CN116811809A

CN116811809A - Control system and method of electromechanical braking system and vehicle

Info

Publication number: CN116811809A
Application number: CN202310753892.1A
Authority: CN
Inventors: 官浩; 闫鲁平; 谭宇皓; 隋清海; 郝占武
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2023-06-25
Filing date: 2023-06-25
Publication date: 2023-09-29

Abstract

The application discloses a control system and method of an electromechanical brake system and a vehicle. Wherein, this system includes: the system comprises a first brake controller, a second brake controller, a first pedal stroke sensor, a second pedal stroke sensor, a pedal sensor and a plurality of electromechanical brake systems, wherein the first brake controller is respectively connected with the first pedal stroke sensor, the second brake controller and the electromechanical brake systems; the second brake controller is respectively connected with the pedal sensor and the plurality of electromechanical brake systems; a plurality of electromechanical braking systems for braking wheels of a vehicle. The application solves the technical problem that the braking force deficiency or over-braking condition possibly occurs due to the fact that the braking intention of the driver is identified only through the two paths of pedal travel sensors in the related art.

Description

Control system and method of electromechanical braking system and vehicle

Technical Field

The application relates to the technical field of intelligent braking, in particular to a control system and method of an electronic mechanical braking system and a vehicle.

Background

With the rapid development of intellectualization and electrodynamic performance, a brake electric control system has been developed to a product configuration of an integrated brake control assembly, and an electromechanical brake system is a development direction of intelligent vehicle braking, wherein a brake energy path of a vehicle type carrying the electromechanical brake system is as follows: the driver steps on the brake pedal force, the controller recognizes the braking intention of the driver, and the motor on the control caliper pushes the transmission mechanism to generate braking clamping force.

However, in the related art, there are only two pedal stroke sensors for recognizing the intention of the driver, and when the two sensor signals are inconsistent, control based on a large stroke signal may cause overdrawing, and control based on a small stroke signal may cause insufficient braking force.

In view of the above problems, no effective solution has been proposed at present.

Disclosure of Invention

The embodiment of the application provides a control system and method of an electromechanical brake system and a vehicle, which at least solve the technical problem that the braking force is insufficient or overbraking possibly occurs due to the fact that the braking intention of a driver is identified only through two pedal travel sensors in the related art.

According to an aspect of an embodiment of the present application, there is provided a control system of an electromechanical brake system, including: the system comprises a first brake controller, a second brake controller, a first pedal stroke sensor, a second pedal stroke sensor, pedal sensors and a plurality of electromechanical brake systems, wherein the first brake controller is respectively connected with the first pedal stroke sensor, the second brake controller and the electromechanical brake systems, and is used for receiving a first signal sent by the first pedal stroke sensor and a second signal sent by the second pedal stroke sensor and controlling the electromechanical brake systems according to the first signal and the second signal; the second brake controller is respectively connected with the pedal sensor and the plurality of electromechanical brake systems, and is used for receiving a third signal sent by the pedal sensor and controlling the plurality of electromechanical brake systems according to the third signal; a plurality of electromechanical braking systems for braking wheels of a vehicle.

Optionally, the plurality of electromechanical braking systems comprises at least: a first electro-mechanical brake system, a second electro-mechanical brake system, a third electro-mechanical brake system, and a fourth electro-mechanical brake system.

Optionally, the control system further comprises: a plurality of wheel speed sensors, wherein the plurality of wheel speed sensors includes at least: the system comprises a first wheel speed sensor, a second wheel speed sensor, a third wheel speed sensor, a fourth wheel speed sensor, a fifth wheel speed sensor, a sixth wheel speed sensor, a seventh wheel speed sensor and an eighth wheel speed sensor, wherein a first electromechanical brake system is respectively connected with a first brake controller, a second brake controller and the first wheel speed sensor and used for braking wheels corresponding to the first wheel speed sensor; the second electronic mechanical brake system is respectively connected with the first brake controller, the second brake controller and the second wheel speed sensor and is used for braking wheels corresponding to the second wheel speed sensor; the third electromechanical brake system is respectively connected with the first brake controller, the second brake controller and the third wheel speed sensor and is used for braking wheels corresponding to the third wheel speed sensor; the fourth electromechanical brake system is respectively connected with the first brake controller, the second brake controller and the fourth wheel speed sensor and is used for braking wheels corresponding to the fourth wheel speed sensor; the fifth wheel speed sensor, the sixth wheel speed sensor, the seventh wheel speed sensor and the eighth wheel speed sensor are respectively connected with the first brake controller for providing wheel speed signals.

