CN115158277A - Redundancy control method and redundancy control system for multi-brake system - Google Patents
Redundancy control method and redundancy control system for multi-brake system Download PDFInfo
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- CN115158277A CN115158277A CN202211086491.7A CN202211086491A CN115158277A CN 115158277 A CN115158277 A CN 115158277A CN 202211086491 A CN202211086491 A CN 202211086491A CN 115158277 A CN115158277 A CN 115158277A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/413—Plausibility monitoring, cross check, redundancy
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Abstract
The disclosure relates to the field of vehicle braking, and relates to a multi-brake system redundancy control method and a redundancy control system. The multi-brake system redundancy control method comprises the following steps: determining that the electronic power-assisted braking system fails through at least one of the electronic stability control system, the electronic parking assist system and the electronic power-assisted braking system; determining a braking force demand value in response to failure of the electronic power-assisted braking system; determining a front wheel braking force demand value and a rear wheel braking force demand value based on the braking force demand value; braking forces are applied to the front wheels and the rear wheels by the electronic stability control system and/or the electronic parking assist system based on the front wheel braking force demand and the rear wheel braking force demand. After the electronic power-assisted braking system is detected to be out of work, the electronic stability control system and the electronic parking auxiliary system singly or jointly replace the function of the electronic power-assisted braking system, required braking force is applied to the front wheels and the rear wheels, and the safety of a vehicle can be effectively improved.
Description
Technical Field
The disclosure relates to the field of vehicle braking, and in particular relates to a multi-brake system redundancy control method and a redundancy control system.
Background
The automobile decelerates and stops the vehicle through a braking system. The braking system is a series of special devices which can forcibly reduce the running speed of the automobile, and the main functions of the braking system are to decelerate or even stop the running automobile, keep the speed of the automobile running on a downhill stable and keep the stopped automobile still. The braking system may include an electronic stability control system, an electronic parking assist system, and an electronic power-assisted braking system. The electronic stability control system can give an instruction to the master cylinder, brake oil in the master cylinder applies pressure, liquid transmits the pressure to pistons of brake calipers of a front wheel and a rear wheel through pipelines, the pistons drive the brake calipers to clamp a brake disc so as to apply braking force to the front wheel and the rear wheel, instability of a vehicle body is automatically corrected, and accidents are prevented. Electronic parking auxiliary system, motor unit are integrated to left and right back brake caliper on, and electronic control unit will control the motor action of integrating in left and right brake caliper to drive the brake caliper piston and remove and produce mechanical clamping force, accomplish the rear wheel braking, realize the parking braking, can avoid the vehicle unnecessary to slide, the simple one says that the vehicle can not swift current the back. The electronic power-assisted brake uses a motor to generate power assistance to push a brake master cylinder to work, when the brake is stepped on, the power-assisted motor operates to push the brake pump to apply pressure to brake oil, the liquid transmits the pressure to pistons of brake calipers of a front wheel and a rear wheel through pipelines, and the pistons drive the brake calipers to clamp a brake disc so as to apply braking force to the front wheel and the rear wheel, so that a running automobile is decelerated and even stopped. The vehicle bears life, and the braking system is used as a core system of the vehicle, and the importance of the braking system is self-evident, wherein the electronic power-assisted braking system of the vehicle is the most critical system. When the electronic power-assisted brake system of the vehicle fails, the vehicle faces out of control of the speed, serious traffic accidents are caused, and life and property are lost.
In the prior art, the electronic power-assisted brake system breaks down, uncontrollable influence is caused to vehicle running, accidents are caused, and the lives of a driver and a passenger are threatened. In some related technologies, some systems are provided with redundancy, for example, some technologies are provided with two sets of electronic power-assisted brake systems or two sets of electronic stability control systems, and when one set of system fails, the same function can be realized through the same backup system. However, the backup redundancy system can cause huge cost increase, the vehicle space occupies a large amount, and the vehicle body weight is correspondingly increased. On the other hand, the electronic power-assisted braking system of the vehicle is detected to be out of work, so that the time delay exists, and the failure of the electronic power-assisted braking system cannot be found in time.
Disclosure of Invention
In order to solve the technical problem, the present disclosure provides a redundancy control method and a redundancy control system for a multi-brake system.
In a first aspect, the present disclosure provides a redundancy control method for a multi-brake system, applied to a redundancy control system, where the redundancy control system includes: the parking brake system comprises an electronic stability control system, an electronic parking auxiliary system and an electronic power-assisted brake system; the multi-brake system redundancy control method comprises the following steps: determining that the electronic power-assisted brake system fails through at least one of an electronic stability control system, an electronic parking assist system and the electronic power-assisted brake system; determining a braking force demand value in response to failure of the electronic power-assisted braking system; determining a front wheel braking force demand value and a rear wheel braking force demand value based on the braking force demand value; applying braking forces to the front wheels and the rear wheels by the electronic stability control system and/or the electronic parking assist system based on the front wheel braking force demand value and the rear wheel braking force demand value.
In some embodiments, the determining that the electronic power brake system is failed by at least one of an electronic stability control system, an electronic parking assist system, and an electronic power brake system includes: detecting whether a control driving module and a circuit sensing module of the electronic power-assisted brake system have faults or not; and if the control driving module or the circuit sensing module breaks down, determining that the electronic power-assisted braking system fails.
In some embodiments, the control drive module comprises: the single chip microcomputer and/or the motor driving module; the circuit sensing module comprises one or more of: power, H bridge circuit module, motor, sensor.
In some embodiments, the determining that the electronic power brake system is failed by at least one of an electronic stability control system, an electronic parking assist system, and an electronic power brake system includes: and if the electronic stability control system and/or the electronic parking auxiliary system cannot receive the data of the electronic power-assisted braking system, determining that the electronic power-assisted braking system fails.
