Electromechanical braking system for a motor vehicle and control method for this braking system

Abstract

The invention relates to an electromechanical braking system (1) for a motor vehicle, comprising four wheel brake devices (2), four primary electric motors (3), four secondary electric motors (4), four control devices (5) and one backup control device (8). The braking system (1) according to the invention is characterized in that the control devices (5) and / or the backup control device (8) are configured to detect and / or evaluate sensor data of sensors (6) assigned to the wheel brake devices (2) and / or to the motor vehicle, a primary electric motor (3) and a secondary electric motor (4) are respectively assigned to each of the wheel brake devices (2) for operating the respective wheel brake device (2), and each of the control devices (5) is respectively assigned to the primary electric motor (3) of one of the wheel brake devices (2) and the backup control device (8) is respectively assigned to the four secondary electric motors (4) of the wheel brake devices (2) for driving the electric motors (3, 4).

Description

[Technical Field]

[0001] The present invention relates to an electromechanical braking system for a motor vehicle, comprising four wheel brake devices, four primary electric motors, four secondary electric motors, four controllers and one backup controller.

[0002] The invention further relates to a method for operating such a braking system. [Background technology]

[0003] To implement an automated braking process, for example, in the context of autonomous driving of a vehicle, the vehicle's brake system must have an actuator that can be driven independently of the brake pedal actuation by the vehicle driver. This type of brake system is, for example, configured as an electromechanical brake system and includes one wheel brake device for each wheel of the vehicle. Each of these wheel brake devices is operated by an electric motor assigned to the wheel brake device in order to brake the vehicle. To drive the electric motor, the brake system has one or more control devices.

[0004] For safety reasons, regulations stipulate that braking systems must be designed so that, even if an error occurs, i.e., one of the braking system's components fails, the vehicle can still be braked at a predetermined minimum deceleration. In hydraulic braking systems, the brake pedal is generally mechanically linked to the wheel brakes for emergency operation.

[0005] However, when the brake system is configured as a purely electromechanical, in particular a so-called "brake-by-wire" brake system without mechanical emergency operation, braking in the event of an error is generally ensured by the components of the brake system being constructed redundantly and / or assuming redundant functions for one another.

[0006] Brake systems of this type with redundant components are known in the prior art. For example, Patent Document 1 discloses an electric brake system for a vehicle, comprising three control units, each controlling two brake mechanisms for braking two wheels. If one or two of the control units fail, at least one of the other control units drives the brake mechanism of the failed control unit, so that the vehicle can continue to brake. In particular, two of the control units are configured as diagonal wheel control units, and the third control unit is configured as a front wheel control unit. Alternatively, the control units are configured so that each can drive all four brake mechanisms. However, redundancy for the brake mechanisms themselves is not provided, so if one of the brake mechanisms fails, the vehicle's braking power is reduced. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] European Patent No. 3318458 Summary of the Invention

[0008] The brake system according to the present invention, characterized in that the control device and / or the backup control device are configured to detect and / or evaluate sensor data from sensors assigned to the wheel brake devices and / or the vehicle, each of the wheel brake devices being assigned a primary electric motor and a secondary electric motor for operating the respective wheel brake device, and each of the control devices being assigned to drive a primary electric motor of each of the wheel brake devices, and the backup control device being assigned to drive the four secondary electric motors of the wheel brake devices. This provides advantageous redundancy for both the operation of the brake devices and the driving of the electric motors assigned to the wheel brake devices. Since each of the wheel brake devices is assigned a control device, a backup control device, a primary electric motor, and a secondary electric motor, the brake power of the brake system remains fully available even if one or more of the control devices and / or the electric motors fail. The electric motors are not only functionally assigned to each wheel brake device (i.e., they interact with the brake device or are mechanically connected to the brake device), but also spatially assigned to each wheel brake device (i.e., they are located at the wheel brake device). Each secondary electric motor is redundant to one of the primary electric motors. The secondary electric motors are used only when the respective primary electric motor fails. In particular, the secondary electric motors are designated so that only the minimum deceleration required by regulations is achieved during braking, and in this respect, can have a smaller maximum power and size than the primary electric motors. This advantageously saves installation space despite the redundancy.The control device and / or backup control device are either exclusively functionally assigned to the wheel brake devices, i.e., electrically connected to the wheel brake devices in terms of signals and located anywhere in the vehicle, or are also spatially assigned to at least one of the wheel brake devices, i.e., are also specifically located at the wheel brake devices. By assigning backup control devices to all four wheel brake devices, only five control devices are required instead of eight to achieve advantageous redundancy, thereby reducing the complexity and cost of the brake system. By configuring the control device for evaluating and / or detecting sensor data, advantageously, an additional control device specially configured for this purpose is omitted, or redundancy for such a control device is provided by configuring at least one of the sensors redundantly and / or by assigning it to two control devices, in particular one of the control devices and the backup control device.

