CN118907053B - Control method, device and system for electric hydraulic brake boosting mode - Google Patents
Control method, device and system for electric hydraulic brake boosting modeInfo
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- CN118907053B CN118907053B CN202411122512.5A CN202411122512A CN118907053B CN 118907053 B CN118907053 B CN 118907053B CN 202411122512 A CN202411122512 A CN 202411122512A CN 118907053 B CN118907053 B CN 118907053B
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Classifications
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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
- B60T13/10—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 fluid assistance, drive, or release
- B60T13/12—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 fluid assistance, drive, or release the fluid being liquid
- B60T13/14—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 fluid assistance, drive, or release the fluid being liquid using accumulators or reservoirs fed by pumps
- B60T13/142—Systems with 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
- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
本发明涉及一种电动液压制动助力模式的控制方法、装置及系统，属于汽车技术领域，其中，该方法包括发送第一控制指令至传感器检测模块，以控制传感器检测模块检测传感器是否存在故障，并获取传感器检测模块返回的用于表征传感器是否存在故障的第一结果；在根据第一结果选择制动助力模式以控制电机工作完毕后，发送第二控制指令给电机工作状态检测模块，以控制电机工作状态检测模块检测电机是否故障，并获取电机工作状态检测模块返回的用于表征电机是否存在故障的第二结果；根据第二结果选择制动助力模式以控制电机工作。本发明通过对传感器和电机进行检测，提高了传感器和电机的使用寿命，且减少了车辆制动失灵的安全隐患。
The present invention relates to a control method, device, and system for an electric hydraulic brake assist mode, and belongs to the field of automotive technology. The method includes sending a first control instruction to a sensor detection module to control the sensor detection module to detect whether a sensor is faulty, and obtaining a first result returned by the sensor detection module to indicate whether the sensor is faulty; after selecting a brake assist mode to control the motor operation based on the first result, sending a second control instruction to a motor working state detection module to control the motor working state detection module to detect whether the motor is faulty, and obtaining a second result returned by the motor working state detection module to indicate whether the motor is faulty; and selecting a brake assist mode to control the motor operation based on the second result. By detecting the sensor and motor, the present invention increases the service life of the sensor and motor and reduces the safety hazards of vehicle brake failure.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a control method, a device and a system for an electric hydraulic brake boosting mode.
Background
With the development of the automobile industry, the number of electric vehicles is more and more large, and compared with a fuel oil vehicle, a brake booster system of the electric vehicle has two major challenges of canceling an engine vacuum source and increasing the weight of the whole vehicle. Conventional vacuum brake booster systems have not met future demands, and energy storage type electro-hydraulic brake booster systems are now also receiving attention from various car manufacturers and various car suppliers as one of the alternatives.
At present, when a sensor and a motor of an energy storage type electric hydraulic brake booster system are in fault, the detection functions of the sensor and the motor are lacked, so that a driver cannot find out the problem of braking failure in time, and potential safety hazards exist.
Therefore, a control method of an electric hydraulic brake boosting mode is urgently needed, and the problem of potential safety hazards caused by vehicle braking failure due to lack of detection of a sensor and a motor in the prior art is solved.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a control method for an electro-hydraulic brake assist mode to solve the problem of the safety hazard caused by the failure of the vehicle brake due to the lack of detection of the sensor and the motor in the prior art.
In order to solve the above-mentioned problems, the present invention provides a control method of an electro-hydraulic brake assist mode, including:
A first control instruction is sent to the sensor detection module to control the sensor detection module to detect whether the sensor has a fault or not, and a first result which is returned by the sensor detection module and used for representing whether the sensor has the fault or not is obtained;
after the brake boosting mode is selected according to the first result to control the motor to work, a second control instruction is sent to the motor working state detection module to control the motor working state detection module to detect whether the motor is faulty or not, and a second result which is returned by the motor working state detection module and used for representing whether the motor is faulty or not is obtained;
And selecting a brake boosting mode according to the second result to control the motor to work. In one possible implementation, before sending the first control instruction to the sensor detection module, the method further includes:
sending a third control instruction to the control circuit self-checking module so that the control circuit self-checking module detects whether the circuit of the ECU fails to obtain a third result, and acquiring the third result returned by the control circuit self-checking module;
And when the third result is determined to be normal, sending the fourth control instruction to the power supply voltage self-checking module.