In some embodiments, the determining, by at least one of an electronic stability control system, an electronic parking assist system, and an electronic assisted braking system, that the electronic assisted braking system is disabled further includes: responding to the fact that a brake pedal is stepped on, determining the current oil pressure through the electronic stability control system, and if the current oil pressure is smaller than an oil pressure value corresponding to the stroke of the brake pedal, determining that the electronic power-assisted brake system is invalid; or responding to the fact that a brake pedal is stepped on, determining the current acceleration through the electronic stability control system, and if the current acceleration is smaller than an acceleration value corresponding to the stroke of the brake pedal, determining that the electronic power-assisted brake system is invalid.
In some embodiments, the determining, by at least one of an electronic stability control system, an electronic parking assist system, and an electronic assisted braking system, that the electronic assisted braking system is disabled further comprises: determining, by the electronic stability control system, a current oil pressure in response to a throttle release; and if the current oil pressure is smaller than a threshold value, determining that the electronic power-assisted braking system is invalid.
In some embodiments, the determining a braking force demand value in response to the electronic power assisted braking system failing comprises: acquiring a target braking force of the electronic power-assisted brake system or the driving assistance system; determining the current braking force; the braking force demand value is determined based on the target braking force and the current braking force.
In some embodiments, the determining a braking force demand value in response to the electronic power assisted braking system failing comprises: the braking force demand is determined based on a current vehicle speed.
In some embodiments, the determining a braking force demand value in response to the electronic power assisted braking system failure comprises: acquiring the travel of a brake pedal; determining a target braking force based on the brake pedal stroke; determining the current braking force; the braking force demand value is determined based on the target braking force and the current braking force.
In some embodiments, applying braking forces to front and rear wheels by the electronic stability control system and/or the electronic parking assist system based on the front wheel braking force demand and the rear wheel braking force demand includes: applying, by the electronic stability control system, a braking force of a front wheel based on the front wheel braking force demand value; if the required value of the braking force of the rear wheel is less than or equal to the maximum braking force which can be applied to the rear wheel by the electronic stability control system, applying the braking force of the rear wheel by the electronic stability control system; and if the rear wheel braking force demand is greater than the maximum braking force that the electronic stability control system can apply to the rear wheels, applying a braking force to the rear wheels through the electronic stability control system and the electronic parking assist system.
In some embodiments, the multi-brake system redundancy control method further comprises: and in response to the stop of the vehicle, releasing the braking force applied by the electronic stability control system, and performing parking braking through the electronic parking assisting system.
In a second aspect, the present disclosure also provides a redundant control system comprising: the electronic stability control system, the electronic parking assist system, the electronic power-assisted brake system and the plurality of vehicle brakes corresponding to each wheel of the vehicle are subjected to brake redundancy control by the multi-brake system redundancy control method according to the first aspect.
In some embodiments, the redundant control system further comprises: a brake pedal travel signal acquisition circuit; and the electronic stability control system acquires the stroke of the brake pedal through the brake pedal stroke signal acquisition circuit.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
when the electronic stability control system, the electronic parking auxiliary system and the electronic power-assisted brake system all work normally, the systems can be mutually independent and do not influence the functions of the systems.
After the electronic power-assisted braking system is detected to be out of work, redundancy can be provided for the electronic power-assisted braking system through the electronic stability control system and the electronic parking auxiliary system, the electronic stability control system and the electronic parking auxiliary system can replace the functions of the electronic power-assisted braking system independently or jointly to apply required braking force to the front wheels and the rear wheels, so that the vehicle is braked and decelerated, the vehicle speed is prevented from being out of control, the safety of the vehicle can be effectively improved, and safety accidents caused by the failure of the independent electronic power-assisted braking system are avoided.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.
FIG. 1 illustrates a flow diagram of a multi-brake system redundancy control method according to some embodiments of the present disclosure;
FIG. 2 is a flow chart illustrating a multi-brake system redundancy control method according to further embodiments of the present disclosure;
FIG. 3 is a flow chart illustrating a multi-brake system redundancy control method according to further embodiments of the present disclosure;
FIG. 4 is a flow chart illustrating a multi-brake system redundancy control method according to further embodiments of the present disclosure;
FIG. 5 illustrates an architectural schematic of a redundant control system of some embodiments of the present disclosure;
FIG. 6 illustrates an architectural schematic of a redundant control system of further embodiments of the present disclosure;
FIG. 7 illustrates an architectural schematic of a redundant control system of further embodiments of the present disclosure.
100. Redundant control system
101. External input
102. Vehicle Control Unit (Electronic Control Unit, ECU)
201. Storage battery
301. Automobile Electronic Stability control system (ESC)
401. Electronic BOOSTER brake system (BOOSTER)
501. Electronic parking assist system (Electrical Park Brake, EPB)
601. Left front brake of left front wheel
602. Right front brake of right front wheel
603. Left rear brake of left rear wheel
604. A right rear brake of the right rear wheel.
Detailed Description
The disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable one of ordinary skill in the art to better understand and thus implement the present disclosure, and do not imply any limitation on the scope of the present disclosure.
As used herein, the term "include" and its variants are to be read as open-ended terms meaning "including, but not limited to. The term "based on" is to be read as "based, at least in part, on". The terms "one embodiment" and "an embodiment" are to be read as "at least one embodiment". The term "another embodiment" is to be read as "at least one other embodiment".
In order to solve the above technical problem, in some embodiments, the present disclosure provides a redundancy system, as shown in fig. 6, which may include: an Electronic Stability Control (ESC) system, an Electronic Park Brake (EPB) system, and an Electronic power-assisted Brake system (boost) system. Through the three systems, mutual redundancy assistance is realized, a self redundancy system does not need to be independently arranged on any system, mutual redundancy assistance functions are realized through the redundancy assistance functions of other systems, faults can be timely detected and found, and when a certain system fails, corresponding functions of a fault system are realized through the redundancy assistance functions of other systems, so that the safety of a vehicle is ensured.
