CN111532251A - Braking system applied to unmanned vehicle - Google Patents
Braking system applied to unmanned vehicle Download PDFInfo
- Publication number
- CN111532251A CN111532251A CN202010535171.XA CN202010535171A CN111532251A CN 111532251 A CN111532251 A CN 111532251A CN 202010535171 A CN202010535171 A CN 202010535171A CN 111532251 A CN111532251 A CN 111532251A
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- brake actuator
- brake
- vehicle
- control unit
- communication line
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- 230000010354 integration Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
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Classifications
-
- 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)
- Braking Systems And Boosters (AREA)
Abstract
The invention discloses a brake system applied to an unmanned vehicle, which is characterized by comprising the following components: a vehicle control unit; the first brake actuator is connected with the vehicle control unit through a first communication line and used for receiving a first control signal sent by the vehicle control unit and implementing braking; the second brake actuator is connected with the vehicle control unit through a second communication line and used for receiving a second control signal sent by the vehicle control unit and implementing braking; and the third communication line is used for connecting the first brake actuator and the second brake actuator. And under the condition that the first brake actuator or the second brake actuator cannot receive the braking request of the whole vehicle controller due to faults, the first brake actuator or the second brake actuator can communicate through a third communication line, and the first brake actuator and the second brake actuator can exchange vehicle dynamic related data through the third communication line so as to execute operation with minimized risk.
Description
Technical Field
The present invention relates to a brake system, and more particularly to a brake system applied to an unmanned vehicle.
Background
The brake system is the basis for achieving vehicle safety, and therefore a plurality of backup mechanisms are arranged in the brake system, but when all safety mechanisms cannot work, a driver as an ultimate backup can perform emergency braking, and therefore, all operations required by the driver on the conventional vehicle should be taken over by a second fully redundant system on the unmanned vehicle. There is a need for a more cost effective solution for vehicles than the dual redundant system architecture commonly used in the aviation industry.
In the prior art, CN108367744A discloses a braking system, which controls a braking solenoid valve to operate by using a vehicle controller, so that the braking solenoid valve controls a brake to brake a vehicle to realize automatic braking of the vehicle; in addition, the whole vehicle controller controls the parking electromagnetic valve so that the parking electromagnetic valve controls the parking brake to park the vehicle, and the vehicle can be effectively and accurately parked under the double actions. However, this solution is only effective if the data used for the fault detection is reliable, and in many fault situations, damaged or erroneous data may also lead to faulty detection. Moreover, this technical approach does not provide a solution for situations where the data is insufficient to determine a fault.
US2015019101(a1) discloses a method of operating a parking brake to reduce failure losses when insufficient service brake system braking torque is detected, but this method involves a large amount of sensor information, and in case of failure, especially when the unmanned vehicle is out of power, it is difficult to ensure safety.
US2015266457(a1) discloses a backup brake system that provides braking energy in the event of a primary brake system failure, but this approach involves a large number of parts, resulting in additional costs, and still fails to address such conditions as power outages or control failure lights.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a brake system applied to an unmanned vehicle.
In order to solve the technical problems, the invention is realized by adopting the following technical scheme: braking system for unmanned vehicles, characterized in that it comprises: a vehicle control unit; the first brake actuator is connected with the vehicle control unit through a first communication line and used for receiving a first control signal sent by the vehicle control unit and implementing braking; the second brake actuator is connected with the vehicle control unit through a second communication line and used for receiving a second control signal sent by the vehicle control unit and implementing braking; and the third communication line is used for connecting the first brake actuator and the second brake actuator.
The first brake actuator is an electronic brake booster or an electronic stability control system or an electronic brake booster-electronic stability control system integration.
The second brake actuator is an electronic stability control system or an electronic parking brake system or an electronic stability control system-electronic parking brake system integration.
The first brake actuator and the second brake actuator are both electromechanical brake calipers.
The first communication line and the second communication line communicate using a bus.
The first brake actuator is connected with a first power supply, and the second brake actuator is connected with a second power supply.
The vehicle control unit and the first brake actuator share a first power supply.
And the vehicle control unit and the second brake actuator share a second power supply.
The invention has the beneficial effects that: and under the condition that the first brake actuator or the second brake actuator cannot receive the braking request of the whole vehicle controller due to faults, the first brake actuator or the second brake actuator can communicate through a third communication line, and the first brake actuator and the second brake actuator can exchange vehicle dynamic related data through the third communication line so as to execute operation with minimized risk.
Drawings
FIG. 1 is a schematic structural diagram according to a first embodiment;
FIG. 2 is a first schematic diagram of a structure of an independent power supply;
FIG. 3 is a schematic diagram of a structure with an independent power supply;
fig. 4 is a schematic structural diagram of the second embodiment.
