or the drive signal output by the third drive circuit 93B, based on an instruction from the processing circuit 91.

[0116] The second switch circuit 97B is configured to be able to select either the drive signal output by the second drive circuit 74B or the drive signal output by the fourth drive circuit 94B, and output it to the second electric parking actuator 32. In this embodiment, the second switch circuit 97B selects either the drive signal output by the second drive circuit 74B or the drive signal output by the fourth drive circuit 94B, based on an instruction from the processing circuit 91.

[0117] <Processing flow for parking braking when the brake control system is normal> The following describes the process flow when the brake control system 60B is normal and the electric parking device 30 is operated. Here, "the brake control system 60B is normal" means that all of the above conditions (B1) to (B4) are met.

[0118] In this case, the processing circuit 91 of the redundant ECU 90B operates the first switch circuit 96B so that the first switch circuit 96B can select the drive signal output by the first drive circuit 73B. The processing circuit 91 also operates the second switch circuit 97B so that the second switch circuit 97B can select the drive signal output by the second drive circuit 74B.

[0119] When the processing circuit 71 of the first brake ECU 70A receives a parking brake operation request via the first global communication line 201, it operates the first drive circuit 73B and the second drive circuit 74B based on the parking brake operation request. The drive signal output by the first drive circuit 73B is then output to the first switch circuit 96B of the redundant ECU 90B. The first switch circuit 96B outputs the drive signal of the first drive circuit 73B to the first electric parking actuator 31. This allows the processing circuit 71 to operate the first electric parking actuator 31 based on the parking brake operation request.

[0120] Furthermore, the drive signal output by the second drive circuit 74B is output to the second switch circuit 97B of the redundant ECU 90B. The second switch circuit 97B outputs the drive signal of the second drive circuit 74B to the second electric parking actuator 32. This allows the processing circuit 71 to operate the second electric parking actuator 32 based on the parking brake operation request.

[0121] In other words, when the first brake ECU 70B is normal, the first brake ECU 70B can operate the first electric parking actuator 31 and the second electric parking actuator 32 that it can operate, out of the multiple electric parking actuators 31, 32, based on a parking brake operation request.

[0122] <Processing flow for parking braking when it is determined that an abnormality has occurred in the first brake ECU> The flow of processing when the redundant ECU 90B is normal but an abnormality occurs in the first brake ECU 70B will be described.

[0123] In this case, the processing circuit 91 of the redundant ECU 90B operates the first switch circuit 96B so that the first switch circuit 96B can select the drive signal output by the third drive circuit 93B. The processing circuit 91 also operates the second switch circuit 97B so that the second switch circuit 97B can select the drive signal output by the fourth drive circuit 94B.

[0124] When the processing circuit 91 of the redundant ECU 90B receives the parking brake operation request via the second global communication line 202, it operates the third drive circuit 93B and the fourth drive circuit 94B based on the parking brake operation request. The drive signal output by the third drive circuit 93B is then output to the first switch circuit 96B. The first switch circuit 96B outputs the drive signal of the third drive circuit 93B to the first electric parking actuator 31. This allows the processing circuit 91 to operate the first electric parking actuator 31 based on the parking brake operation request.

[0125] The drive signal output by the fourth drive circuit 94B is output to the second switch circuit 97B. The second switch circuit 97B outputs the drive signal of the fourth drive circuit 94B to the second electric parking actuator 32. This allows the processing circuit 91 to operate the second electric parking actuator 32 based on the parking brake operation request.

[0126] In other words, when an abnormality occurs in the first brake ECU 70A, the redundant ECU 90B can operate the first electric parking actuator 31 and the second electric parking actuator 32 that it can operate, among the multiple electric parking actuators 31, 32, based on a parking brake operation request. As a result, even when an abnormality occurs in the first brake ECU 70, the redundant ECU 90B can generate a parking braking force on the vehicle 10 that is equivalent to that when the first brake ECU 70 is normal.

