Search

CN-121989899-A - Brake system and pedal displacement sensor fault detection method thereof

CN121989899ACN 121989899 ACN121989899 ACN 121989899ACN-121989899-A

Abstract

The invention relates to a braking system and a pedal displacement sensor fault detection method of the braking system. The brake system may include at least one pedal displacement sensor sensing a displacement of a brake pedal, and a controller electrically connected with the at least one pedal displacement sensor, and the controller may be configured to obtain a pedal displacement value based on an output signal of the at least one pedal displacement sensor received, determine that the at least one pedal displacement sensor is malfunctioning based on a difference between a continuously obtained first pedal displacement value and a second pedal displacement value being greater than a predetermined reference value during the obtaining of the pedal displacement value, and the at least one pedal displacement value continuously obtained after the obtaining of the second pedal displacement value being identical to the second pedal displacement value.

Inventors

  • Li Zanxi

Assignees

  • 汉拿万都株式会社

Dates

Publication Date
20260508
Application Date
20250205
Priority Date
20241101

Claims (10)

  1. 1. A braking system, comprising: At least one pedal displacement sensor for sensing a displacement of the brake pedal, and A controller electrically connected with the at least one pedal displacement sensor, The controller is configured to: obtaining a pedal displacement value based on the received output signal of the at least one pedal displacement sensor, During the obtaining of the pedal displacement value, it is determined that the at least one pedal displacement sensor has failed based on a difference between the continuously obtained first pedal displacement value and the second pedal displacement value being greater than a predetermined reference value, and at least one pedal displacement value continuously obtained after the obtaining of the second pedal displacement value being the same as the second pedal displacement value.
  2. 2. The brake system according to claim 1, wherein, The controller is configured to: The pedal displacement value is obtained based on the output signal of the at least one pedal displacement sensor received every predetermined time period.
  3. 3. The braking system of claim 2, wherein, The controller is configured to: Based on at least one pedal displacement value continuously obtained after the second pedal displacement value is obtained being each identical to the pedal displacement value of the previous time period, an error count value is increased, Determining that the at least one pedal displacement sensor is malfunctioning based on the increased error count value being greater than a predetermined reference error count.
  4. 4. A brake system according to claim 3, wherein, The controller is configured to: comparing the difference value with the predetermined reference value based on the second pedal displacement value obtained in a second period successive to the first period, Based on the difference value being greater than the predetermined reference value, a flag indicating an abnormal state of the at least one pedal displacement sensor is changed to a set state, and the error count is set to 0.
  5. 5. A brake system according to claim 3, wherein, The controller is configured to: The error count value is further incremented based on the flag being set.
  6. 6. The brake system according to claim 5, wherein, The controller is configured to: If at least one pedal displacement value continuously obtained after obtaining the second pedal displacement value is different from the pedal displacement value of the previous time period or the flag is in a non-set state during the increased error count value is less than or equal to the predetermined reference error count value, it is determined that the at least one pedal displacement sensor is normal.
  7. 7. The brake system according to claim 6, wherein, The controller is configured to: If at least one pedal displacement value continuously obtained after obtaining the second pedal displacement value is different from the pedal displacement value of the previous time period or the flag is in an unset state during the increased error count value is less than or equal to the predetermined reference error count value, the flag is reset and the error count value is set to 0.
  8. 8. The brake system according to claim 6, wherein, The controller is configured to: and when the difference value is smaller than or equal to the preset reference value, determining that the at least one pedal displacement sensor is normal.
  9. 9. The braking system of claim 8, wherein, The at least one pedal displacement sensor includes a first pedal displacement sensor, a second pedal displacement sensor, and a third pedal displacement sensor, The controller is configured to: Further performing a fault diagnosis on the first pedal displacement sensor, the second pedal displacement sensor, and the third pedal displacement sensor based on a comparison of pedal displacement values of the first pedal displacement sensor, the second pedal displacement sensor, and the third pedal displacement sensor when it is determined that the first pedal displacement sensor, the second pedal displacement sensor, and the third pedal displacement sensor are normal, Determining that the third pedal displacement sensor has failed based on a difference between a pedal displacement value of the first pedal displacement sensor and a pedal displacement value of the second pedal displacement sensor being less than or equal to a predetermined reference value, and a difference between each of the pedal displacement values of the first and second pedal displacement sensors and the pedal displacement value of the third pedal displacement sensor being greater than a predetermined reference value.
  10. 10. A pedal displacement sensor failure detection method of a brake system, comprising the steps of: Obtaining a pedal displacement value based on the received output signal of at least one pedal displacement sensor sensing a displacement of the brake pedal, and During the obtaining of the pedal displacement value, it is determined that the at least one pedal displacement sensor has failed based on a difference between the continuously obtained first pedal displacement value and the second pedal displacement value being greater than a predetermined reference value, and at least one pedal displacement value continuously obtained after the obtaining of the second pedal displacement value being the same as the second pedal displacement value.

