The invention discloses a fault-tolerant control method and system for electronic mechanical braking. The method comprises the steps that the expected additional yawing moment and the expected braking force of a vehicle are calculated; the failure degree of each wheel side EMB actuator is obtained, and whether a fault-tolerant control mode needs to be entered or not is judged; if the vehicle does not need to enter the fault-tolerant control mode, the braking force of the EMB is distributed by taking the minimum value obtained by a self-adaptive distribution function of the vehicle as a target; otherwise, entering a fault-tolerant control mode, and sequentially judging whether each control mode can meet the requirements of providing the expected additional yawing moment and the expected braking force of the vehicle or not; when any control mode can be met, judging is ended, and the braking force of the EMB is distributed to all the wheels through the corresponding distribution mode under the control mode; and when all the control modes are not met, on the premise that the expected additional yaw moment of the vehicle is met, the actual maximum braking force of the vehicle is applied to brake the vehicle. The electronic mechanical braking stability can be improved, and the driving safety of the vehicle is guaranteed.
本发明公开了一种电子机械制动的容错控制方法及系统,其中方法包括:计算车辆的期望附加横摆力矩和期望制动力;获取各轮侧EMB执行器的失效程度,判断是否需要进入容错控制模式;若无需进入容错控制模式,则以车辆的自适应分配函数取得最小值为目标分配EMB的制动力;否则,进入容错控制模式,依次判断各控制方式能否满足提供车辆的期望附加横摆力矩和期望制动力;当任一控制方式能满足时,结束判断,在该控制方式下通过对应的分配方式为各车轮分配EMB的制动力;当所有控制方式均不满足时,在满足车辆的期望附加横摆力矩的前提下,应用车辆的实际最大制动力制动车辆。本发明能提高电子机械制动的稳定性,保证车辆的行驶安全。
Fault-tolerant control method and system for electronic mechanical braking
一种电子机械制动的容错控制方法及系统
2025-05-09
Patent
Electronic Resource
Chinese
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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