Optionally, the control system further comprises: the system comprises a first automatic driving controller, a second automatic driving controller and a gateway, wherein the first automatic driving controller is respectively connected with a first braking controller, a second braking controller, the gateway and the second automatic driving controller and is used for controlling the vehicle to automatically drive; the second automatic driving controller is connected with the gateway and used for controlling the vehicle to automatically drive; and the gateway is respectively connected with the first brake controller, the second brake controller, the first automatic driving controller and the second automatic driving controller and is used for sending data to the first brake controller, the second brake controller, the first automatic driving controller and the second automatic driving controller.

Optionally, the first brake controller, the second brake controller, the plurality of electromechanical brake systems, the gateway, and the first autopilot controller are powered by a first power source and a second power source, where the first power source and the second power source are standby.

Optionally, the first brake controller and the second brake controller are in redundant communication over a multiplexed CANFD bus.

According to still another aspect of the embodiment of the present application, there is also provided a control method of an electromechanical brake system, for a control system of the electromechanical brake system, including: determining whether to brake the vehicle based at least on the operating states of the first pedal travel sensor, the second pedal travel sensor, and the pedal sensor; in the case that the control system of the electromechanical brake system has single-point failure, the first automatic driving controller or the second automatic driving controller is utilized to control the vehicle to decelerate.

According to still another aspect of the embodiments of the present application, there is also provided a non-volatile storage medium, the storage medium including a stored program, wherein the program, when run, controls a device in which the storage medium is located to perform the above method of controlling an electromechanical brake system.

According to still another aspect of the embodiment of the present application, there is also provided an electronic device including: the system comprises a memory and a processor, wherein the processor is used for running a program stored in the memory, and the program is used for executing the control method of the electromechanical brake system.

According to still another aspect of the embodiments of the present application, there is also provided a vehicle having a controller for performing the above control method of the electromechanical brake system.

In the embodiment of the application, a first brake controller, a second brake controller, a first pedal stroke sensor, a second pedal stroke sensor, a pedal sensor and a plurality of electromechanical brake systems are adopted, wherein the first brake controller is respectively connected with the first pedal stroke sensor, the second brake controller and the plurality of electromechanical brake systems, and is used for receiving a first signal sent by the first pedal stroke sensor and a second signal sent by the second pedal stroke sensor and controlling the plurality of electromechanical brake systems according to the first signal and the second signal; the second brake controller is respectively connected with the pedal sensor and the plurality of electromechanical brake systems, and is used for receiving a third signal sent by the pedal sensor and controlling the plurality of electromechanical brake systems according to the third signal; the multiple electromechanical brake systems are used for braking wheels of the vehicle, the first brake controller is connected with the first pedal stroke sensor, the second pedal stroke sensor and the second brake controller is connected with the pedal sensor, the purpose of identifying the braking intention of a driver through the multiple paths of pedal stroke sensors is achieved, the technical effect of accurately braking the vehicle is achieved, and the technical problem that the situation that braking force is insufficient or overbraking is possibly caused due to the fact that only two paths of pedal stroke sensors identify the braking intention of the driver in the related art is solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:

fig. 1 is a block diagram of a control system of an electromechanical brake system according to an embodiment of the present application;

FIG. 2 is a block diagram of a control system of another electromechanical brake system according to an embodiment of the present application;

FIG. 3 is a block diagram of a control system of another electromechanical brake system according to an embodiment of the present application;

FIG. 4 is a block diagram of a control system of another electromechanical brake system according to an embodiment of the present application;

FIG. 5 is a block diagram of a control system of another electromechanical brake system according to an embodiment of the present application;

FIG. 6 is a flow chart of a control method of an electromechanical brake system according to an embodiment of the present application;

fig. 7 is a block diagram of a hardware configuration of a computer terminal (or electronic device) of a control system of an electro-mechanical brake system according to an embodiment of the present application.