In one possible implementation, the brake assist mode includes one or more of a normal assist mode, a degraded assist mode, and a limp-home mode.
In one possible implementation manner, the detecting, by the control sensor detecting module, whether the sensor has a fault, and acquiring a first result returned by the sensor detecting module and used for indicating whether the sensor has a fault, includes:
The sensor detection module determines whether the sensor fails according to the voltage value of the sensor and the voltage change value of the sensor in preset time, and a first result is obtained.
In one possible implementation, the sensor includes a first sensor and a second sensor, and the sensor detection module detects whether the sensor fails to obtain a first result, including:
when the first sensor and the second sensor are normal, the first result is a voltage value and a jump amplitude value of the first sensor, and the jump amplitude value of the first sensor is a change value of the voltage of the first sensor in a preset time;
when the first sensor is normal and the second sensor is abnormal, the first result is a voltage value and a jump amplitude value of the first sensor;
When the first sensor is abnormal and the second sensor is normal, the first result is a voltage value and a jump amplitude value of the second sensor;
when both the first sensor and the second sensor are abnormal, the first result is that both the sensors are abnormal.
In one possible implementation, the selecting the brake boost mode according to the first result includes:
When the first result is the voltage value and the jump amplitude of the first sensor, selecting a normal power-assisted mode and braking according to the voltage value and the jump amplitude of the first sensor;
when the first result is the voltage value and the jump amplitude of the second sensor, a degradation power assisting mode is selected and braking is carried out according to the voltage value and the jump amplitude of the second sensor;
and when the first result is that the sensors are abnormal, selecting a limp power assisting mode.
In one possible implementation manner, acquiring an alarm oil pressure of the accumulator, a lower limit oil pressure of the accumulator, an upper limit oil pressure of the accumulator, a target oil pressure of the accumulator and a motor working position mark, braking according to a voltage value and a jump amplitude value of the first sensor includes:
obtaining a first oil pressure of a first energy accumulator based on a voltage value and a jump amplitude value of a first sensor;
when the first oil pressure is smaller than the alarm oil pressure or the first oil pressure is smaller than the lower limit oil pressure, setting a motor working position mark to be in a working state, and enabling the motor to be in a supercharging state;
When the first oil pressure is larger than the target oil pressure, the motor working position mark is set to be in a non-working state, and the motor is in the non-working state;
when the first oil pressure is smaller than the target oil pressure and the first oil pressure is larger than or equal to the lower limit oil, the motor is in a non-working state;
Driving a brake push rod to brake based on the current oil pressure of the motor;
The braking according to the voltage value and the jump amplitude of the second sensor comprises the following steps:
obtaining a second oil pressure of the second accumulator based on the voltage value and the jump amplitude value of the second sensor;
when the second oil pressure is smaller than the lower limit oil pressure, a motor working position mark is set to be in a working state, and the motor is in a supercharging state;
When the second oil pressure is greater than or equal to the lower limit oil pressure, setting a motor working position mark to be in a non-working state;
Driving a brake push rod to brake based on the current oil pressure of the motor;
when the first result is that the sensors are abnormal, selecting a limp-home power-assisted mode comprises:
When the position of the brake push rod changes, the motor working position mark is set to be in a working state, the motor is in a supercharging state, the motor continuously supercharges for a preset time,
The brake push rod is driven to brake based on the current oil pressure of the motor.
On the other hand, the invention also provides a control device of the brake boosting mode, which comprises the following components:
the data acquisition module is used for sending a first control instruction to the sensor detection module so as to control the sensor detection module to detect whether the sensor has a fault or not, and acquiring a first result which is returned by the sensor detection module and is used for representing whether the sensor has the fault or not;
the first braking mode selection module is used for sending a second control instruction to the motor working state detection module after the braking power-assisted mode is selected according to the first result to control the motor to work, so as to control the motor working state detection module to detect whether the motor is faulty or not, and obtaining a second result which is returned by the motor working state detection module and is used for representing whether the motor is faulty or not;
And the second braking mode selection module is used for selecting a braking assistance mode according to a second result so as to control the motor to work.
On the other hand, the invention also provides a control system of the brake boosting mode, which comprises a sensor detection module, a motor working state detection module and a controller.
In one possible implementation, the motor operation monitoring system further comprises a sensor detection module and a motor operation state monitoring module.