In other embodiments, as shown in fig. 7, the present disclosure also provides a redundancy system that may include: the vehicle Brake system comprises a storage battery, an entire vehicle Controller (ECU), an automotive Electronic Stability Control system (ESC), an Electronic parking assist system (Electronic Park Brake, EPB), an Electronic power-assisted Brake system (boost), and a plurality of vehicle brakes corresponding to each wheel of the vehicle, wherein the plurality of vehicle brakes may comprise a left front Brake of a left front wheel, a right front Brake of a right front wheel, a left rear Brake of the left rear wheel, and a right rear Brake of the right rear wheel on a general four-wheel vehicle.
The storage battery can be respectively connected with the automobile electronic stability control system, the electronic parking auxiliary system and the electronic power-assisted brake system through power supply lines. The storage battery respectively provides energy power supply for the automobile electronic stability control system, the electronic parking auxiliary system and the electronic power-assisted brake system.
The vehicle control unit CAN be respectively connected with an external input, an automobile electronic stability control system, an electronic parking auxiliary system and an electronic power-assisted brake system through a CAN communication line. The vehicle control unit can input command signals to the vehicle electronic stability control system, the electronic parking auxiliary system and the electronic power-assisted braking system, and can also receive signals of the vehicle electronic stability control system, the electronic parking auxiliary system and the electronic power-assisted braking system and external input signals. The vehicle control unit can input command signals to the electronic stability control system, the electronic parking auxiliary system and the electronic power-assisted brake system of the vehicle to adjust the working states of the electronic stability control system, the electronic parking auxiliary system and the electronic power-assisted brake system of the vehicle.
The electronic stability control system, the electronic parking auxiliary system and the electronic power-assisted brake system of the automobile CAN send and receive signals and data through the CAN communication line. In some cases, if a certain system signal or data cannot be received, there may be a possibility that the system fails, and the failure may include a communication failure or a system failure, which may result in failure to implement a corresponding function.
The automobile electronic stability control system can be connected with the storage battery through a power supply line, and the storage battery supplies energy for the automobile electronic stability control system to enable the automobile electronic stability control system to normally operate. The electronic stability control system of the automobile CAN be connected with the vehicle control unit through a CAN communication line, on one hand, signals acquired by the electronic stability control system of the automobile are input to the vehicle control unit, on the other hand, the electronic stability control system of the automobile CAN also receive the signals of the vehicle control unit and execute pressure adjustment of a vehicle brake corresponding to each wheel. The automobile electronic stability control system can comprise a six-axis acceleration sensor or other sensors, can detect the motion state of an automobile body, can control brakes corresponding to tires through brake pipelines under the conditions of sideslip, tire locking and the like of the automobile body, changes the working state of the corresponding brakes, and avoids uncontrollable danger of the automobile. The automobile electronic stability control system can be communicated with the vehicle brakes of the wheels through the brake pipelines and also can be connected with the electronic power-assisted brake system through the brake pipelines, and the automobile electronic stability control system can adjust the pressure of the vehicle brakes of the wheels through hydraulic pressure adjustment of the brake pipelines, so that the control performance of the vehicle is improved, and the vehicle is effectively prevented from being out of control when reaching the dynamic limit. In some cases, for example: the electronic stability control system of the automobile and the circuit of the storage battery are in failure, and the electric power is lost; the communication between the automobile electronic stability control system and the whole automobile controller is disconnected, and the automobile electronic stability control system cannot receive signals and the like; brake pipe faults may cause the electronic stability control system of the automobile to fail to operate normally.
The electronic power-assisted braking system can be connected with the storage battery through a power supply line, and the storage battery provides energy supply for the electronic power-assisted braking system to enable the electronic power-assisted braking system to normally operate. The electronic power-assisted braking system CAN be connected with the vehicle control unit through a CAN communication line, on one hand, signals of the electronic power-assisted braking system CAN be input to the vehicle control unit, and on the other hand, pressure adjustment of a braking pipeline CAN be executed after the electronic power-assisted braking system receives the signals of the vehicle control unit. The electronic power-assisted brake system can be connected with the electronic stability control system of the automobile through a brake pipeline, and when the signal changes the hydraulic pressure in the brake pipeline of the electronic power-assisted brake system, the electronic stability control system of the automobile receives the change of the hydraulic pressure in the brake pipeline. The braking instruction of the electronic power-assisted braking system can be completed under the regulation of the automobile electronic stability control system, so that the control performance of the automobile is improved, and the automobile is effectively prevented from being out of control when reaching the dynamic limit. The electronic power-assisted brake system can control hydraulic pressure according to a hydraulic signal transmitted by a brake pedal of a vehicle, so that the vehicle brake of each wheel is controlled, and the braking and the speed reduction are realized. In some cases, for example: the electronic power-assisted brake system and the storage battery circuit are in failure and lose power; the electronic power-assisted brake system is disconnected from the vehicle controller in signal, and cannot receive signals and the like; failure of the brake pipe may result in failure of the electric power assisted brake system.
The electronic parking auxiliary system can be connected with the storage battery through a power supply line, and the storage battery supplies energy for the electronic parking auxiliary system to enable the electronic parking auxiliary system to normally operate. The electronic parking auxiliary system CAN be connected with the vehicle control unit through a CAN communication line, on one hand, signals of the electronic parking auxiliary system CAN be input to the vehicle control unit, and on the other hand, after the electronic parking auxiliary system receives the signals of the vehicle control unit, vehicle brakes of wheels or rear wheels are controlled, and parking braking is achieved. In some embodiments, the electronic parking assist system may be electrically connected to the vehicle brakes of the two rear wheels, and the motors of the vehicle brakes of the two rear wheels are respectively electrically connected to the electronic parking assist system, so that the positive and negative currents can control the positive and negative rotations of the motors, thereby controlling the parking brake or releasing the parking brake of the vehicle brakes, and thus achieving long-time parking or parking cancellation. In some cases, for example: the electronic parking auxiliary system and the storage battery circuit are in failure and lose power; the electronic parking assist system may not operate normally due to the fact that the electronic parking assist system is disconnected from the vehicle controller and the vehicle brakes of the wheels and cannot receive signals.