Detailed Description

In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Fig. 1 is a block diagram of a control system of an electro-mechanical brake system according to an embodiment of the present application, as shown in fig. 1, including: a first brake controller 1, a second brake controller 2, a first pedal travel sensor 3, a second pedal travel sensor 4, a pedal sensor 5, and a plurality of electromechanical brake systems 6, wherein,

The first brake controller 1 is respectively connected with the first pedal stroke sensor 3, the second pedal stroke sensor 4, the second brake controller 2 and the plurality of electromechanical brake systems 6, and is used for receiving a first signal sent by the first pedal stroke sensor 3 and a second signal sent by the second pedal stroke sensor 4 and controlling the plurality of electromechanical brake systems 6 according to the first signal and the second signal;

the second brake controller 2 is respectively connected with the pedal sensor 5 and the plurality of electromechanical brake systems 6, and is used for receiving a third signal sent by the pedal sensor 5 and controlling the plurality of electromechanical brake systems 6 according to the third signal;

a plurality of electromechanical braking systems 6 for braking the wheels of the vehicle.

According to some alternative embodiments of the present application, the pedal travel sensor is a sensor for measuring the position and distance traveled by an accelerator pedal of an automobile. Pedal travel sensors are typically composed of two parts: a base fixed on the vehicle body and a movable rod connected with the accelerator pedal, when the driver steps on or releases the accelerator, the movable rod moves forwards or backwards, and the electronic signal output is changed. The electronic signals are sent to the brake controller, and the brake controller also controls and adjusts parameters such as pressure, speed, strength and the like of the automobile or train brake device through the electric signals, so that the whole brake system is more stable, accurate and efficient. The pedal travel sensor can help to improve the combustion efficiency of the engine, reduce emission of pollutants, and ensure better responsiveness and reliability of the automobile under different driving conditions.

The pedal sensor includes one of the following: pedal travel sensors, pedal pressure sensors, and pedal force sensors, wherein pedal pressure sensors are electronic devices that measure the pressure of an automobile accelerator pedal, and are typically composed of a variable resistor and a signal amplifier that can convert the mechanical movement of the accelerator pedal into an electrical signal and send it to a vehicle control system for processing. The pedal force sensor is used for detecting the pressure applied by a driver to the pedal, converting the pressure signal into a digital signal and sending the digital signal to the engine control unit or the brake controller to adjust the engine output power or the brake pressure.

Alternatively, the number of pedal sensors is 1 or more, and in the case where the number of pedal sensors is plural, the pedal sensors may be connected to the first brake controller.

According to the system, the first pedal stroke sensor 3 and the second pedal stroke sensor 4 are connected through the first brake controller 1, and the pedal sensor 5 is connected through the second brake controller 2, so that the purpose of identifying the braking intention of a driver through the multi-path pedal stroke sensor is achieved, and the technical effect of accurately braking the vehicle is achieved.

Fig. 2 is a block diagram of a control system of another electro-mechanical brake system according to an embodiment of the present application, and as shown in fig. 2, a plurality of electro-mechanical brake systems 6 includes at least: a first electro-mechanical brake system 60, a second electro-mechanical brake system 61, a third electro-mechanical brake system 62, and a fourth electro-mechanical brake system 63.

The electromechanical brake system (Electronic Mechanical Braking System, EMB) is a new type of vehicle brake system, the EMB combines the traditional hydraulic brake and electronic control technology, and adopts advanced electronic computer technology, sensor technology, executing device and the like, wherein the EMB mainly comprises the following parts:

1. and a power supply module: providing a stable direct current or alternating current power supply for the whole system; 2. and a control unit: is responsible for receiving signals from various sensors and controlling an actuator to perform braking operation according to a program; 3. a sensor module: the system comprises a speed sensor, a torque sensor, a steering angle sensor and the like, and is used for detecting the running state and the torque applied by a driver to a steering wheel and a pedal; 4. an execution unit: comprises a drive generating device arranged in a brake drum or a hub and a connecting line which is attached around the brake drum or the hub and communicated with the brake drum or the hub in operation. Which realizes control of a functional object by generating an instruction output to a functional object related to ON (ON) or OFF (OFF) after execution of an operation.

The EMB adopts advanced electronic computer technology, can realize functions of various braking modes, anti-skid control and the like, and can quickly respond and effectively slow down the running speed of the vehicle in emergency. Meanwhile, a hydraulic oil way is not arranged in the brake system of the EMB, so that oil leakage and leakage problems are avoided, and the risk of pollution to the environment is reduced. In addition, EMB also has better energy-saving effect, and can reduce the emission and fuel consumption of the automobile to a certain extent.