The control method for the electric hydraulic braking assistance mode has the advantages that the controller in the EUC sends the first control instruction to the sensor detection module to control the sensor detection module to detect whether the sensor has a fault or not, and the first result which is returned by the sensor detection module and used for representing whether the sensor has the fault or not is obtained, so that the controller selects the braking assistance mode according to the first result, NVH performance of a system can be improved, starting frequency of a motor is reduced, after the controller selects the braking assistance mode according to the first result to control the motor to work, the controller sends the second control instruction to the motor working state detection module to control the motor working state detection module to detect whether the motor has the fault or not, and obtains the second result which is returned by the motor working state detection module and used for representing whether the motor has the fault or not.
Drawings
FIG. 1 is a flow chart of one embodiment of a method for controlling an electro-hydraulic brake assist mode provided by the present invention;
FIG. 2 is a schematic diagram of an embodiment of a dual energy storage electro-hydraulic braking power system according to the present invention;
FIG. 3 is a schematic flow chart of an embodiment of a method for controlling an electro-hydraulic brake assist mode provided by the present invention;
FIG. 4 is a flow chart of one embodiment of S102 in FIG. 1 according to the present invention;
FIG. 5 is a schematic diagram illustrating a motor entering a limp-home flow in one embodiment of a method for controlling an electro-hydraulic brake assist mode provided by the present disclosure;
FIG. 6 is a schematic structural diagram of an embodiment of a control device for a brake assist mode according to the present invention;
200 parts of a double-energy-storage electric hydraulic brake booster system, 201 parts of an ECU, 202 parts of a motor, 203 parts of a plunger pump, 204 parts of an energy storage B, 205 parts of an energy storage A, 206 parts of a sensor B, 207 parts of a sensor A, 208 parts of a liquid storage tank, 209 parts of a brake push rod, 2010 parts of a hydraulic distributor, 2011 parts of a brake master cylinder.
Detailed Description
The following detailed description of preferred embodiments of the application is made in connection with the accompanying drawings, which form a part hereof, and together with the description of the embodiments of the application, are used to explain the principles of the application and are not intended to limit the scope of the application.
Before the embodiments are shown, the following terms are explained.
ECU (Electronic Control Unit) electronic controller units, also known as "drive computers" for automobiles, are used to control the driving state of the automobile and to perform various functions thereof. The method mainly uses various sensors and buses for data acquisition and exchange to judge the state of the vehicle and the intention of a driver and controls the automobile through an actuator.
ESC (Electronic Stability Controller) vehicle body electronic stability control system is an active safety technology for assisting a driver in controlling a vehicle, can automatically correct instability of the vehicle body, and is beneficial to preventing accidents. ESCs employ advanced sensing techniques to determine driver intent in the direction of travel, and when the vehicle begins to deviate from the road, the system initiates intervention to apply braking force to one or more wheels, reducing engine valve intervention, and guiding the vehicle back to the correct route.
English abbreviation of noise, vibration and harshness (Noise, vibration, harshness). This is a comprehensive problem in measuring the quality of automobile manufacture, and it is most direct and superficial to the perception of the automobile user.
PID (proportional-integral-DERIVATIVE CONTROL) proportional-integral-derivative control, which forms a control deviation according to a given value and an actual output value, and forms a control quantity by linear combination of proportional, integral and derivative of the deviation, so as to control a controlled object.
PWM (Pulse Width Modulation) pulse width modulation, which is a method of digitally encoding the analog signal level. A high resolution counter is used in pulse width modulation to generate the square wave and the analog signal level can be encoded by adjusting the duty cycle of the square wave. PWM is commonly used in switching power supplies and motor control.
The invention provides a control method, a device and a system for an electric hydraulic brake boosting mode, which are respectively described below.
Fig. 1 is a schematic flow chart of an embodiment of a control method for an electro-hydraulic brake assist mode according to the present invention, where the control method for an electro-hydraulic brake assist mode shown in fig. 1 includes:
S101, a first control instruction is sent to a sensor detection module so as to control the sensor detection module to detect whether a sensor has a fault or not, and a first result which is returned by the sensor detection module and used for representing whether the sensor has the fault or not is obtained;
S102, after the brake boosting mode is selected according to the first result to control the motor to work, a second control instruction is sent to the motor working state detection module to control the motor working state detection module to detect whether the motor is faulty or not, and a second result which is returned by the motor working state detection module and used for representing whether the motor is faulty or not is obtained;
s103, selecting a brake boosting mode according to the second result to control the motor to work.