Description

Brake system and pedal displacement sensor fault detection method thereof Technical Field The present disclosure relates to a brake system and a pedal displacement sensor failure detection method of the brake system. Background The brake pedal is a device for controlling braking of a vehicle according to a driver's braking intention, and when a pedal displacement sensor provided on the brake pedal detects a displacement of the brake pedal, a corresponding signal is transmitted to a brake system, which can control braking of the vehicle using the signal. However, when the pedal displacement sensor for the brake pedal fails, even if the driver depresses the brake pedal, the brake system cannot normally control the vehicle brake due to a problem that the pedal displacement sensor outputs an abnormal signal or does not output a signal, or the like. For this reason, conventionally, a technique has been developed in which a plurality of pedal displacement sensors are provided on a brake pedal to provide redundancy of the pedal displacement sensors. The number of channels of the pedal displacement sensor for the brake pedal may be set differently, for example, two channels or three channels, etc., depending on the type of vehicle, so that different pedal displacement sensor signals are transmitted to the brake system in each channel. However, in the conventional case where the number of channels of the pedal displacement sensor for brake pedal is three, if the fault injection (fault injection) is performed for the same pedal stroke (stroke) for two pedal displacement sensors, there is a problem that one pedal displacement sensor that is normal is determined as a fault, and two pedal displacement sensors that are fault injected are determined as normal. The externally mounted pedal displacement sensor may be connected to a controller (e.g., an electronic control unit (Electronic Control Unit, ECU)) of the brake system through a hard wire (hard wire), and by operating the hard wire in the middle, a distortion signal may be inputted into the pedal displacement sensor in the same format as the output signal characteristic of the pedal displacement sensor upon signal distortion. In addition, when the pedal displacement sensor outputs a signal through a single-side nibble transmission (SINGLE EDGE Nibble Transmission, send) protocol, since the send protocol is a public protocol, it may be cracked by a malicious user, so that a fault can be injected into the corresponding pedal displacement sensor. Therefore, there is a need to develop a new technique to solve the problem of determining two pedal displacement sensors injected with a fault as normal and determining one pedal displacement sensor actually normal as a fault when three pedal displacement sensors are provided on a brake pedal. Disclosure of Invention According to an aspect of the present disclosure, a brake system and a pedal displacement sensor failure detection method of the brake system, which can provide a new failure diagnosis technique of a pedal displacement sensor for a brake pedal, can be provided. According to one aspect of the present disclosure, a brake system and a pedal displacement sensor failure detection method of the brake system capable of diagnosing a failure of a pedal displacement sensor for a brake pedal due to failure injection can be provided. According to one aspect of the present disclosure, it is possible to provide a brake system and a pedal displacement sensor failure detection method of the brake system capable of accurately identifying two pedal displacement sensors when the output signals of two pedal displacement sensors among three pedal displacement sensors for brake are changed to output signals of values that cannot be physically changed within an allowable range (in-range) and failure detection is performed. According to one aspect of the present disclosure, it is possible to provide a brake system and a pedal displacement sensor failure detection method of the brake system that improve the problem in the conventional art that, when failure detection is performed on pedal displacement sensors for two brake pedals, it is impossible to determine which value is an accurate value when pedal displacement values obtained by respective output signals of the two pedal displacement sensors are different, thereby determining both pedal displacement sensors as failure. For example, a brake system and a pedal displacement sensor failure detection method of a brake system that improve the conventional art can provide a technique capable of accurately identifying, as a failed pedal displacement sensor, a pedal displacement sensor whose output signal is a signal that cannot be physically changed in the output value within an allowable range. A brake system according to one aspect of the present disclosure may include at least one pedal displacement sensor sensing a displacement of a brake pedal, and a controller electrically connected w