[0127] (Example of change) The above-described embodiments can be modified as follows: The above-described embodiments and the following modifications can be combined with each other within the scope of technical compatibility.

[0128] In the first embodiment, when the first brake ECU 70 is normal, the processing circuit 71 of the first brake ECU 70 does not need to send an operation command corresponding to the parking brake operation request to the redundant ECU 90. Even in this case, the first electric parking actuator 31 of the multiple electric parking actuators 31, 32 operates, and therefore a parking braking force is generated in the vehicle 10.

[0129] If the second brake ECU 80 cannot communicate with the first brake ECU 70 via the first global communication line 201, the first brake ECU 70 may not be able to receive the parking brake operation request via the first global communication line 201. Therefore, if the second brake ECU 80 cannot communicate with the first brake ECU 70 via the first global communication line 201, the second brake ECU 80 may transmit communication availability information indicating that communication between the second brake ECU 80 and the first brake ECU 70 is not normal to the redundant ECU 90 via the brake communication line 61, regardless of whether communication with the first brake ECU 70 via the brake communication line 61 is normal.

[0130] If only one of the multiple electric parking actuators 31, 32 can generate a parking braking force, the parking braking force generated by activating that actuator may be greater than the parking braking force generated by activating both of the multiple electric parking actuators 31, 32.

[0131] Although the first brake ECUs 70, 70A, 70B and the redundant ECUs 90, 90A, 90B are operating normally, an abnormality may occur in the second brake ECU 80. Even in this case, the first brake ECUs 70, 70A, 70B can receive the parking brake operation request via the first global communication line 201. Furthermore, the first brake ECUs 70, 70A, 70B can transmit an operation command corresponding to the parking brake operation request to the redundant ECUs 90, 90A, 90B via the brake communication line 61. Therefore, it is preferable that the brake control systems 60, 60A, 60B proceed with the process as shown in FIG. 6.

[0132] The redundant ECUs 90, 90A, and 90B may be configured to receive a parking brake operation request via the first global communication line 201. If an abnormality occurs in the integrated ECU 51, the integrated ECU 51 does not transmit a parking brake operation request to either the first global communication line 201 or the second global communication line 202. Even in this case, the redundant ECUs 90, 90A, 90B can receive information transmitted by the shift ECU 52 to the second global communication line 202. Therefore, the redundant ECUs 90, 90A, 90B may analyze the information received from the shift ECU 52, and if they determine that a parking brake force should be generated, transmit a parking brake operation request to the first brake ECUs 70, 70A, 70B via the brake communication line 61. In this case, the processing circuits 71 of the first brake ECUs 70, 70A, 70B operate the electric parking actuators that they can operate, based on the received parking brake operation request. Furthermore, the processing circuit 71 of the first brake ECU 70, 70A, 70B may transmit an operation command corresponding to the parking brake operation request to the redundant ECU 90, 90A, 90B via the brake communication line 61. The processing circuit 91 of the redundant ECU 90, 90A, 90B operates the electric parking actuator that it can operate based on the received operation command. This allows the brake control system 60, 60A, 60B to operate the electric parking device 30 even if an abnormality occurs in the integrated ECU 51.

[0133] The processing circuits 71, 81, and 91 are not limited to those equipped with a CPU and ROM and executing software processing. That is, the processing circuits 71, 81, and 91 may have any of the following configurations (a), (b), and (c):

[0134] (a) The processing circuits 71, 81, and 91 each include one or more processors that execute various processes according to a computer program. The processor includes a CPU and memory such as RAM and ROM. The memory stores program code or instructions configured to cause the CPU to execute processes. Memory, i.e., computer-readable media, includes any available media that can be accessed by a general-purpose or special-purpose computer.

[0135] (b) The processing circuits 71, 81, and 91 each include one or more dedicated hardware circuits for executing various processes. Examples of dedicated hardware circuits include application-specific integrated circuits (ASICs) and FPGAs. ASIC stands for "Application Specific Integrated Circuit." FPGA stands for "Field Programmable Gate Array."