Compared with the prior art, the control method for the electric hydraulic braking assistance mode provided by the embodiment of the invention has the advantages that the controller in the EUC sends the first control instruction to the sensor detection module to control the sensor detection module to detect whether the sensor has a fault or not, and the first result which is returned by the sensor detection module and is used for representing whether the sensor has the fault or not is obtained, so that the controller selects the braking assistance mode according to the first result, the NVH performance of a system can be improved, the starting frequency of a motor is reduced, the controller sends the second control instruction to the motor working state detection module after the braking assistance mode is selected according to the first result to control the motor to work, so that the motor working state detection module is controlled to detect whether the motor has the fault or not, and the second result which is returned by the motor working state detection module and is used for representing whether the motor has the fault or not is obtained.
In this embodiment, the dual-energy-storage electro-hydraulic brake booster system is, as shown in fig. 2, divided into a dual-energy-storage electro-hydraulic brake booster system and an external system, and the dual-energy-storage electro-hydraulic brake booster system 200 includes a brake push rod 209, a hydraulic distributor 2010, a brake master cylinder, a reservoir 208, an ECU201, a motor 202, a plunger pump 203, a sensor a207, a sensor B208, an accumulator a205, an accumulator B204, and a relief valve. The external system includes an ESC and front and rear brake circuits.
The system ECU controls the motor to pressurize the brake fluid in the liquid storage tank into the energy storage A and the energy storage B through the plunger pump, an overflow valve is arranged between the energy storage A and the energy storage B, and when one energy storage leaks or fails, the other energy storage still can have high-pressure oil. The energy accumulator A/B is respectively connected with the hydraulic distributor, and the hydraulic distributor can convert high-pressure oil in the energy accumulator A/B into thrust of the brake master cylinder according to the displacement of the brake push rod, so that power assistance is generated. The brake oil pressure formed by the brake master cylinder enters a front brake loop and a rear brake loop through the ESC to finish braking.
In some embodiments of the present invention, before sending the first control instruction to the sensor detection module, the method further includes:
sending a third control instruction to the control circuit self-checking module so that the control circuit self-checking module detects whether the circuit of the ECU fails to obtain a third result, and acquiring the third result returned by the control circuit self-checking module;
And when the third result is determined to be normal, sending the fourth control instruction to the power supply voltage self-checking module.
It should be noted that, the control circuit self-checking module, the power supply voltage self-checking module, the sensor detection module and the motor working state detection module are arranged inside the ECU and are respectively connected with the controller in the ECU, the sensor detection module is also connected with the sensor for detecting whether the sensor fails, and the motor working state detection module is also connected with the motor for detecting whether the motor fails. In the specific embodiment of the invention, as shown in fig. 3, the dual-energy-storage electric hydraulic brake booster system performs system self-check before starting working, detects whether the states of all modules are normal, and performs corresponding alarm and management of a brake booster mode if the states of all the modules are abnormal. Specifically, after the whole vehicle is electrified, the system detects an ignition signal, and exits when the system is at a low level, if the system enters a next step of the control circuit self-checking module, the control circuit self-checking module continuously sends corresponding alarm information to the whole vehicle when detecting and judging that the ECU circuit is faulty, and exits the detection.
If the control circuit self-checking module detects that the power supply voltage is normal, the control circuit self-checking module detects the power supply voltage, and when the ECU voltage fault is judged, corresponding alarm information is continuously sent to the whole vehicle, and the detection is stopped. That is, the detection of the sensor and the motor is started when the circuit and the voltage of the ECU are determined to be free of problems, otherwise, the system is directly exited.
If the power supply voltage self-checking module detects that the power supply voltage self-checking module is normal, the sensor detecting module detects that the corresponding alarm information is continuously sent to the whole vehicle when the fault exists, the brake boosting mode management is carried out according to the fault condition of the sensor, and then the next motor working state detecting module is carried out;
the motor working state monitoring module continuously sends corresponding alarm information to the whole vehicle when detecting and judging that the motor working state monitoring module has faults, and carries out brake boosting mode management according to the fault condition of the sensor, then carries out the next motor working module, clicks the working module to finish working, and the system exits.
In some embodiments of the invention, the brake assist mode includes one or more of a normal assist mode, a degraded assist mode, and a limp-home mode.