Fig. 3 is a block diagram of a control system of another electromechanical brake system according to an embodiment of the present application, and as shown in fig. 3, the system further includes: a plurality of wheel speed sensors 7, wherein the plurality of wheel speed sensors 7 includes at least: a first wheel speed sensor 70, a second wheel speed sensor 71, a third wheel speed sensor 72, a fourth wheel speed sensor 73, a fifth wheel speed sensor 74, a sixth wheel speed sensor 75, a seventh wheel speed sensor 76, an eighth wheel speed sensor 77, wherein,

the first electromechanical brake system 60 is respectively connected with the first brake controller 1, the second brake controller 2 and the first wheel speed sensor 70, and is used for braking wheels corresponding to the first wheel speed sensor 70;

A second electro-mechanical brake system 61 connected to the first brake controller 1, the second brake controller 2, and the second wheel speed sensor 71, respectively, for braking wheels corresponding to the second wheel speed sensor 71;

the third electromechanical brake system 62 is connected to the first brake controller 1, the second brake controller 2, and the third wheel speed sensor 72, respectively, and is configured to brake the wheel corresponding to the third wheel speed sensor 72;

a fourth electromechanical brake system 63 connected to the first brake controller 1, the second brake controller 2, and the fourth wheel speed sensor 73, respectively, for braking wheels corresponding to the fourth wheel speed sensor 73;

the fifth wheel speed sensor 74, the sixth wheel speed sensor 75, the seventh wheel speed sensor 76, and the eighth wheel speed sensor 77 are respectively connected to the first brake controller 1 for providing a wheel speed signal.

A wheel speed sensor is a device for measuring the rotational speed and the speed of a vehicle tire, which is usually mounted on a wheel of a vehicle or fixed in a suspension system. The main functions are as follows:

1. measuring the vehicle speed: by detecting the rotation of each wheel, the speed of the whole automobile can be calculated.

2. Control Anti-lock system (Anti-lock Brake System, ABS): when the sensor detects that a single wheel is decelerated or even stagnated, the ABS can be triggered to avoid the danger caused by excessive braking.

3. Control traction control system (Traction Control System, TCS): when the automobile runs on the low-friction road surface, the system can automatically adjust the output power of the engine and independently balance the torsion of each steering wheel to ensure that the running safety is improved to the greatest extent.

4. Coordination stability control program (Electronic Stability Program, ESP): the program also relies on these sensor data to ensure accurate calculations and correct any instabilities and to assist the driver in maintaining a steady state.

For example, the first wheel speed sensor 70 and the fifth wheel speed sensor 74 are the wheel speed sensors of the left front wheel, the second wheel speed sensor 71 and the sixth wheel speed sensor 75 are the wheel speed sensors of the right front wheel, the third wheel speed sensor 72 and the seventh wheel speed sensor 76 are the wheel speed sensors of the left rear wheel, and the fourth wheel speed sensor 73 and the eighth wheel speed sensor 77 are the wheel speed sensors of the right rear wheel.

The first electro-mechanical brake system 60 is the electro-mechanical brake system of the left front wheel, the second electro-mechanical brake system 61 is the electro-mechanical brake system of the right front wheel, the third electro-mechanical brake system 62 is the electro-mechanical brake system of the left rear wheel, and the fourth electro-mechanical brake system 63 is the electro-mechanical brake system of the right rear wheel.

Alternatively, the first wheel speed sensor 70, the second wheel speed sensor 71, the third wheel speed sensor 72, the fourth wheel speed sensor 73, the fifth wheel speed sensor 74, the sixth wheel speed sensor 75, the seventh wheel speed sensor 76, the eighth wheel speed sensor 77 are dual-chip wheel speed sensors, wherein the dual-chip wheel speed sensor is a sensor for measuring a wheel speed of a vehicle. The dual-chip wheel speed sensor consists of two chips, one is a Hall element and the other is a microprocessor. When the vehicle is running, the magnet is fixed on the wheel to rotate and pass through the Hall element of the sensor, so as to generate an electric signal. By using two chips to measure vehicle speed, a dual-chip wheel speed sensor may provide more accurate and reliable data and have higher tamper resistance than a single-chip sensor.

Fig. 4 is a block diagram of a control system of another electromechanical brake system according to an embodiment of the present application, and as shown in fig. 4, the system further includes: a first autopilot controller 8, a second autopilot controller 9, and a gateway 10, wherein,

the first automatic driving controller 8 is respectively connected with the first brake controller 1, the second brake controller 2, the gateway 10 and the second automatic driving controller 9 and is used for controlling the vehicle to automatically drive;

A second autopilot controller 9 connected to the gateway 10 for controlling autopilot of the vehicle;

and a gateway 10 connected with the first brake controller 1, the second brake controller 2, the first automatic driving controller 8 and the second automatic driving controller 9 respectively, and used for sending data to the first brake controller 1, the second brake controller 2, the first automatic driving controller 8 and the second automatic driving controller 9.