[0136] (c) The processing circuits 71, 81, and 91 each include one or more processors that execute some of the various processes in accordance with a computer program, and one or more dedicated hardware circuits that execute the remaining processes among the various processes.

[0137] (Other technical ideas) The technical ideas that can be understood from the above-described embodiments and modifications will be described. [Appendix 1] It is preferable that the first braking control device and the redundant control device determine that an abnormality has occurred in the communication between the first braking control device and the redundant control device via the braking communication line when communication between the first braking control device and the redundant control device via the braking communication line is not normal under conditions where communication with the second braking control device is normal.

[0138] The expression "at least one" used herein means "one or more" of the desired options. As an example, the expression "at least one" used herein means "only one option" or "both of two options" if the number of options is two. As another example, the expression "at least one" used herein means "only one option" or "any combination of two or more options" if the number of options is three or more. [Explanation of symbols]

[0139] 10...Vehicle 11...1st wheel 12…Second wheel 23...Wheel cylinder 25...Hydraulic braking system 26...First hydraulic braking device 27...Second hydraulic braking device 31...First electric parking actuator 32...Second electric parking actuator 60, 60A, 60B...Brake control system 61...Brake communication line 70, 70A, 70B...First braking ECU (an example of a first braking control device) 80...Second braking ECU (an example of a second braking control device) 90, 90A, 90B...Redundant ECU (an example of a redundant control device) 201...First global communication line (an example of an in-vehicle network) 202...Second global communication line (an example of an in-vehicle network)

Claims

1. A braking control system applied to a vehicle including a first wheel and a second wheel, a first wheel cylinder provided on the first wheel, a second wheel cylinder provided on the second wheel, a first hydraulic braking device and a second hydraulic braking device configured to be able to adjust hydraulic pressures in the plurality of wheel cylinders, a first electric parking actuator configured to generate a parking braking force at the first wheel, and a second electric parking actuator configured to generate a parking braking force at the second wheel, a first brake control device that operates the first hydraulic brake device and at least one of the plurality of electric parking actuators; a second brake control device that can communicate with the first brake control device and that operates the second hydraulic brake device; and a redundant control device that can communicate with the first brake control device and the second brake control device and that operates at least one of the plurality of electric parking actuators, each of the first brake control device and the redundant control device is configured to receive a parking brake operation request, which is a request related to parking braking; the second braking control device is configured to transmit communication availability information, which is information regarding whether communication with the first braking control device is normal, to the redundant control device; The redundant control device determines that an abnormality has occurred in the first brake control device when both the communication availability information received from the second brake control device indicates that communication between the second brake control device and the first brake control device is not normal and the communication between the redundant control device and the first brake control device is not normal. Braking control system.

2. the vehicle has a first global communication line for transmitting information to the first braking control device and the second braking control device, and a second global communication line for transmitting information to the redundant control device; the braking control system further includes a braking communication line for communicating among a plurality of control devices related to vehicle braking, including the first braking control device, the second braking control device, and the redundant control device; the first brake control device receives the parking brake operation request via the first global communication line, and the redundant control device receives the parking brake operation request via the second global communication line; the second braking control device transmits information regarding whether communication with the first braking control device via the first global communication line is normal or not to the redundant control device as the communication availability information via the braking communication line; The redundant control device determines that an abnormality has occurred in the first brake control device when both of the following conditions are met: the communication availability information received via the brake communication line is information indicating that communication between the first brake control device and the second brake control device is not normal; and the communication between the redundant control device and the first brake control device via the brake communication line is not normal. The braking control system of claim 1 .

3. when the first brake control device receives the parking brake operation request, it activates the electric parking actuator that it can operate among the plurality of electric parking actuators based on the parking brake operation request; When the redundant control device receives the parking brake operation request under a condition in which it is determined that an abnormality has occurred in the first brake control device, the redundant control device operates the electric parking actuator that it can operate itself among the plurality of electric parking actuators based on the parking brake operation request.

3. The braking control system according to claim 1 or 2.

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