In some embodiments of the present invention, the controlling the sensor detection module to detect whether the sensor has a fault, and obtaining a first result returned by the sensor detection module to indicate whether the sensor has a fault, includes:
The sensor detection module determines whether the sensor fails according to the voltage value of the sensor and the voltage change value of the sensor in preset time, and a first result is obtained.
In some embodiments of the present invention, as shown in fig. 4, in step S101, the sensor includes a first sensor and a second sensor, and the sensor detection module detects whether the sensor fails to obtain a first result, including:
s401, when the first sensor and the second sensor are normal, the first result is a voltage value and a jump amplitude value of the first sensor, and the jump amplitude value of the first sensor is a change value of the voltage of the first sensor in a preset time;
S402, when the first sensor is normal and the second sensor is abnormal, the first result is a voltage value and a jump amplitude value of the first sensor;
s403, when the first sensor is abnormal and the second sensor is normal, the first result is a voltage value and a jump amplitude value of the second sensor;
s404, when the first sensor and the second sensor are abnormal, the first result is that the sensors are abnormal.
In a specific embodiment of the present invention, the sensor detection module detects whether the voltage of the sensor is within the valid period, for example, the range of the valid area is 0-5V, that is, if the voltage of the sensor is not within the range, the sensor may be judged to be abnormal, and the sensor detection module also needs to detect that the voltage change value of the sensor within the preset time is within the preset range to determine that the sensor is normal, for example, T represents 1s, the voltage change value is 0.25V, that is, the voltage change value of the sensor within 1s exceeds 0.25V, that is, even if the sensor fails.
When the sensors A and B are normal, the controller in the ECU performs a normal power-assisted mode, takes the data of the sensor A as an effective value, converts the effective value into the oil pressure of the accumulator A, brakes according to the oil pressure of the accumulator A, when the sensors A and B are invalid, the controller in the ECU performs a normal power-assisted mode, takes the data of the sensor A as an effective value, converts the effective value into the oil pressure of the accumulator A, brakes according to the oil pressure of the accumulator A, and when the sensors A and B are invalid, the controller in the ECU performs a normal power-assisted mode, takes the data of the sensor B as an effective value, converts the effective value into the oil pressure of the accumulator B, brakes according to the oil pressure of the accumulator B, and when the sensors A and B are invalid, performs a limp power-assisted mode.
For ease of description, the real-time oil pressure in accumulator A is denoted by P a, the real-time oil pressure in accumulator B is denoted by P b, the warning oil pressure of the accumulator is denoted by P warning, the lower limit oil pressure of the accumulator is denoted by P low, the target oil pressure of the accumulator is denoted by P target, and the upper limit oil pressure of the accumulator is denoted by P max. The pressure values can be adjusted according to the actual conditions of the vehicle, and the pressing time of motors with different pressure values is different.
The normal power assisting mode comprises the steps of firstly judging real-time oil pressure in an accumulator A of P a by taking data of a sensor A as an effective value, sending out a system low-voltage alarm when P a＜Pwarning is in a position of 1 for a motor working mark, starting working and boosting of the motor, releasing the low-voltage alarm when P a＜Plow is in a position of 1 for the motor to continuously boost the motor along with the increase of P a, stopping boosting when the motor working mark is in a position of 0 for P a＞Ptarget, starting mechanical pressure relief when P a > Pmax is caused by other conditions, ensuring that the oil pressure of the accumulator is reduced to be between P low and P target, and enabling the motor not to work when P low≤Pa＜Ptarget, so that the NVH performance of the system can be improved and the starting frequency of the motor can be reduced.
The power-assisted mode is degraded, namely the data of the sensor B is taken as an effective value, the accumulator B is taken as a backup at the moment, the real-time oil pressure in the accumulator B is judged at P b, the working mark position of the motor is 1 at P b＜Plow, the motor is continuously boosted, the working mark position of the motor is 0 at P b≥Plow, and the motor is stopped boosting.
And in the limp power assisting mode, the accumulator pressure P a、Pb is not considered, a braking signal is mainly judged, when the braking push rod is displaced, the motor is continuously boosted, the motor working mark position is 1, the duration time is T 0, then the motor working mark position is 0, and the motor stops boosting and waits for the next braking signal.
