Brake torque transferring via limited slip and locking differentials based on detected failure of brake circuits
A braking system includes brake circuits and a brake stability module. The brake circuits are configured to be independently activated and deactivated and when activated apply braking force at respective wheels of a vehicle. The braking stability module is configured to i) detect a failure with a first one of the brake circuits of a first axle of the vehicle, ii) lock or adjust an amount of engagement of a differential of the first axle of the vehicle to distribute brake force from a second one of the brake circuits of the first axle to one of the wheels at the first one of the brake circuits, and iii) control operation of the second one of the brake circuits to brake torque the one of the wheels at the first one of the brake circuits.
1. A braking system comprising:
a plurality of brake circuits for four wheels of a vehicle and configured to be independently controlled, activated and deactivated and when activated apply independently selected amounts of braking force respectively at the wheels, wherein each of the four wheels has a respective designated one of the plurality of brake circuits; and
a braking stability module configured to i) detect a failure with a first one of the plurality of brake circuits of a first axle of the vehicle, ii) in response to detecting the failure, determine whether to lock or adjust an amount of engagement of a differential of the first axle of the vehicle, iii) selectively lock or adjust the amount of engagement of the differential to distribute brake force from a second one of the plurality of brake circuits of the first axle to one of the wheels at the first one of the plurality of brake circuits, and iv) control operation of the second one of the plurality of brake circuits to brake torque the one of the wheels at the first one of the plurality of brake circuits,
wherein the braking stability module is configured, in response to detecting the failure with the first one of the plurality of brake circuits, to i) determine whether to lock or adjust an amount of engagement of another differential of one or more other axles of the vehicle, and ii) selectively lock or adjust the amount of engagement of the another differential to distribute brake force from a third one of the plurality of brake circuits of the one or more other axles to one of the wheels at a fourth one of the plurality of brake circuits.
2. The braking system of claim 1 , wherein the braking stability module is configured to control operation of the second one of the plurality of brake circuits to concurrently brake torque the one of the wheels at the first one of the plurality of brake circuits and the one of the wheels at the second one of the plurality of brake circuits.
3. The braking system of claim 1 , wherein:
the differential is a locking differential; and
the braking stability module is configured to, in response to detecting the failure with a first one of the plurality of brake circuits, lock the differential.
4. The braking system of claim 1 , wherein the braking stability module is configured to, in response to detecting the failure with a first one of the plurality of brake circuits, adjust the amount of engagement of the differential to adjust an amount of brake torque transfer from the second one of the plurality of brake circuits to the one of the wheels at the first one of the plurality of brake circuits.
5. The braking system of claim 1 , wherein the braking stability module is configured to adjust the amount of engagement of the differential to minimize a yaw rate of the vehicle during a braking event.
6. The braking system of claim 1 , wherein the braking stability module is configured to:
based on a steering angle of the vehicle, determine a maximum amount of electronic limited slip differential coupling possible while avoiding wheel scrub;
based on the maximum amount of electronic limited slip differential coupling, determine a percentage of brake torque that would be transferred across the first axle;
determine a maximum amount of brake torque that is able to be provided by the first axle via the second one of the plurality of brake circuits;
based on a braking input request, the percentage of brake torque that would be transferred across the first axle, and the maximum amount of brake torque that is able to be provided via the first axle, determine amounts of brake torque for the first axle and a second axle and amounts to distribute to the first one of the plurality of brake circuits and the second one of the plurality of brake circuits;
adjust the amount of engagement of the differential based on the amounts of brake torque for the first axle and the second axle and the amounts to distribute to the first one of the plurality of brake circuits and the second one of the plurality of brake circuits;
determine amounts of brake torque to distribute to a third one of the plurality of brake circuits of the second axle and a fourth one of the plurality of brake circuits of the second axle to minimize yaw rate of the vehicle; and
adjust the amount of engagement of the differential and control brake torque distribution based on the determined amounts of brake torque to distribute to the first one of the plurality of brake circuits, the second one of the plurality of brake circuits, the third one of the plurality of brake circuits, and the fourth one of the plurality of brake circuits.
7. The braking system of claim 1 , wherein:
the differential is a locking differential; and
the braking stability module is configured to
in response to detecting the failure, lock the differential,
while the differential is locked, determine a maximum amount of brake torque that is able to be provided by the first axle via the second one of the plurality of brake circuits,
based on a braking input request and the maximum amount of brake torque that is able to be provided via the first axle and to minimize yaw rate of the vehicle, determine amounts of brake torque for the first axle and a second axle and amounts to distribute to the first one of the plurality of brake circuits and the second one of the plurality of brake circuits, and
control some of the plurality of brake circuits, not including the first one of the plurality of brake circuits, based on the amounts of brake torque for the first axle and the second axle and the amounts to distribute to the first one of the plurality of brake circuits and the second one of the plurality of brake circuits.
8. The braking system of claim 1 , wherein the braking stability module is configured to determine a side-to-side brake torque differential of the vehicle and reduce the side-to-side brake torque differential by adjusting brake torque provided by the plurality of brake circuits except the first one of the plurality of brake circuits, which is deactivated.