The present disclosure provides a multi-brake system redundancy control method and a redundancy control system, wherein the multi-brake system redundancy control method, as shown in fig. 1, may include steps S11-S14, which are described in detail below.
S11, determining that the electronic power-assisted brake system fails through at least one of the electronic stability control system, the electronic parking auxiliary system and the electronic power-assisted brake system;
in the embodiment of the disclosure, the electronic stability control system, the electronic parking assist system and the electronic power-assisted brake system can perform signal communication, and each system can have an active failure detection function. In some embodiments, the electronic power-assisted brake system can judge whether a system of the electronic power-assisted brake system has a fault or not through self detection; in other embodiments, the electronic power braking system may determine whether the electronic power braking system has a fault through detection of at least one of the electronic stability control system and the electronic parking assist system. Through detection, the fault of the electronic power-assisted brake system can be known in advance or in time, so that the timeliness of the redundant auxiliary function can be ensured, and accidents are avoided. In some embodiments, each system can detect whether each system is operating normally by operating briefly. And (3) the active failure detection of the electronic power-assisted braking system cannot operate, namely, the failure of the electronic power-assisted braking system is explained. Whether the electronic power-assisted braking system normally operates or not is rapidly detected in real time through the electronic stability control system, the electronic parking auxiliary system and the automatic failure detection function of the electronic power-assisted braking system.
In some embodiments, the step S11 of determining that the electronic power-assisted braking system is disabled by at least one of the electronic stability control system, the electronic parking assist system, and the electronic power-assisted braking system may include: detecting whether a control driving module and a circuit sensing module of the electronic power-assisted brake system have faults or not; and if the control driving module or the circuit sensing module has faults, determining that the electronic power-assisted braking system fails.
In the embodiment of the disclosure, the electronic power-assisted brake system can timely find whether a fault or partial fault exists in the system of the electronic power-assisted brake system through self detection. The control driving module can convert signals transmitted from the inside and the outside of the electronic power-assisted brake system into signals for opening or closing the control target according to the target requirements controlled by the control driving module, so that the control target is opened or closed, and the control of the control target is realized. A circuit sensing module of the electronic power-assisted brake system is a functional module for executing signals in the electronic power-assisted brake system and is a specific operation unit. The control driving module and the circuit sensing module of the electronic power-assisted brake system can be detected, the signal output of the control driving module is detected through input signals, and if no signal is output or the signal output is not a signal of a control target, the control driving module is indicated to be in a fault state; the functional module for detecting the specific execution signal is used for inputting a signal to the circuit sensing module, if the functional module can work normally, the circuit sensing module is normal, otherwise, the circuit sensing module is in failure. Through inputting external signals or internal signals, the function detection of the electronic power-assisted braking system control driving module and the circuit sensing module is realized, whether the whole electronic power-assisted braking system fails or not is judged, and through detecting a specific functional module, the electronic power-assisted braking system fault which is difficult to detect is converted into specific function detection, so that the electronic power-assisted braking system can be quickly and quantitatively detected.
In some embodiments, controlling the drive module may include: the single chip microcomputer and/or the motor driving module; the circuit sensing module may include one or more of: power, H bridge circuit module, motor, sensor.
In an embodiment of the present disclosure, the control driving module may include: singlechip and/or motor drive module. The single chip microcomputer is also called a single chip microcontroller, and belongs to an integrated circuit chip. The single chip microcomputer is used for carrying out data calculation and processing on electronic signals in the electronic power-assisted brake system and sending command signals to a control target. And the motor driving module is used for controlling a motor in the electronic power-assisted braking system and controlling the operation of the motor and the adjustment of motor parameters according to the transmitted electronic signals. A circuit sensing module comprising: power, H bridge circuit module, motor, sensor. The power supply provides electric support for the electronic power-assisted brake system. And the H-bridge circuit module is a module for controlling the motor. The motor is a power assisting source for the electronic power-assisted brake system, and the brake action is completed through the motor, so that the brake performance is improved. The sensor receives parameters in various electronic power-assisted brake systems and converts the parameters into electronic signals. The single chip microcomputer and/or the motor driving module can shorten the calculation reaction time of the electronic power-assisted braking system, enable the motor to be driven more timely and reduce the braking reaction time. The power supply enables the electronic power-assisted braking system to continue working when the electronic power-assisted braking system is short of an external power supply, so that the stability of the electronic power-assisted braking system is ensured. H bridge circuit module, can be stable, quick control motor work. The motor and the power source of the electronic power-assisted brake system can quickly complete brake. And the sensor is used for detecting parameters of various electronic power-assisted brake systems and providing basic data signals for subsequent instructions.
In other embodiments, the step S11 of determining that the electronic power-assisted braking system is failed by at least one of the electronic stability control system, the electronic parking assist system, and the electronic power-assisted braking system may include: and if the electronic stability control system and/or the electronic parking auxiliary system cannot receive the data of the electronic power-assisted braking system, determining that the electronic power-assisted braking system fails.