According to some alternative embodiments of the present application, the first brake controller 1, the second brake controller 2, the plurality of electromechanical brake systems 6, the gateway 10, and the first autopilot controller 8 are powered by a first power source and a second power source, wherein the first power source and the second power source are standby.

It will be appreciated that when one of the first and second power sources fails, the other can automatically take over its operation.

Alternatively, the second autopilot controller 9 may be powered by a dual power supply.

According to other alternative embodiments of the present application, the first brake controller 1 and the second brake controller 2 are in redundant communication via a multiplexed CANFD bus.

The CANFD bus is a new type of CAN bus standard, and has greatly improved data transmission rate, payload size, bandwidth, etc. compared to conventional CAN buses. In a conventional CAN bus, the highest transmission rate is only 1Mbps, and each message CAN only carry 8 bytes of data. Whereas in the CANFD bus, the transmission rate may be increased to 8Mbps and each message may carry 64 bytes of data. This allows faster communication and supports more complex and diverse application scenarios.

Fig. 5 is a block diagram of a control system of another electro-mechanical brake system according to an embodiment of the present application, as shown in fig. 5, a first brake controller 1, a second brake controller 2, a first pedal stroke sensor 3, a second pedal stroke sensor 4, a pedal sensor 5, a first electro-mechanical brake system 60, a second electro-mechanical brake system 61, a third electro-mechanical brake system 62, a fourth electro-mechanical brake system 63, a first wheel speed sensor 70, a second wheel speed sensor 71, a third wheel speed sensor 72, a fourth wheel speed sensor 73, a fifth wheel speed sensor 74, a sixth wheel speed sensor 75, a seventh wheel speed sensor 76, an eighth wheel speed sensor 77, a first automatic driving controller 8, a second automatic driving controller 9, a gateway 10, a chassis CAN other controller 11, and a whole vehicle other controller 12, wherein,

a gateway 10 respectively connected with the first brake controller 1, the second brake controller 2, the first automatic driving controller 8, the second automatic driving controller 9, the chassis CAN other controller 11 and the whole vehicle other controller 12,

for transmitting data to the first brake controller 1, the second brake controller 2, the first autopilot controller 8, the second autopilot controller 9, the chassis CAN other controller 11 and the vehicle other controller 12.

The gateway 10 is connected with the first brake controller 1, the second brake controller 2 and the chassis CAN other controllers 11 through a first CANFD bus; first autopilot controller 8 communicates with first brake controller 1 and second brake controller 2 via a second CANFD bus; first brake controller 1 is connected to first electro-mechanical brake system 60, second electro-mechanical brake system 61, third electro-mechanical brake system 62, and fourth electro-mechanical brake system 63 via a third CANFD bus; gateway 10 is also connected to first autopilot controller 8 and second autopilot controller 9 via a fifth CANFD bus; the first brake controller 1 is connected to the first pedal stroke sensor 3 and the second pedal stroke sensor 4 through sensor hard wires, the second brake and brake controller is connected to the pedal sensor 5 through sensor hard wires, the first brake controller 1 is also connected to the fifth wheel speed sensor 74, the sixth wheel speed sensor 75, the seventh wheel speed sensor 76 and the eighth wheel speed sensor 77 through sensor hard wires, and the first electro-mechanical brake system 60, the first electro-mechanical brake system 60 and the first electro-mechanical brake system 60 are connected to the first wheel speed sensor 70, the second wheel speed sensor 71, the third wheel speed sensor 72 and the fourth wheel speed sensor 73 through sensor hard wires, respectively.

Fig. 6 is a flowchart of a control method of an electro-mechanical brake system according to an embodiment of the present application, which is applied to the control system of any one of the electro-mechanical brake systems shown in fig. 1 to 5, as shown in fig. 6, the method including the steps of:

step S602 determines whether to brake the vehicle based on at least the operating states of the first pedal stroke sensor 3, the second pedal stroke sensor 4, and the pedal sensor 5.

In step S604, in the case that a single point failure occurs in the control system of the electromechanical brake system, the first automatic driving controller 8 or the second automatic driving controller 9 is used to control the vehicle to decelerate.