[0009] According to a preferred development of the invention, the sensors are provided as rotor position sensors, speed sensors, airbag sensors, and / or distance sensors. Designing the sensors in this way advantageously ensures that sensor data important for driving the electric motor are directly detected and / or evaluated by the control device. For example, if the electric motor is configured as an electrically commutated electric motor, the exact angular position of the electric motor's rotor must be detected for driving. If the control device detects this directly via the corresponding rotor position sensors, particularly advantageous and efficient driving of the electric motor is ensured. Speed ​​sensors assigned to the wheels of the vehicle determine the wheel speeds, which can be taken into account during braking, for example, to prevent one of the wheels from locking. Based on the sensor data of the airbag sensor and / or distance sensor, dangerous and / or accident situations can be recognized, so that the control device can initiate braking, especially emergency braking, if necessary. Preferably, at least one of the sensors is configured or arranged as a sensor near the wheel, especially as a microphone for noise monitoring. This likewise advantageously ensures direct detection and / or evaluation of important sensor data.

[0010] According to a preferred development of the invention, the primary electric motor and / or the secondary electric motor are provided as electrically commutated or brushless electric motors. Designing the electric motors as electrically commutated electric motors advantageously ensures efficient operation of the wheel brake system. Preferably, only the primary electric motor is designed as an electrically commutated electric motor, and the secondary electric motor is designed as a DC motor, which advantageously requires less installation space. Alternatively, the primary electric motor and / or the secondary electric motor are designed as three-phase AC asynchronous motors. This advantageously reduces the cost of the electric motors, since, in particular, such motors do not require a rotor position sensor for detecting the angular position of the motor rotor. Similarly, one of the primary electric motors and one of the secondary electric motors are each configured as a common electric motor with a primary motor winding and a secondary motor winding, in particular a stator winding, which can be driven independently of one another, and the electric motor can be used as the primary electric motor when the primary motor winding is driven, and as the secondary electric motor when the secondary motor winding is driven. The assignment of the motor windings to the control device is performed in the same way as the assignment of the electric motors to the control device. This likewise advantageously results in a cost-effective design, especially since one of the primary electric motors and one of the secondary electric motors are thus respectively arranged in a common housing with only one rotor.

[0011] According to a preferred embodiment of the invention, the control devices are arranged directly on the wheel brake devices, each of which has a primary electric motor assigned to it. This arrangement advantageously minimizes the length of potentially error-prone electrical lines between the respective primary electric motors and the control devices, thereby improving drive reliability. Alternatively, the control devices and / or backup control devices are arranged in a protected area of ​​the vehicle, where they are exposed to lower temperature requirements and environmental influences than in the vicinity of the wheel brake devices, and therefore do not need to be as robust and are therefore advantageously designed to be less cost-effective.

[0012] The method according to the invention having the features of claim 5 is characterized in that the electric motors, the control devices and the backup control devices of the brake system are monitored for functionality and an alternative reaction is triggered in the event of a failure of one of the electric motors, one of the control devices or the backup control device. By monitoring functionality and triggering an alternative reaction, it is advantageously ensured that a failure of one of the electric motors, one of the control devices and / or the backup control device is recognized without delay and that the braking effect of the brake system is still maintained.

[0013] According to a preferred development of the invention, in the event of failure of one of the primary electric motors, a secondary electric motor assigned to the same wheel brake device is activated as an alternative reaction, advantageously ensuring continued operation of the wheel brake device.

[0014] According to a preferred development of the invention, provision is made for an alternative reaction in the event of failure of one of the control devices to activate a backup control device, which advantageously ensures continued operation of all four wheel brake devices.

[0015] According to a preferred embodiment of the invention, an alternative reaction is provided, in particular by outputting a warning on a display device assigned to the driver of the vehicle. Outputting a warning advantageously ensures that the driver is informed of the malfunction without delay and can take appropriate measures, in particular by stopping the journey and / or visiting a repair shop. Preferably, the output of the warning is performed simultaneously with one of the aforementioned alternative reactions, which compensates for the failure of one of the controllers and / or another of the electric motors by appropriately driving the backup controller and / or one of the electric motors. If only a failure of one of the secondary electric motors or the backup controller is detected, no drive change is necessary, and the output of the warning is sufficient. Preferably, the output of the warning is coded, for example, by color, depending on the importance or severity of the malfunction. Thus, for example, a failure of one of the secondary electric motors or the backup controller may be indicated by a yellow warning light, whereas a failure of one of the primary electric motors and / or one of the controllers may be indicated by a red warning light. Likewise, various handling instructions can be advantageously output to the driver, for example, a request to immediately stop driving in the event of a failure of one of the primary electric motors and / or one of the control devices.