In the embodiment of the disclosure, signal communication can be performed among three systems, namely an electronic stability control system, an electronic parking assist system and an electronic power-assisted braking system, wherein one or two systems send signals to the electronic power-assisted braking system, the electronic power-assisted braking system has no signal response, or the electronic power-assisted braking system should have signal output, but any one of the electronic stability control system and the electronic parking assist system cannot receive the signals of the electronic power-assisted braking system, and the electronic power-assisted braking system fails. In some embodiments, any one of the electronic stability control system and the electronic parking assist system cannot receive data of the electronic power-assisted braking system, that is, failure of the electronic power-assisted braking system is judged, so that detection omission is reduced, and safety of a vehicle is guaranteed. Meanwhile, due to the fact that the data of the electronic power-assisted brake system cannot be received due to the fact that system problems or communication faults exist, in other embodiments, the electronic power-assisted brake system can be judged to be invalid under the condition that the data of the electronic power-assisted brake system cannot be received by the electronic stability control system and the electronic parking assist system, and therefore accuracy and reliability of judgment are improved. The electronic power-assisted brake system failure can be judged quickly, and the electronic stability control system and the electronic parking auxiliary system can make timely response to the electronic power-assisted brake system failure, so that redundant assistance can be performed in advance, the electronic stability control system and the electronic parking auxiliary system can be used for assisting directly when braking is needed, or the vehicle can be stopped timely. In some embodiments, the electronic stability control system and/or the electronic parking assist system cannot receive data of the electronic power-assisted braking system, determine that the electronic power-assisted braking system fails, and after a period of time, the electronic stability control system and/or the electronic parking assist system receives the data of the electronic power-assisted braking system again, and may determine that the electronic power-assisted braking system is recovered to be normal.
In some embodiments, the step S11 of determining that the electronic power-assisted braking system is disabled by at least one of an electronic stability control system, an electronic parking assist system, and an electronic power-assisted braking system may further include: responding to the fact that a brake pedal is stepped on, determining current oil pressure through an electronic stability control system, and if the current oil pressure is smaller than an oil pressure value corresponding to the stroke of the brake pedal, determining that an electronic power-assisted brake system fails; or, in response to the brake pedal being stepped on, determining the current acceleration through the electronic stability control system, and if the current acceleration is smaller than an acceleration value corresponding to the stroke of the brake pedal, determining that the electronic power-assisted braking system is failed.
In the disclosed embodiment, the brake pedal may include a sensor, and in response to a signal from the sensor, when the brake pedal is pressed, the brake pedal generates a stroke, the vehicle brake system may apply pressure to brake oil in the master cylinder according to the stroke of the brake pedal, the fluid transmits the pressure to a piston of each wheel brake caliper through a pipeline, and the piston drives the brake caliper to clamp a brake disc so as to generate great friction force to decelerate the vehicle. When the brake pedal is stepped by a driver, the brake pedal generates a stroke, brake oil of the vehicle can generate corresponding pressure, and the failure of the electronic power-assisted brake system can be determined when the oil pressure value detected by an oil pressure sensor in the electronic stability control system is smaller than the corresponding pressure value which the vehicle should generate. On the other hand, when a driver steps on the brake pedal, the brake pedal can generate a stroke, the vehicle brake system can apply corresponding pressure to brake oil in a brake master cylinder according to the stroke of the brake pedal, the pressure is transmitted to the piston of each wheel brake caliper through a pipeline by liquid, the piston drives the brake calipers to clamp a brake disc, so that huge friction force is generated to decelerate the vehicle, and the vehicle generates acceleration at the moment. When the brake pedal is pressed down, the brake pedal generates a stroke, the corresponding vehicle generates corresponding acceleration, and the acceleration detected by the acceleration sensor in the electronic stability control system is larger than the acceleration which should be generated by the vehicle, so that the electronic power-assisted brake system is determined to be invalid. By detecting the states before and after the brake pedal is stepped on and the numerical values of parameters such as vehicle oil pressure and acceleration change, and calculating and comparing the numerical values, a numerical value capable of being specifically compared is formed, and the fault degree of the electronic power-assisted brake system can be quickly and accurately judged.
In other embodiments, the step S11, determining that the electronic power-assisted braking system is failed by at least one of the electronic stability control system, the electronic parking assist system, and the electronic power-assisted braking system, may further include: in response to a throttle release, a current oil pressure may be determined by the electronic stability control system; and if the current oil pressure is less than the threshold value, determining that the electronic power-assisted braking system fails.
In the embodiment of the disclosure, when a driver releases an accelerator pedal, the electronic power-assisted brake system can perform pre-braking, so that the pressure of brake oil of a brake master cylinder is increased, liquid transmits the pressure to the piston of each wheel brake caliper through a pipeline, and the piston drives the brake calipers to pre-clamp a brake disc. And when the measured value of the oil pressure sensor in the electronic stability control system is smaller than the pre-braking oil pressure value of the oil pressure system, determining that the electronic power-assisted braking system fails. When the accelerator pedal is loosened, the pressure of oil pressure is detected, failure detection is carried out on the electronic power-assisted brake system, follow-up actions of a driver are predicted in advance, failure detection of the electronic power-assisted brake system is carried out in advance, the state of the electronic power-assisted brake system can be detected earlier, and the failure detection is more targeted.
S12, responding to the failure of the electronic power-assisted brake system, and determining a braking force demand value;
in the embodiment of the disclosure, under the condition that the electronic power-assisted braking system is detected to be failed in an active or passive manner, the required value of the braking force is determined, and the required value is provided for the subsequent braking operation, so that the electronic stability control system and the electronic parking assisting system perform redundant assistance to meet the required value of the braking force. There are different situations in vehicle braking, sometimes a larger braking force is needed, such as emergency braking, etc., sometimes a smaller braking force is needed, such as slow deceleration, vehicle speed maintenance, etc., so it is necessary to determine the current vehicle state and driver's demand, determine the required value of the braking force, and make different braking plans according to different braking force required values, so as to meet the demands of the vehicle and the driver on the braking force.
In some embodiments, as shown in fig. 2, the step S12 of determining the braking force demand value in response to the failure of the electronic power assisted braking system may include: step S121, acquiring a target braking force of an electronic power-assisted brake system or a driving assistance system; step S122, determining the current braking force; in step S123, a braking force demand value is determined based on the target braking force and the current braking force.