It will be appreciated that a single point failure is a failure of any one of the first brake controller 1, the second brake controller 2, the plurality of electromechanical brake systems 6, the plurality of wheel speed sensors 7, the first autopilot controller 8, the second autopilot controller 9, the gateway 10, the first power source, and the second power source.

In some alternative embodiments, the following electromechanical brake system control methods are all exemplified based on the electromechanical brake system control system shown in fig. 5, wherein, based on a single point failure, the driver's braking intent is determined by the following algorithm to determine whether to brake the vehicle:

In the system shown in fig. 5, the deceleration commands issued by the first 8 and second 9 autopilot controllers comprise at least three paths, wherein,

1: first autopilot controller 8→fifth CANFD bus→gateway 10→first CANFD bus→first brake controller 1 and second brake controller 2;

2: first autopilot controller 8→second CANFD bus→first brake controller 1 and second brake controller 2;

3: second autopilot controller 9→fifth CANFD bus→gateway 10→first CANFD bus→first brake controller 1 and second brake controller 2.

It should be noted that the priority of the three-way instruction is 1 > 2 > 3.

The first brake controller 1 and the second brake controller 2 degradation modes may both be divided into 6 stages, as shown in the following table:

when the degradation modes of the first brake controller 1 and the second brake controller 2 are identical, the first brake controller 1 executes a braking operation, and when the degradation modes of the first brake controller 1 and the second brake controller 2 are not identical, the controller having a low degradation mode level executes a braking operation.

According to the principle, the analysis for the system single point failure is as follows:

1. The first power supply or the second power supply fails, the controllers with two-way power supply can work normally, the first braking driving controller sends a deceleration command, and the command passes through the fifth CANFD bus, the gateway 10 and the first CANFD bus, and the first braking controller 1 controls the electromechanical braking system to execute braking.

2. When any one of the electromechanical brake systems fails, the first brake driving controller sends a deceleration command, the command passes through a fifth CANFD bus, a gateway 10 and the first CANFD bus, and the first brake controller 1 controls 3 electromechanical brake systems to execute braking, wherein the braking efficiency is more than 65%.

3. Failure of any one of the wheel speed sensors-1: the sensor path is: wheel speed sensor → electronic mechanical brake system → second brake controller 2, the first brake driving controller sends a deceleration command, the command is through fifth CANFD bus → gateway 10 → first CANFD bus, the second brake controller 2 controls the electronic mechanical brake system to perform braking.

4. Failure of any one of the wheel speed sensors-2: the sensor path is: wheel speed sensor- & gt main brake actuator, first brake driving controller sends a deceleration command, and the command passes through fifth CANFD bus- & gt gateway 10- & gt first CANFD bus, and first brake controller 1 controls the electronic mechanical brake system to execute braking.

5. The first brake controller 1 fails: the first brake driving controller sends a deceleration command to control the electromechanical brake system to perform braking through the fifth CANFD bus → gateway 10 → the first CANFD bus, and the second brake controller 2.

6. The second brake controller 2 fails: the first brake driving controller sends a deceleration command to control the electromechanical brake system to perform braking through the fifth CANFD bus → gateway 10 → the first CANFD bus, and the first brake controller 1 controls the electromechanical brake system to perform braking.

7. Gateway 10 fails: the first brake steering controller sends a deceleration command to the second CANFD bus and the first brake controller 1 controls the electro-mechanical brake system to perform braking.

8. The first automatic driving controller 8 fails: the second autopilot controller 9 sends a deceleration command that controls the electro-mechanical brake system to perform braking via the fifth CANFD bus→gateway 10→the first CANFD bus.

9. The second automatic driving controller 9 fails: the first brake driving controller sends a deceleration command to control the electromechanical brake system to perform braking through the fifth CANFD bus → gateway 10 → the first CANFD bus, and the first brake controller 1 controls the electromechanical brake system to perform braking.

10. First CANFD bus failure: the first brake steering controller sends a deceleration command to the second CANFD bus and the first brake controller 1 controls the electro-mechanical brake system to perform braking.

11. Second CANFD bus failure: the first brake driving controller sends a deceleration command to control the electromechanical brake system to perform braking through the fifth CANFD bus → gateway 10 → the first CANFD bus, and the first brake controller 1 controls the electromechanical brake system to perform braking.

12. Third CANFD bus failure: the first brake driving controller sends a deceleration command to control the electromechanical brake system to perform braking through the fifth CANFD bus → gateway 10 → the first CANFD bus, and the second brake controller 2.