In some embodiments of the invention, the selecting a brake assist mode based on the first result includes:
When the first result is the voltage value and the jump amplitude of the first sensor, selecting a normal power-assisted mode and braking according to the voltage value and the jump amplitude of the first sensor;
when the first result is the voltage value and the jump amplitude of the second sensor, a degradation power assisting mode is selected and braking is carried out according to the voltage value and the jump amplitude of the second sensor;
and when the first result is that the sensors are abnormal, selecting a limp power assisting mode.
In some embodiments of the present invention, obtaining an alarm oil pressure of the accumulator, a lower limit oil pressure of the accumulator, an upper limit oil pressure of the accumulator, a target oil pressure of the accumulator, and a motor working position flag, wherein the braking according to the voltage value and the jump amplitude of the first sensor includes:
obtaining a first oil pressure of a first energy accumulator based on a voltage value and a jump amplitude value of a first sensor;
when the first oil pressure is smaller than the alarm oil pressure or the first oil pressure is smaller than the lower limit oil pressure, setting a motor working position mark to be in a working state, and enabling the motor to be in a supercharging state;
When the first oil pressure is larger than the target oil pressure, the motor working position mark is set to be in a non-working state, and the motor is in the non-working state;
when the first oil pressure is smaller than the target oil pressure and the first oil pressure is larger than or equal to the lower limit oil, the motor is in a non-working state;
Driving a brake push rod to brake based on the current oil pressure of the motor;
The braking according to the voltage value and the jump amplitude of the second sensor comprises the following steps:
obtaining a second oil pressure of the second accumulator based on the voltage value and the jump amplitude value of the second sensor;
when the second oil pressure is smaller than the lower limit oil pressure, a motor working position mark is set to be in a working state, and the motor is in a supercharging state;
When the second oil pressure is greater than or equal to the lower limit oil pressure, setting a motor working position mark to be in a non-working state;
Driving a brake push rod to brake based on the current oil pressure of the motor;
when the first result is that the sensors are abnormal, selecting a limp-home power-assisted mode comprises:
When the position of the brake push rod changes, the motor working position mark is set to be in a working state, the motor is in a supercharging state, the motor continuously supercharges for a preset time,
The brake push rod is driven to brake based on the current oil pressure of the motor.
In a specific embodiment of the invention, the second result includes one or more of a motor frequent braking failure and a motor frequent operation failure.
In the specific embodiment of the invention, as shown in fig. 5, if the motor continuously works for more than N 1 times in the period of T 1, the motor is judged to be frequently braked and a warning is sent to the whole vehicle, if the motor continuously works for more than N 2 times in the period of T 2, the motor is judged to be frequently operated and the warning is sent to the whole vehicle, and if the continuous working time of the motor exceeds T 2, the system is judged to be faulty and the warning is sent to the whole vehicle, and the system enters a limp-home power assisting mode. T 1、T2、N1、N2 can be adjusted according to the actual condition of the vehicle, and T 1＜T2,N1＜N2 is only needed.
The control technology of the energy storage type brake booster system means that the motor is controlled to pre-charge oil pressure of the energy storage to a set value in advance, proper high-pressure oil is released to the brake master cylinder to generate booster according to input of the brake pedal, and when the oil pressure in the energy storage is reduced to the set value, the motor is controlled to supplement pressure so as to facilitate next braking, so that the oil pressure of the motor is required to be controlled. In the specific embodiment of the invention, the process of judging the motor working mark again is added in the motor control strategy, so that the correctness of the motor working time is ensured. If the motor operation flag bit has been set to 1, it is determined whether P a≥Ptarget, if P a exceeds the target oil pressure, the motor operation flag bit is set to 0, and the reverse continues, if the motor operation flag bit has been set to 0, it is determined whether P a＜Plow, if P a is lower than the lower limit oil pressure, the motor operation flag bit is set to 1, and the reverse continues. After the motor working mark is judged to be finished, the controller utilizes PID control and PWM to modulate and drive the motor according to the target current to generate oil pressure, and the controller exits after the circulation control.
In order to better implement the control method of the electro-hydraulic brake assist mode in the embodiment of the present invention, correspondingly, as shown in fig. 6, the embodiment of the present invention further provides a control device 600 of the brake assist mode, where the control device 600 of the brake assist mode includes:
The data acquisition module 601 is configured to send a first control instruction to the sensor detection module, so as to control the sensor detection module to detect whether a sensor has a fault, and acquire a first result returned by the sensor detection module and used for representing whether the sensor has the fault;
The first braking mode selection module 602 is configured to send a second control instruction to the motor working state detection module after the braking power-assisted mode is selected according to the first result to control the motor to work, so as to control the motor working state detection module to detect whether the motor fails, and obtain a second result returned by the motor working state detection module and used for indicating whether the motor fails;
A second braking mode selection module 603 for selecting a braking assistance mode to control the motor operation according to the second result.