In the disclosed embodiment, the vehicle electronic power brake system has failed, the target braking force for vehicle braking may be determined based on system data of the electronic power brake system or the driving assistance system, and at the same time, the current braking force of the vehicle may be detected by a sensor, and the required value of the current vehicle braking force may be calculated based on the difference between the target braking force and the current braking force. The specific mathematical formula is as follows:
In some cases, the electronic power-assisted braking system may be partially disabled and can provide a certain braking force; or in the case of complete failure of the electronic power-assisted brake system, some vehicles may generate active braking force by the driver depressing the brake pedal, but there are situations where the braking force is insufficient. The current braking force is detected, the braking force demand value is calculated more accurately, and the vehicle control system can adjust the vehicle state more accurately and accurately according to the actual braking force demand value, so that accidents are reduced, the vehicle can cope with the faults of the electronic power-assisted braking system, and more reasonable measures are taken.
In other embodiments, the step S12 of determining the braking force demand value in response to the failure of the electronic power assisted braking system may include: based on the current vehicle speed, a braking force demand value is determined.
In the embodiment of the disclosure, the most appropriate braking force provided by the vehicle for safe parking under the safe condition, that is, the braking force demand value, can be calculated according to the measured current vehicle speed. The electronic power-assisted brake system is invalid, and has great safety risk to vehicles and personnel, so that the vehicle can be stopped as soon as possible under the condition of ensuring the safety of drivers and vehicles, and the safety of the personnel and the vehicles is ensured.
In other embodiments, as shown in FIG. 3, step S12, determining a braking force demand value in response to a failure of the electric power assisted braking system, includes: s124, obtaining the travel of the brake pedal; s125, determining a target braking force based on the travel of the brake pedal; s126, determining the current braking force; s127, a braking force demand value is determined based on the target braking force and the current braking force.
In the embodiment of the disclosure, the stroke of the brake pedal is measured by a sensor of the brake pedal, and the stroke of the brake pedal corresponds to the target braking force and the oil pressure value matched with the stroke of the brake pedal. And calculating the corresponding current vehicle braking force through an acceleration sensor or an oil pressure sensor in the electronic stability control system. The difference between the target braking force and the current vehicle braking force is the required value of the braking force. The formula for calculating the target braking force from the brake pedal stroke is as follows:
wherein d is the brake pedal travel, d 0 For braking the travel of the power-assisted jump points, d s For braking the travel of the boost saturation point, F j For braking booster jump-point braking forces, F max Is the maximum braking force.
Through the travel of the brake pedal, the required value of the driver for the braking force is calculated, so that the vehicle control system can adjust the braking force to the braking force required by the driver in time, the requirement of the driver is met, the operation of the driver is more continuous, and the risk of vehicle runaway is reduced.
Step S13, determining a required braking force value of the front wheel and a required braking force value of the rear wheel based on the required braking force value;
in the embodiment of the disclosure, according to the required value of the braking force, the required value of the braking force is reasonably distributed by a calculation formula, and the distribution coefficients of the required value of the braking force of the front wheel and the required value of the braking force of the rear wheel are as follows:
wherein l \ u H 、l_ V And l are the distance from the gravity center of the vehicle to the rear axle and the front axle and the wheel base, h is the gravity center height, and a is the deceleration.
By accurately calculating the required braking force value of the front wheel and the required braking force value of the rear wheel, the situation that the required braking force value is distributed unreasonably, so that the situations that the vehicle drifts, the rear wheel is locked and the like affect the safety can be prevented.
In step S14, braking force may be applied to the front wheels and the rear wheels by the electronic stability control system and/or the electronic parking assist system based on the front wheel braking force demand value and the rear wheel braking force demand value.
In the embodiment of the disclosure, the braking operation can be performed by using the electronic stability control system and/or the electronic parking assist system instead of the electronic power-assisted braking system according to the required braking force value of the front wheel and the required braking force value of the rear wheel, the redundancy of the electronic power-assisted braking system, and the braking force can be applied to the front wheel and the rear wheel to brake the vehicle. The redundancy of the electronic power-assisted brake system can increase the safety of the vehicle, reduce the condition that the vehicle cannot brake and ensure the safety of personnel and the vehicle.
In some embodiments, as shown in fig. 4, step S14, applying braking forces to the front and rear wheels through the electronic stability control system and/or the electronic parking assist system based on the front wheel braking force demand and the rear wheel braking force demand may include: s141, applying the braking force of the front wheel through an electronic stability control system based on the braking force demand value of the front wheel; s142, if the required value of the braking force of the rear wheel is less than or equal to the maximum braking force which can be applied to the rear wheel by the electronic stability control system, applying the braking force of the rear wheel by the electronic stability control system; and S143, if the required value of the braking force of the rear wheel is larger than the maximum braking force which can be applied to the rear wheel by the electronic stability control system, applying the braking force to the rear wheel by the electronic stability control system and the electronic parking assistance system.
In the embodiment of the disclosure, according to the required value of the front wheel braking force, the electronic stability control system issues an instruction to the master brake pump, brake oil in the master brake pump applies pressure, the liquid transmits the pressure to the piston of the front wheel brake caliper through a pipeline, and the piston drives the brake caliper to clamp the brake disc so as to apply the braking force to the front wheel. If the braking force requirement of the rear wheel is smaller than or equal to the maximum braking force which can be applied to the rear wheel by the electronic stability control system, an instruction is given to a master brake pump through the electronic stability control system, brake oil in the master brake pump applies pressure, liquid transmits the pressure to a piston of a brake caliper of the wheel of the rear wheel through a pipeline, and the piston drives the brake caliper to clamp a brake disc so as to apply the braking force to the rear wheel. When the braking force demand of the rear wheel is large, the electronic stability control system and the electronic parking auxiliary system work simultaneously, the electronic stability control system issues an instruction to the master cylinder, brake oil in the master cylinder applies pressure, liquid transmits the pressure to the piston of the brake caliper of the rear wheel through a pipeline, the piston drives the brake caliper to clamp the brake disc so as to apply the braking force to the rear wheel, and meanwhile, the electronic parking auxiliary system clamps the brake pad through the motor to generate the braking force to control parking braking, so that the braking force is applied to the rear wheel. The required value of the braking force of the rear wheel is divided into an electronic stability control system for independently providing the braking force and an electronic stability control system and an electronic parking assisting system for jointly providing the braking force according to the value. The electronic stability control system provides braking force independently, provides braking force quickly and stably, and enables a driver to experience the same braking experience as that of an electronic power-assisted braking system. The electronic stability control system and the electronic parking auxiliary system provide value braking force together, and the electronic stability control system and the electronic parking auxiliary system are accurately adjusted according to different conditions, so that reasonable utilization of braking system resources is realized, and the electronic parking auxiliary system is prevented from causing drifting of a vehicle due to the braking force provided for a rear wheel.