13. Fourth CANFD bus failure: the first brake driving controller sends a deceleration command to control the electromechanical brake system to perform braking through the fifth CANFD bus → gateway 10 → the first CANFD bus, and the first brake controller 1 controls the electromechanical brake system to perform braking.

14. Fifth CANFD bus failure: the first brake steering controller sends a deceleration command to the second CANFD bus and the first brake controller 1 controls the electro-mechanical brake system to perform braking.

Fig. 7 shows a block diagram of the hardware architecture of a computer terminal (or mobile device) for implementing the control system of the electromechanical brake system. As shown in fig. 7, the computer terminal 70 (or mobile device 70) may include one or more (shown as 702a, 702b, … …,702 n) processors 702 (the processors 702 may include, but are not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA), a memory 704 for storing data, and a transmission module 706 for communication functions. In addition, the method may further include: a display, an input/output interface (I/O interface), a Universal Serial BUS (USB) port (which may be included as one of the ports of the BUS), a network interface, a power supply, and/or a camera. It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 7 is merely illustrative and is not intended to limit the configuration of the electronic device described above. For example, the computer terminal 70 may also include more or fewer components than shown in FIG. 7, or have a different configuration than shown in FIG. 7.

It should be noted that the one or more processors 702 and/or other data processing circuits described above may be referred to generally herein as "data processing circuits. The data processing circuit may be embodied in whole or in part in software, hardware, firmware, or any other combination. Furthermore, the data processing circuitry may be a single stand-alone processing module, or incorporated, in whole or in part, into any of the other elements in the computer terminal 70 (or mobile device). As referred to in embodiments of the application, the data processing circuit acts as a processor control (e.g., selection of the path of the variable resistor termination connected to the interface).

The memory 704 may be used to store software programs and modules of application software, such as program instructions/data storage devices corresponding to the control system of the electromechanical brake system in the embodiments of the present application, and the processor 702 executes the software programs and modules stored in the memory 704 to perform various functional applications and data processing, i.e., implement the control system of the electromechanical brake system described above. Memory 704 may include high-speed random access memory, but may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 704 may further include memory located remotely from the processor 702, which may be connected to the computer terminal 70 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission module 706 is used to receive or transmit data via a network. The specific examples of the network described above may include a wireless network provided by a communication provider of the computer terminal 70. In one example, the transmission module 706 includes a network adapter (Network Interface Controller, NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission module 706 may be a Radio Frequency (RF) module for communicating with the internet wirelessly.

The display may be, for example, a touch screen type Liquid Crystal Display (LCD) that may enable a user to interact with a user interface of the computer terminal 70 (or mobile device).

It should be noted here that, in some alternative embodiments, the computer device (or the electronic device) shown in fig. 7 may include hardware elements (including circuits), software elements (including computer code stored on a computer readable medium), or a combination of both hardware elements and software elements. It should be noted that fig. 7 is only one example of a specific example, and is intended to illustrate the types of components that may be present in the computer device (or electronic device) described above.

It should be noted that, the electronic device shown in fig. 7 is used for executing the control method of the electromechanical brake system shown in fig. 6, so the explanation of the execution method of the command is also applicable to the electronic device, and will not be repeated here.

The embodiment of the application also provides a nonvolatile storage medium, which comprises a stored program, wherein the program is used for controlling equipment where the storage medium is located to execute the control method of the electromechanical brake system. The nonvolatile storage medium executes a program of the following functions: determining whether to brake the vehicle based at least on the operating states of the first pedal travel sensor, the second pedal travel sensor, and the pedal sensor; in the case that the control system of the electromechanical brake system has single-point failure, the first automatic driving controller or the second automatic driving controller is utilized to control the vehicle to decelerate.

The embodiment of the application also provides electronic equipment, which comprises: the system comprises a memory and a processor, wherein the processor is used for running a program stored in the memory, and the program is used for executing the control method of the electromechanical brake system.

The processor is configured to execute a program that performs the following functions: determining whether to brake the vehicle based at least on the operating states of the first pedal travel sensor, the second pedal travel sensor, and the pedal sensor; in the case that the control system of the electromechanical brake system has single-point failure, the first automatic driving controller or the second automatic driving controller is utilized to control the vehicle to decelerate.