The control device 600 for a brake assist mode provided in the foregoing embodiment may implement the technical solution described in the foregoing embodiment of a control method for an electro-hydraulic brake assist mode, and the specific implementation principle of each module or unit may refer to the corresponding content in the foregoing embodiment of the control method for an electro-hydraulic brake assist mode, which is not repeated herein.
On the other hand, the invention also provides a control system of the brake boosting mode, which comprises a sensor detection module, a motor working state detection module and a controller.
In some embodiments of the invention, the motor control system further comprises a sensor detection module and a motor working state monitoring module.
Those skilled in the art will appreciate that all or part of the flow of the methods of the embodiments described above may be accomplished by way of a computer program to instruct associated hardware, where the program may be stored on a computer readable storage medium. Wherein the computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory, etc.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (8)
1. A control method of an electro-hydraulic brake assist mode, characterized by comprising:
A first control instruction is sent to the sensor detection module to control the sensor detection module to detect whether the sensor has a fault or not, and a first result which is returned by the sensor detection module and used for representing whether the sensor has the fault or not is obtained;
After the braking assistance mode is selected according to the first result to control the motor to work, a second control instruction is sent to the motor working state detection module to control the motor working state detection module to detect whether the motor is faulty or not, and a second result which is returned by the motor working state detection module and used for representing whether the motor is faulty or not is obtained, wherein the braking assistance mode comprises one or more of a normal assistance mode, a degraded assistance mode and a limp assistance mode;
Selecting a brake boosting mode according to a second result to control the motor to work;
The sensor includes first sensor and second sensor, whether the sensor detection module detects the sensor trouble and obtains first result, includes:
when the first sensor and the second sensor are normal, the first result is a voltage value and a jump amplitude value of the first sensor, and the jump amplitude value of the first sensor is a change value of the voltage of the first sensor in a preset time;
when the first sensor is normal and the second sensor is abnormal, the first result is a voltage value and a jump amplitude value of the first sensor;
When the first sensor is abnormal and the second sensor is normal, the first result is a voltage value and a jump amplitude value of the second sensor;
when both the first sensor and the second sensor are abnormal, the first result is that both the sensors are abnormal.
2. The method of claim 1, further comprising, prior to sending the first control command to the sensor detection module:
sending a third control instruction to the control circuit self-checking module so that the control circuit self-checking module detects whether the circuit of the ECU fails to obtain a third result, and acquiring the third result returned by the control circuit self-checking module;
And when the third result is determined to be normal, a fourth control instruction is sent to the control circuit self-checking module.
3. The method for controlling an electric hydraulic brake assist mode as recited in claim 1 wherein the step of detecting whether the sensor is faulty with the control sensor detection module and obtaining a first result returned by the sensor detection module for indicating whether the sensor is faulty comprises:
The sensor detection module determines whether the sensor fails according to the voltage value of the sensor and the voltage change value of the sensor in preset time, and a first result is obtained.
4. A control method of an electro-hydraulic brake assist mode as set forth in claim 3, wherein selecting the brake assist mode based on the first result includes:
When the first result is the voltage value and the jump amplitude of the first sensor, selecting a normal power-assisted mode and braking according to the voltage value and the jump amplitude of the first sensor;
when the first result is the voltage value and the jump amplitude of the second sensor, a degradation power assisting mode is selected and braking is carried out according to the voltage value and the jump amplitude of the second sensor;
and when the first result is that the sensors are abnormal, selecting a limp power assisting mode.