In some embodiments, in step S14, the multi-brake system redundancy control method may further include: and in response to the stop of the vehicle, releasing the braking force applied by the electronic stability control system, and performing parking braking through the electronic parking assisting system.
In the embodiment of the disclosure, when the vehicle sensor detects that the vehicle stops, the speed of the vehicle can be determined to be zero through detection of the wheel speed sensor and the acceleration sensor of the electronic stability control system. The electronic stability control system gives an instruction to the master cylinder, brake oil in the master cylinder stops applying pressure, and the brake calipers are driven to release the brake disc, so that the braking force is relieved. In the electronic parking auxiliary system, the motor unit is integrated on the left and right rear brake calipers, and the electronic control unit controls the motors integrated in the left and right brake calipers to act and drives the brake caliper piston to move to generate mechanical clamping force so as to complete parking braking. When the vehicle stops, the braking force of the electronic stability control system is released, and the electronic parking assisting system is used for parking to prevent the vehicle from sliding randomly to cause safety accidents after a driver leaves the vehicle.
Based on the same inventive concept, the present disclosure also provides a redundant control system, as shown in fig. 5, the redundant control system may include: the electronic stability control system, the electronic parking assisting system, the electronic power-assisted braking system and the plurality of vehicle brakes corresponding to each wheel of the vehicle are subjected to brake redundancy control through the multi-brake system redundancy control method of any one of the embodiments.
In the embodiment of the disclosure, the electronic stability control system can give an instruction to the master cylinder, brake oil in the master cylinder applies pressure, the liquid transmits the pressure to pistons of brake calipers of a front wheel and a rear wheel through pipelines, and the pistons drive the brake calipers to clamp a brake disc so as to apply braking force to the front wheel and the rear wheel. The electronic parking auxiliary system is characterized in that a motor unit is integrated on a left brake caliper and a right brake caliper, and an electronic control unit controls the action of a motor integrated in the left brake caliper and the right brake caliper and drives a brake caliper piston to move to generate mechanical clamping force to brake a rear wheel. The electronic power-assisted brake uses the power generated by the motor to push the brake master cylinder to work, when the brake is stepped on, the power-assisted motor operates to push the brake pump to apply pressure to brake oil, the liquid transmits the pressure to the pistons of the brake calipers of the front wheel and the rear wheel through pipelines, and the pistons drive the brake calipers to clamp a brake disc so as to apply braking force to the front wheel and the rear wheel. A redundant control system is provided to increase the measure of the vehicle against the failure and to increase the safety of the vehicle. In some embodiments, when a failure of the electronic power brake system is detected, the electronic stability control system and/or the electronic parking assist system may provide redundancy for the electronic power brake system as part of a redundant control system, i.e., the electronic stability control system and/or the electronic parking assist system replace the functionality of the electronic power brake system.
In some embodiments, the redundant control system may further comprise: a brake pedal travel signal acquisition circuit; the electronic stability control system acquires the stroke of the brake pedal through a brake pedal stroke signal acquisition circuit.
In the embodiment of the disclosure, when a brake is stepped on, the brake pedal moves to measure the stroke of the brake pedal, and the brake pedal stroke signal acquisition circuit acquires an electronic signal of the stroke of the brake pedal. The demand of the driver on the braking force can be specifically quantized, the demand of the driver on the braking force which is not easy to measure is converted into the stroke of the brake pedal which is convenient to measure, the demand of the driver on the braking force is quickly and accurately calculated, and the follow-up redundant control system is convenient to provide reasonable braking force.
With regard to the redundant control system in the above embodiment, the effects thereof have been described in detail in the embodiment related to the redundant control method of the multi-brake system, and will not be elaborated herein.
The methods and apparatus related to embodiments of the present disclosure can be accomplished with standard programming techniques with rule-based logic or other logic to accomplish the various method steps. It should also be noted that the words "means" and "module," as used herein and in the claims, is intended to encompass implementations using one or more lines of software code, and/or hardware implementations, and/or equipment for receiving input.
Any of the steps, operations, or procedures described herein may be performed or implemented using one or more hardware or software modules, alone or in combination with other devices. In one embodiment, the software modules are implemented using a computer program product comprising a computer readable medium containing computer program code, which is executable by a computer processor for performing any or all of the described steps, operations, or procedures.
It is understood that "a plurality" in this disclosure means two or more, and other words are analogous. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. The singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It will be further understood that the terms "first," "second," and the like, are used to describe various information and should not be limited by these terms. These terms are only used to distinguish one type of information from another, and do not indicate a particular order or degree of importance. Indeed, the terms "first," "second," etc. are used interchangeably throughout. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure.
It will be further understood that the terms "central," "longitudinal," "lateral," "front," "rear," "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the present embodiment and to simplify the description, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation.
It is further understood that, unless otherwise specified, "connected" includes direct connections between the two without other elements, indirect connections between the two with other elements, and communication connections that have no physical connection but are capable of information or data transfer.