Detailed Description
The first embodiment is as follows: as shown in fig. 1, a brake system applied to an unmanned vehicle includes a vehicle control unit 10; the first brake actuator 1 is connected with the vehicle control unit 10 through a first communication line 11 and is used for receiving a first control signal sent by the vehicle control unit and implementing braking; the second brake actuator 2 is connected with the vehicle control unit 10 through a second communication line 21 and is used for receiving a second control signal sent by the vehicle control unit and implementing braking; and a third communication line 3 for connecting the first brake actuator 1 and the second brake actuator 2.
Under normal conditions, after the first brake actuator 1 receives a braking command and state information sent by the vehicle control unit 10 through the first communication line 11, the first brake actuator 1 generates a braking torque to at least one wheel of the vehicle; after the second brake actuator 2 receives the braking command and the status information sent by the vehicle control unit 10 through the second communication line 21, the second brake actuator 2 may generate a braking torque to at least one wheel of the vehicle.
The first brake actuator 1 may be an electronic brake booster or an electronic stability control system or an electronic brake booster-electronic stability control system integration, and the first brake actuator 1 may generate braking torque for four wheels 4a, 4b, 4c, 4d of the vehicle.
The second brake actuator 2 may be an electronic stability control system or an electronic parking brake system or an electronic stability control system-electronic parking brake system integration, and the second brake actuator 2 may generate a braking torque to the rear wheels 4c and 4d of the vehicle.
In addition, the first and second brake actuators may each be an electromechanical brake caliper.
If the first communication line 11 is interrupted but the first brake actuator 1 is normal, the first brake actuator 1 can receive a brake command of the vehicle control unit 10 through the third communication line 3 to brake, and if the first brake actuator 1 fails, the second brake actuator 2 takes over to brake; if the second communication line 21 is interrupted but the second brake actuator 2 is normal, the second brake actuator 2 can receive a brake command of the vehicle control unit 10 through the third communication line 3 to perform braking, if the second brake actuator 2 fails, the first brake actuator 1 takes over the braking, and the first brake actuator 1 and the second brake actuator 2 can exchange vehicle dynamic related data through the third communication line 3 so as to safely perform operation with minimized risk. If the vehicle control unit 10 fails, the first brake actuator 1 and the second brake actuator 2 perform automatic braking.
In this embodiment, as shown in fig. 2 and 3, the first brake actuator 1 is connected to a first power source 5a, the second brake actuator 2 is connected to a second power source 5b, and the vehicle control unit 10 may share the first power source 5a with the first brake actuator 1, or may share the second power source 5b with the second brake actuator 2, so that when one of the power sources cannot supply power to its corresponding brake actuator, the other brake actuator is not affected by the provision of an independent power source, thereby implementing power redundancy of the brake system.
Example two: as shown in fig. 4, by using the first communication line 11 and the second communication line 21 in the above embodiment 1 to communicate with each other by using the bus 31, such as CAN, ethernet, etc., the first brake actuator 1 and the second brake actuator 2 CAN exchange vehicle dynamics related data through the third communication line 3, and if the first brake actuator 1 fails, the second brake actuator 2 will take over the braking; if the second brake actuator 2 fails, the first brake actuator 1 takes over the braking, and if the bus 31 is interrupted, the first brake actuator 1 and the second brake actuator 2 perform automatic braking.
Claims (8)
1. Braking system for unmanned vehicles, characterized in that it comprises:
a vehicle control unit;
the first brake actuator is connected with the vehicle control unit through a first communication line and used for receiving a first control signal sent by the vehicle control unit and implementing braking;
the second brake actuator is connected with the vehicle control unit through a second communication line and used for receiving a second control signal sent by the vehicle control unit and implementing braking;
and the third communication line is used for connecting the first brake actuator and the second brake actuator.
2. The braking system applied to the unmanned vehicle as claimed in claim 1, wherein the first brake actuator is an electronic brake booster or an electronic stability control system or an electronic brake booster-electronic stability control system integration.
3. The brake system applied to the unmanned vehicle as claimed in claim 1, wherein the second brake actuator is an electronic stability control system or an electronic parking brake system or an electronic stability control system-electronic parking brake system integration.
4. The brake system for an unmanned vehicle of claim 1, wherein the first and second brake actuators are each an electromechanical brake caliper.
5. The brake system applied to the unmanned vehicle according to claim 1, wherein the first communication line and the second communication line communicate using a bus.
6. The brake system applied to the unmanned vehicle as claimed in claim 1, wherein a first power source is connected to the first brake actuator, and a second power source is connected to the second brake actuator.
7. The braking system applied to the unmanned vehicle as claimed in claim 6, wherein the vehicle control unit shares a first power source with a first brake actuator.