The embodiment of the application further provides a vehicle, and the controller of the vehicle is configured to execute the control method of the electromechanical brake system shown in fig. 6, so that the explanation related to the control method of the electromechanical brake system is also applicable to the controller of the vehicle, and will not be repeated herein.

The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.

In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the related art or all or part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.

Claims

1. A control system for an electromechanical brake system, comprising: a first brake controller, a second brake controller, a first pedal travel sensor, a second pedal travel sensor, a pedal sensor, and a plurality of electromechanical brake systems, wherein,

the first brake controller is respectively connected with the first pedal stroke sensor, the second brake controller and the plurality of electromechanical brake systems, and is used for receiving a first signal sent by the first pedal stroke sensor and a second signal sent by the second pedal stroke sensor and controlling the plurality of electromechanical brake systems according to the first signal and the second signal;

the second brake controller is respectively connected with the pedal sensor and the plurality of electromechanical brake systems, and is used for receiving a third signal sent by the pedal sensor and controlling the plurality of electromechanical brake systems according to the third signal;

The electromechanical braking systems are used for braking wheels of a vehicle.

2. The control system of claim 1, wherein the plurality of electromechanical braking systems comprises at least: a first electro-mechanical brake system, a second electro-mechanical brake system, a third electro-mechanical brake system, and a fourth electro-mechanical brake system.

3. The control system of claim 2, wherein the control system further comprises: a plurality of wheel speed sensors, wherein the plurality of wheel speed sensors includes at least: a first wheel speed sensor, a second wheel speed sensor, a third wheel speed sensor, a fourth wheel speed sensor, a fifth wheel speed sensor, a sixth wheel speed sensor, a seventh wheel speed sensor, an eighth wheel speed sensor, wherein,

the first electromechanical brake system is respectively connected with the first brake controller, the second brake controller and the first wheel speed sensor and used for braking wheels corresponding to the first wheel speed sensor;

the second electromechanical brake system is respectively connected with the first brake controller, the second brake controller and the second wheel speed sensor and is used for braking wheels corresponding to the second wheel speed sensor;

The third electromechanical brake system is respectively connected with the first brake controller, the second brake controller and the third wheel speed sensor and is used for braking wheels corresponding to the third wheel speed sensor;

the fourth electromechanical brake system is respectively connected with the first brake controller, the second brake controller and the fourth wheel speed sensor and is used for braking wheels corresponding to the fourth wheel speed sensor;

the fifth wheel speed sensor, the sixth wheel speed sensor, the seventh wheel speed sensor and the eighth wheel speed sensor are respectively connected with the first brake controller and used for providing wheel speed signals.

4. The control system of claim 1, wherein the control system further comprises: a first autopilot controller, a second autopilot controller, and a gateway, wherein,

the first automatic driving controller is respectively connected with the first braking controller, the second braking controller, the gateway and the second automatic driving controller and is used for controlling the vehicle to automatically drive;

the second automatic driving controller is connected with the gateway and used for controlling the vehicle to automatically drive;

The gateway is respectively connected with the first brake controller, the second brake controller, the first automatic driving controller and the second automatic driving controller and used for sending data to the first brake controller, the second brake controller, the first automatic driving controller and the second automatic driving controller.

5. The control system of claim 4, wherein the first brake controller, the second brake controller, the plurality of electromechanical brake systems, the gateway, and the first autopilot controller are each powered by a first power source and a second power source, wherein the first power source and the second power source are each standby.

6. The control system of claim 1, wherein the first brake controller and the second brake controller are in redundant communication via a multiplexed CANFD bus.

7. A control method of an electro-mechanical brake system, characterized in that the method is applied to the control system of an electro-mechanical brake system according to any one of claims 1 to 6, comprising:

determining whether to brake the vehicle based at least on the operating states of the first pedal travel sensor, the second pedal travel sensor, and the pedal sensor;

In the case that the control system of the electromechanical brake system has single-point failure, the first automatic driving controller or the second automatic driving controller is utilized to control the vehicle to decelerate.

8. A nonvolatile storage medium, characterized in that the nonvolatile storage medium includes a stored program, wherein the program, when run, controls a device in which the nonvolatile storage medium is located to execute the control method of the electro-mechanical brake system according to claim 7.

9. An electronic device, comprising: a memory and a processor for running a program stored in the memory, wherein the program when run performs the control method of the electromechanical brake system according to claim 7.

10. A vehicle characterized in that a controller of the vehicle is configured to execute the control method of the electromechanical brake system according to claim 7.