9. The braking system of claim 1 , wherein the braking stability module is configured to detect a failure of the first one of the plurality of brake circuits and maintain active operation of all of the other ones of the plurality of brake circuits to maximize deceleration of the vehicle while minimizing yaw rate of the vehicle.
10. The braking system of claim 1 , wherein the differential is an electronic limited slip differential or a locking differential.
11. A braking stability method comprising:
detecting a failure with a first one of a plurality of brake circuits of a first axle of a vehicle, the plurality of brake circuits being for four wheels of the vehicle and configured to be independently controlled, activated and deactivated and when activated apply independently selected amounts of braking force respectively at the wheels, wherein each of the four wheels has a respective designated one of the plurality of brake circuits;
in response to detecting the failure, determining whether to lock or adjust an amount of engagement of a differential of the first axle of the vehicle;
selectively locking or adjusting an amount of engagement of the differential of the first axle of the vehicle to distribute brake force from a second one of the plurality of brake circuits of the first axle to the one of the wheels at the first one of the plurality of brake circuits;
controlling operation of the second one of the plurality of brake circuits to brake torque the one of the wheels at the first one of the plurality of brake circuits; and
in response to detecting the failure with the first one of the plurality of brake circuits, i) determining whether to lock or adjust an amount of engagement of another differential of one or more other axles of the vehicle, and ii) selectively locking or adjusting the amount of engagement of the another differential to distribute brake force from a third one of the plurality of brake circuits of the one or more other axles to one of the wheels at a fourth one of the plurality of brake circuits.
12. The braking stability method of claim 11 , further comprising controlling operation of the second one of the plurality of brake circuits to concurrently brake torque the one of the wheels at the first one of the plurality of brake circuits and the one of the wheels at the second one of the plurality of brake circuits.
13. The braking stability method of claim 11 , further comprising, in response to detecting the failure with a first one of the plurality of brake circuits, lock the differential.
14. The braking stability method of claim 11 , further comprising, in response to detecting the failure with a first one of the plurality of brake circuits, adjusting the amount of engagement of the differential to adjust an amount of brake torque transfer from the second one of the plurality of brake circuits to the one of the wheels at the first one of the plurality of brake circuits.
15. The braking stability method of claim 11 , further comprising adjusting the amount of engagement of the differential to minimize a yaw rate of the vehicle during a braking event.
16. The braking stability method of claim 11 , further comprising:
based on a steering angle of the vehicle, determining a maximum amount of electronic limited slip differential coupling possible while avoiding wheel scrub;
based on the maximum amount of electronic limited slip differential coupling, determining a percentage of brake torque that would be transferred across the first axle;
determining a maximum amount of brake torque that is able to be provided by the first axle via the second one of the plurality of brake circuits;
based on a braking input request, the percentage of brake torque that would be transferred across the first axle, and the maximum amount of brake torque that is able to be provided via the first axle, determining amounts of brake torque for the first axle and a second axle and amounts to distribute to the first one of the plurality of brake circuits and the second one of the plurality of brake circuits;
adjusting the amount of engagement of the differential based on the amounts of brake torque for the first axle and the second axle and the amounts to distribute to the first one of the plurality of brake circuits and the second one of the plurality of brake circuits;
determining amounts of brake torque to distribute to a third one of the plurality of brake circuits of the second axle and a fourth one of the plurality of brake circuits of the second axle to minimize yaw rate of the vehicle; and
adjusting the amount of engagement of the differential and control brake torque distribution based on the determined amounts of brake torque to distribute to the first one of the plurality of brake circuits, the second one of the plurality of brake circuits, the third one of the plurality of brake circuits, and the fourth one of the plurality of brake circuits.
17. The braking stability method of claim 11 , further comprising:
in response to detecting the failure, locking the differential;
while the differential is locked, determining a maximum amount of brake torque that is able to be provided by the first axle via the second one of the plurality of brake circuits;
based on a braking input request and the maximum amount of brake torque that is able to be provided via the first axle and to minimize yaw rate of the vehicle, determining amounts of brake torque for the first axle and a second axle and amounts to distribute to the first one of the plurality of brake circuits and the second one of the plurality of brake circuits; and
controlling some of the plurality of brake circuits, not including the first one of the plurality of brake circuits, based on the amounts of brake torque for the first axle and the second axle and the amounts to distribute to the first one of the plurality of brake circuits and the second one of the plurality of brake circuits.
18. The braking stability method of claim 11 , further comprising determining a side-to-side brake torque differential of the vehicle and reducing the side-to-side brake torque differential by adjusting brake torque provided by the plurality of brake circuits except the first one of the plurality of brake circuits, which is deactivated.
19. The braking stability method of claim 11 , further comprising detecting a failure of the first one of the plurality of brake circuits and maintaining active operation of all of the other ones of the plurality of brake circuits to maximize deceleration of the vehicle while minimizing yaw rate of the vehicle.