8. The braking system applied to the unmanned vehicle as claimed in claim 6, wherein the vehicle control unit and the second brake actuator share a second power source.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010535171.XA CN111532251A (en) | 2020-06-12 | 2020-06-12 | Braking system applied to unmanned vehicle |
| PCT/CN2020/129589 WO2021248824A1 (en) | 2020-06-12 | 2020-11-18 | Braking system applied to autonomous vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010535171.XA CN111532251A (en) | 2020-06-12 | 2020-06-12 | Braking system applied to unmanned vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111532251A true CN111532251A (en) | 2020-08-14 |
Family
ID=71969086
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010535171.XA Pending CN111532251A (en) | 2020-06-12 | 2020-06-12 | Braking system applied to unmanned vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111532251A (en) |
| WO (1) | WO2021248824A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112660158A (en) * | 2020-12-28 | 2021-04-16 | 嬴彻科技(浙江)有限公司 | Driving assistance control system |
| WO2021248824A1 (en) * | 2020-06-12 | 2021-12-16 | 浙江力邦合信智能制动系统股份有限公司 | Braking system applied to autonomous vehicle |
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|---|---|---|---|---|
| US20150019101A1 (en) * | 2012-07-13 | 2015-01-15 | Continental Teves Ag & Co. Ohg | Method for Ensuring a Braking Effect |
| CN106864447A (en) * | 2017-03-07 | 2017-06-20 | 广州汽车集团股份有限公司 | Braking control system, method and apparatus |
| CN109747615A (en) * | 2018-02-13 | 2019-05-14 | 重庆长安汽车股份有限公司 | Automatic driving vehicle braking system and control method |
| CN109760655A (en) * | 2017-11-09 | 2019-05-17 | 罗伯特·博世有限公司 | The power car brake apparatus of electric hydraulic |
| CN110271523A (en) * | 2019-06-26 | 2019-09-24 | 奇瑞商用车（安徽）有限公司 | A kind of more redundant emergency brake methods of automobile |
| CN212313519U (en) * | 2020-06-12 | 2021-01-08 | 浙江力邦合信智能制动系统股份有限公司 | Braking system applied to unmanned vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102015206572A1 (en) * | 2014-05-15 | 2015-11-19 | Continental Teves Ag & Co. Ohg | Brake system for motor vehicles |
| DE102016012530A1 (en) * | 2016-10-20 | 2018-04-26 | Lucas Automotive Gmbh | System with separate control units for the actuators of an electric parking brake |
| CN208053433U (en) * | 2018-02-13 | 2018-11-06 | 重庆长安汽车股份有限公司 | Vehicle redundant electronic braking in a turn system |
| EP3626571B1 (en) * | 2018-09-18 | 2022-08-17 | KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH | Control architecture for a vehicle |
| CN109455172A (en) * | 2018-11-16 | 2019-03-12 | 安徽江淮汽车集团股份有限公司 | Active brake interactive system and method |
| CN110395236A (en) * | 2019-08-13 | 2019-11-01 | 苏州泛像汽车技术有限公司 | A kind of dual redundant brake-by-wire method |
| CN111532251A (en) * | 2020-06-12 | 2020-08-14 | 浙江力邦合信智能制动系统股份有限公司 | Braking system applied to unmanned vehicle |
-
2020
- 2020-06-12 CN CN202010535171.XA patent/CN111532251A/en active Pending
- 2020-11-18 WO PCT/CN2020/129589 patent/WO2021248824A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150019101A1 (en) * | 2012-07-13 | 2015-01-15 | Continental Teves Ag & Co. Ohg | Method for Ensuring a Braking Effect |
| CN106864447A (en) * | 2017-03-07 | 2017-06-20 | 广州汽车集团股份有限公司 | Braking control system, method and apparatus |
| CN109760655A (en) * | 2017-11-09 | 2019-05-17 | 罗伯特·博世有限公司 | The power car brake apparatus of electric hydraulic |
| CN109747615A (en) * | 2018-02-13 | 2019-05-14 | 重庆长安汽车股份有限公司 | Automatic driving vehicle braking system and control method |
| CN110271523A (en) * | 2019-06-26 | 2019-09-24 | 奇瑞商用车（安徽）有限公司 | A kind of more redundant emergency brake methods of automobile |
| CN212313519U (en) * | 2020-06-12 | 2021-01-08 | 浙江力邦合信智能制动系统股份有限公司 | Braking system applied to unmanned vehicle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021248824A1 (en) * | 2020-06-12 | 2021-12-16 | 浙江力邦合信智能制动系统股份有限公司 | Braking system applied to autonomous vehicle |
| CN112660158A (en) * | 2020-12-28 | 2021-04-16 | 嬴彻科技(浙江)有限公司 | Driving assistance control system |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021248824A1 (en) | 2021-12-16 |
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