[0016] Further preferred features and feature combinations can be seen from the above description and the claims.The invention will now be explained in more detail with reference to the drawings. [Brief explanation of the drawings]

[0017] [Figure 1] FIG. 1 is a schematic diagram of an electromechanical braking system. DETAILED DESCRIPTION OF THE INVENTION

[0018] An advantageous electromechanical braking system 1 for a motor vehicle (not shown in detail) is described below with reference to the drawings. The braking system 1 comprises exactly four wheel brake devices 2, each assigned to a wheel of the motor vehicle (not shown in the drawings). In this example, the braking system 1 is of purely electromechanical design, i.e. does not comprise hydraulic components or hydraulic fluid circuits for operating the wheel brake devices 2.

[0019] Braking is rather performed by direct actuation of the wheel brake devices 2, which are in particular configured as friction brake devices. For this purpose, the brake system 1 comprises exactly four primary electric motors 3 and exactly four secondary electric motors 4. In the present example, the electric motors 3, 4 are configured as electrically commutated electric motors. Each wheel brake device 2 is assigned one primary electric motor 3 and one secondary electric motor 4 for operating the respective wheel brake device 2.

[0020] Furthermore, the brake system 1 comprises exactly four control devices 5 and exactly one backup control device 8. Each of the control devices 5 is assigned to drive one primary electric motor 3 of each wheel brake device 2, and the backup control device 8 is assigned to drive the four secondary electric motors 4 of each wheel brake device 2. Each control device 5 is arranged directly on the wheel brake device 2 whose primary electric motor 3 it is assigned to.

[0021] Each of the secondary electric motors 4 performs a redundancy function for the primary electric motor 3 assigned to the same wheel brake device 2. If the corresponding primary electric motor 3 fails, then the secondary electric motor 4 assigned to the same wheel brake device 2 is driven.

[0022] The backup controller 8 also performs the redundancy function for the controllers 5. If one of the controllers 5 fails, then the backup controller 8 is activated.

[0023] The control device 5 and / or the backup control device 8 are further configured to detect and / or evaluate sensor data of sensors 6 assigned to the wheel brake device 2 and / or the vehicle, in particular a rotor position sensor of one of the electric motors 3, 4, a rotation speed sensor of one of the wheels of the vehicle, an airbag sensor of the vehicle and / or a distance sensor of the vehicle.

[0024] Furthermore, as indicated diagrammatically by the double arrows, the control unit 5 and the backup control unit 8 are connected in communication technology to each other and to further control units 7 of the motor vehicle via a bus system, for example Ethernet, Flexray or CAN. At least one of the further control units 7 is designed, for example, for further processing of sensor data detected or evaluated by the control unit 5 or the backup control unit 8.

[0025] Furthermore, for example, at least one of the further controllers 7 is configured to monitor the functionality of the electric motors 3, 4 as well as the controller 5 and the backup controller 8 and to trigger a suitable alternative reaction in the event of a failure of one of the electric motors 3, 4, one of the controllers 5 and / or the backup controller 8, in particular to change the drive as described above and / or to output an error notification. [Explanation of symbols]

[0026] 1. Brake system 2 Wheel brake device 3 Primary electric motor 4 Secondary electric motor 5. Control device 6 sensors 7. Separate control device 8 Backup control device

Claims

1. An electromechanical braking system (1) for a motor vehicle, comprising four wheel brake devices (2), four primary electric motors (3), four secondary electric motors (4), four control devices (5), and one backup control device (8); the control device (5) and / or the backup control device (8) are configured to detect and / or evaluate sensor data of sensors (6) assigned to the wheel brake device (2) and / or the vehicle, - one primary electric motor (3) and one secondary electric motor (4) are assigned to each of the wheel braking devices (2) to operate the respective wheel braking device (2); and - each of the control devices (5) is assigned to drive one of the primary electric motors (3) of the wheel braking devices (2), and the backup control devices (8) are assigned to drive the four secondary electric motors (4) of the wheel braking devices (2), Electromechanical braking systems for automobiles.

2. 2. The brake system according to claim 1, wherein the sensor (6) is configured as a rotor position sensor, a rotational speed sensor, an airbag sensor and / or a clearance sensor.

3. 3. A brake system according to claim 1, wherein the primary electric motor (3) and / or the secondary electric motor (4) are configured as electrically commutated electric motors.

4. 3. A braking system according to claim 1 or 2, characterized in that the control devices (5) are arranged directly on the wheel brake devices (2) which each have the primary electric motors (3) to which they are assigned.

5. 3. A method for operating an electromechanical brake system (1) according to claim 1 or 2, comprising:

1. A method for operating an electromechanical braking system, comprising monitoring the functionality of the backup control device (8) and triggering an alternative reaction in the event of failure of one of the electric motors (3, 4), one of the control devices (5) or the backup control device (8).

6. 6. The method according to claim 5, characterized in that, in the event of failure of one of the primary electric motors (3), as an alternative reaction, the secondary electric motor (4) assigned to the same wheel brake device (2) is driven.

7. 6. A method according to claim 5, characterized in that, in the event of a failure of one of the control devices (5), the backup control device (8) is activated as an alternative reaction.

8. 6. The method of claim 5, characterized in that as an alternative reaction, a warning is output on a display device assigned to the driver of the vehicle.

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