Redundancy based electric brake failure detection method and device using the same
A motor control device is provided which achieves redundancy while suppressing an increase in the number of parts and connection signal lines. The device includes angle sensors for detecting a rotation angle of a motor, a first microcomputer unit for controlling the motor based on a stroke sensor and receiving the detected value of the angle sensor, a second microcomputer unit for controlling the motor based on the stroke sensor and receiving the detected value of the angle sensor, and communication units for transmitting and receiving signals between the microcomputer units. The first microcomputer unit includes an angle sensor failure detecting unit for detecting a failure of the angle sensors, according to the detected value of the angle sensors, and a control angle of the motor created in response to the stroke sensor.
1. An electric brake control device comprising:
a motor for opening and closing a brake caliper pinching a brake disc;
a first angle sensor and a second angle sensor for detecting a rotation angle of the motor;
a stroke sensor for detecting a stepping amount of a brake pedal;
a first control circuit for controlling the motor based on the stepping amount detected by the stroke sensor and receiving a detected value of the first angle sensor;
wherein the first control circuit comprises a first microcomputer; and
a second control circuit for controlling the motor based on the stepping amount detected by the stroke sensor and receiving a detected value of the second angle sensor, wherein the second control circuit comprises a second microcomputer; and wherein:
the first microcomputer is configured to transmit signals to and receive signals from the second microcomputer,
the first microcomputer is configured to calculate a control angle of the motor based on the stepping amount detected by the stroke sensor, and
the first microcomputer is configured to detect a failure of the first angle sensor and a failure of the second angle sensor, according to (i) the detected value of the first angle sensor, (ii) the detected value of the second angle sensor received from the second microcomputer (iii) the control angle of the motor, and (iv) a determination threshold.
2. The device according to claim 1 , further comprising
a first thrust sensor and a second thrust sensor for detecting a pressurizing force of the brake caliper against the brake disc, in which
the first microcomputer detects a failure of the first thrust sensor and a failure of the second thrust sensor, according to a detected value of the first thrust sensor, a detected value of the second thrust sensor received from the second microcomputer, and the control angle of the motor created in accordance with the stepping amount detected by the stroke sensor.
3. An electric brake controlling method, in which
a motor for opening and closing a brake caliper pinching a brake disc,
a first angle sensor and a second angle sensor for detecting a rotation angle of the motor,
a stroke sensor for detecting a stepping amount of a brake pedal,
a first control circuit for controlling the motor based on the stepping amount of the stroke sensor and receiving a detected value of the first angle sensor, wherein the first control circuit comprises a first microcomputer, and
a second control circuit for controlling the motor based on the stepping amount of the stroke sensor and receiving a detected value of the second angle sensor, wherein the second control circuit comprises a second microcomputer, are provided, and wherein:
the first microcomputer is configured to transmit signals to and receive signals from the second microcomputer,
the first microcomputer is configured to calculate a control angle of the motor based on the stepping amount of the stroke sensor, and
the first microcomputer is configured to detect a failure of the first angle sensor and a failure of the second angle sensor,
the above method comprising the steps of:
inputting the detected value of the first angle sensor to the first microcomputer;
inputting the detected value of the second angle sensor received from the second microcomputer to the first microcomputer;
calculating the control angle of the motor; and
performing a failure diagnosis according to (i) the detected value of the first angle sensor, (ii) the detected value of the second angle sensor, (iii) the control angle of the motor, and (iv) a determination threshold.
4. The method according to claim 3 , in which
the first microcomputer is configured to use the determination threshold for determining a presence or an absence of the failure of the second angle sensor,
the above method comprising a step of comparing an output difference between the detected value of the second angle sensor and the control angle of the motor created in accordance with the stepping amount of the stroke sensor with the determination threshold and performing a failure determination of the second angle sensor, in the first microcomputer.
5. The method according to claim 4 , comprising
a step of, after the second angle sensor is determined to be normal, comparing an output difference between the detected value of the first angle sensor and the control angle of the motor created in accordance with the stepping amount of the stroke sensor with the determination threshold and performing a failure determination of the first angle sensor, in the first microcomputer.
6. The method according to claim 5 comprising a step of, after the first angle sensor and the second angle sensor are determined to be normal, performing a failure determination of the first control circuit, according to the detected value of the first angle sensor, the detected value of the second angle sensor, the control angle of the motor created in accordance with the stepping amount of the stroke sensor, and the determination threshold, in the first microcomputer.