5. The method according to claim 4, wherein the step of obtaining the warning oil pressure of the accumulator, the lower limit oil pressure of the accumulator, the upper limit oil pressure of the accumulator, the target oil pressure of the accumulator, and the motor operation position flag, the step of braking according to the voltage value and the pulsation amplitude of the first sensor, comprises:
obtaining a first oil pressure of a first energy accumulator based on a voltage value and a jump amplitude value of a first sensor;
when the first oil pressure is smaller than the alarm oil pressure or the first oil pressure is smaller than the lower limit oil pressure, setting a motor working position mark to be in a working state, and enabling the motor to be in a supercharging state;
When the first oil pressure is larger than the target oil pressure, the motor working position mark is set to be in a non-working state, and the motor is in the non-working state;
When the first oil pressure is smaller than the target oil pressure and the first oil pressure is larger than or equal to the lower limit oil pressure, the motor is in a non-working state;
Driving a brake push rod to brake based on the current oil pressure of the motor;
The braking according to the voltage value and the jump amplitude of the second sensor comprises the following steps:
obtaining a second oil pressure of the second accumulator based on the voltage value and the jump amplitude value of the second sensor;
when the second oil pressure is smaller than the lower limit oil pressure, a motor working position mark is set to be in a working state, and the motor is in a supercharging state;
When the second oil pressure is greater than or equal to the lower limit oil pressure, setting a motor working position mark to be in a non-working state;
Driving a brake push rod to brake based on the current oil pressure of the motor;
when the first result is that the sensors are abnormal, selecting a limp-home power-assisted mode comprises:
When the position of the brake push rod changes, the motor working position mark is set to be in a working state, the motor is in a supercharging state, the motor continuously supercharges for a preset time,
The brake push rod is driven to brake based on the current oil pressure of the motor.
6. A control device of a brake assist mode, characterized in that the device is based on a control method of an electro-hydraulic brake assist mode according to any one of claims 1-5, comprising:
the data acquisition module is used for sending a first control instruction to the sensor detection module so as to control the sensor detection module to detect whether the sensor has a fault or not, and acquiring a first result which is returned by the sensor detection module and is used for representing whether the sensor has the fault or not;
The first braking mode selection module is used for sending a second control instruction to the motor working state detection module after the braking assistance mode is selected according to the first result to control the motor to work, so as to control the motor working state detection module to detect whether the motor is faulty or not, and obtaining a second result which is returned by the motor working state detection module and is used for representing whether the motor is faulty or not, wherein the braking assistance mode comprises one or more of a normal assistance mode, a degraded assistance mode and a limp assistance mode;
The second braking mode selection module is used for selecting a braking assistance mode according to a second result so as to control the motor to work;
The sensor includes first sensor and second sensor, whether the sensor detection module detects the sensor trouble and obtains first result, includes:
when the first sensor and the second sensor are normal, the first result is a voltage value and a jump amplitude value of the first sensor, and the jump amplitude value of the first sensor is a change value of the voltage of the first sensor in a preset time;
when the first sensor is normal and the second sensor is abnormal, the first result is a voltage value and a jump amplitude value of the first sensor;
When the first sensor is abnormal and the second sensor is normal, the first result is a voltage value and a jump amplitude value of the second sensor;
when both the first sensor and the second sensor are abnormal, the first result is that both the sensors are abnormal.
7. A control system for a brake assist mode, characterized in that the system is based on a control method for an electro-hydraulic brake assist mode according to any one of claims 1-5, comprising:
the device comprises a sensor detection module, a motor working state detection module and a controller.
8. The brake boost mode control system of claim 7, further comprising a sensor detection module and a motor operating condition monitoring module.
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| CN202411122512.5A CN118907053B (en) | 2024-08-15 | 2024-08-15 | Control method, device and system for electric hydraulic brake boosting mode |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013010371A (en) * | 2011-06-28 | 2013-01-17 | Nissan Motor Co Ltd | Electric brake control system |
| CN107117155A (en) * | 2017-04-26 | 2017-09-01 | 北京新能源汽车股份有限公司 | Fault detection method and device for brake boosting system of electric automobile and automobile |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2344178B (en) * | 1998-11-27 | 2003-03-26 | Lucas Ind Plc | Detection and identification of pressure-sensor faults in electro-hydraulic (EHB) braking systems |
| JP6939273B2 (en) * | 2017-08-31 | 2021-09-22 | 株式会社アドヴィックス | Brake control device |
| JP7242399B2 (en) * | 2019-04-24 | 2023-03-20 | 日立Astemo株式会社 | Motor control device, electric brake device using the same, motor control method, and electric brake control method using this control method |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013010371A (en) * | 2011-06-28 | 2013-01-17 | Nissan Motor Co Ltd | Electric brake control system |
| CN107117155A (en) * | 2017-04-26 | 2017-09-01 | 北京新能源汽车股份有限公司 | Fault detection method and device for brake boosting system of electric automobile and automobile |
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