It is further to be understood that while operations are depicted in the drawings in a particular order, this is not to be understood as requiring that such operations be performed in the particular order shown or in serial order, or that all illustrated operations be performed, to achieve desirable results. In certain environments, multitasking and parallel processing may be advantageous.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (13)
1. A multi-brake system redundancy control method is applied to a redundancy control system, and the redundancy control system comprises the following steps: the system comprises an electronic stability control system, an electronic parking auxiliary system and an electronic power-assisted brake system;
the multi-brake system redundancy control method comprises the following steps:
determining that the electronic power-assisted brake system fails through at least one of an electronic stability control system, an electronic parking assist system and the electronic power-assisted brake system;
in response to failure of the electronic power-assisted brake system, determining a braking force demand value;
determining a front wheel braking force demand value and a rear wheel braking force demand value based on the braking force demand value;
applying braking forces to the front wheels and the rear wheels by the electronic stability control system and/or the electronic parking assist system based on the front wheel braking force demand value and the rear wheel braking force demand value.
2. The multi-brake system redundancy control method of claim 1, wherein the determining the electronic power assisted braking system failure by at least one of an electronic stability control system, an electronic parking assist system, and an electronic power assisted braking system comprises:
detecting whether a control driving module and a circuit sensing module of the electronic power-assisted brake system have faults or not;
and if the control driving module or the circuit sensing module breaks down, determining that the electronic power-assisted braking system fails.
3. The multi-brake system redundancy control method according to claim 2, wherein the control drive module comprises: the single chip microcomputer and/or the motor driving module;
the circuit sensing module comprises one or more of: power, H bridge circuit module, motor, sensor.
4. The multi-brake system redundancy control method according to claim 1, wherein the determining that the electronic power-assisted brake system is failed through at least one of an electronic stability control system, an electronic parking assist system, and an electronic power-assisted brake system comprises:
and if the electronic stability control system and/or the electronic parking auxiliary system cannot receive the data of the electronic power-assisted braking system, determining that the electronic power-assisted braking system fails.
5. The multi-brake system redundancy control method of claim 4, wherein the determining the electronic assisted braking system is failed by at least one of an electronic stability control system, an electronic parking assist system, and an electronic assisted braking system, further comprises:
responding to the fact that a brake pedal is stepped on, determining current oil pressure through the electronic stability control system, and if the current oil pressure is smaller than an oil pressure value corresponding to the stroke of the brake pedal, determining that the electronic power-assisted brake system fails; or the like, or, alternatively,
and responding to the fact that a brake pedal is stepped on, determining the current acceleration through the electronic stability control system, and if the current acceleration is smaller than an acceleration value corresponding to the stroke of the brake pedal, determining that the electronic power-assisted brake system fails.
6. The multi-brake system redundancy control method of claim 4, wherein the determining the electronic assisted braking system is failed by at least one of an electronic stability control system, an electronic parking assist system, and an electronic assisted braking system, further comprises:
determining, by the electronic stability control system, a current oil pressure in response to a throttle release;
and if the current oil pressure is smaller than a threshold value, determining that the electronic power-assisted braking system is invalid.
7. The multi-brake system redundancy control method according to any one of claims 1 to 6, wherein the determining a braking force demand value in response to the failure of the electronic power assisted brake system comprises:
acquiring a target braking force of the electronic power-assisted brake system or the driving assistance system;
determining the current braking force;
the braking force demand value is determined based on the target braking force and the current braking force.
8. The multi-brake system redundancy control method according to any one of claims 1 to 6, wherein the determining a braking force demand value in response to the failure of the electronic power assisted brake system comprises:
the braking force demand is determined based on a current vehicle speed.
9. The multi-brake system redundancy control method according to any one of claims 1 to 6, wherein the determining a braking force demand value in response to the failure of the electronic power assisted brake system comprises:
acquiring the travel of a brake pedal;
determining a target braking force based on the brake pedal stroke;
determining the current braking force;
the braking force demand value is determined based on the target braking force and the current braking force.
10. The multi-brake system redundancy control method according to any one of claims 1 to 6, wherein the applying, by the electronic stability control system and/or the electronic parking assist system, braking forces to front wheels and rear wheels based on the front wheel braking force demand value and the rear wheel braking force demand value includes:
applying, by the electronic stability control system, a braking force of a front wheel based on the front wheel braking force demand value;
applying a braking force of a rear wheel by the electronic stability control system if the rear wheel braking force demand is less than or equal to a maximum braking force that the electronic stability control system is capable of applying to the rear wheel;
and if the rear wheel braking force demand is greater than the maximum braking force that the electronic stability control system can apply to the rear wheels, applying a braking force to the rear wheels through the electronic stability control system and the electronic parking assist system.
11. The multi-brake system redundancy control method according to claim 10, further comprising:
and releasing the braking force applied by the electronic stability control system in response to the stop of the vehicle, and performing parking braking through the electronic parking assist system.
12. A redundant control system, comprising: the parking brake system comprises an electronic stability control system, an electronic parking auxiliary system, an electronic power-assisted brake system and a plurality of vehicle brakes corresponding to each wheel of the vehicle;
brake redundancy control is performed by a multi-brake system redundancy control method according to any of claims 1 to 11.
13. The redundant control system of claim 12 wherein said redundant control system further comprises: a brake pedal travel signal acquisition circuit;
and the electronic stability control system acquires the stroke of the brake pedal through the brake pedal stroke signal acquisition circuit.
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| CN114291062A (en) * | 2021-12-30 | 2022-04-08 | 深兰人工智能(深圳)有限公司 | Brake-by-wire system, brake-by-wire method and vehicle comprising brake-by-wire system |
| CN114889576A (en) * | 2022-04-27 | 2022-08-12 | 江苏开沃汽车有限公司 | Automobile brake backup system and working method thereof |
| CN114802165A (en) * | 2022-05-05 | 2022-07-29 | 江铃汽车股份有限公司 | Vehicle braking method, device, equipment and storage medium |
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| CN118579039B (en) * | 2024-08-05 | 2024-11-15 | 比亚迪股份有限公司 | Braking processing method, device and system and vehicle |
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