CN104192114B - A kind of vehicle electrically controlling Pneumatic braking system - Google Patents
A kind of vehicle electrically controlling Pneumatic braking system Download PDFInfo
- Publication number
- CN104192114B CN104192114B CN201410421560.4A CN201410421560A CN104192114B CN 104192114 B CN104192114 B CN 104192114B CN 201410421560 A CN201410421560 A CN 201410421560A CN 104192114 B CN104192114 B CN 104192114B
- Authority
- CN
- China
- Prior art keywords
- magnetic valve
- valve
- propons
- back axle
- proportion magnetic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The present invention provides a kind of vehicle electrically controlling Pneumatic braking system, this system is while realizing intelligent vehicle unmanned pattern electric control braking function, retain the artificial braking function of pilot steering pattern, and pilot steering and unmanned between can switch flexibly, and there is the function of in emergency circumstances remote controlled braking.This system includes brake monitor, propons proportion magnetic valve, propons shuttle valve, back axle proportion magnetic valve, back axle shuttle valve and open type two-bit triplet magnetic valve；Brake monitor, for receiving the programmed decision-making order of intelligent vehicle upper strata, when electric control driving braking implemented by needs, brake monitor controls propons proportion magnetic valve and back axle proportion magnetic valve action, make the air pressure that air pressure is propons proportion magnetic valve delivery outlet that propons shuttle valve exports, make the air pressure that air pressure is back axle proportion magnetic valve delivery outlet that back axle shuttle valve exports；When artificial service brake implemented by needs, brake monitor makes propons proportion magnetic valve and back axle proportion magnetic valve power-off.
Description
Technical field
The invention belongs to the intelligent vehicles technology field, be specifically related to a kind of vehicle electrically controlling Pneumatic braking system.
Background technology
Along with development and the economic progress of society, worldwide automobile pollution is continuously increased, therewith
And the problems such as the traffic safety come, traffic congestion, energy shortage, environmental pollution have become countries in the world and have faced
Common difficulty.Solve traffic problems conventional method be to build road, but traffic system be one huge,
It is to be difficult to solve root problem that complicated system, the only angle from enlarging road improve the traffic capacity of road network
's.Under this background, traffic infrastructure, traffic delivery means and traffic participant integrate into
Row system considers, the thought making full use of new and high technology solution traffic problems the most naturally produces, here it is intelligence
Can traffic system (Intelligent Transportation System, ITS).
Intelligent vehicle (Intelligent Vehicle, IV) is as an important component part of ITS, civilian
Field and military domain are all with a wide range of applications, and receive the common concern of countries in the world.Civilian
Field, intelligent vehicle as a kind of vehicles, it can " can be thought deeply " as people, " judgement ",
" walk ", can automatically start, accelerate, brake, ground obstacle can be automatically bypassed.Especially when it
When being in environment complicated and changeable, its " brain " can be adjusted to changed conditions, and automatically selects optimal path, draws
Guide-car normally, successfully travel, thus alleviates the driving fatigue of driver.At military field, intelligent vehicle
Also referred to as Unmanned Ground Vehicle (Unmanned Ground Vehicle, UGV), autonomous ground moving is put down
Platform (Autonomous Land Mobile Platform, ALMP), autonomous surface car (Autonomous Land
Vehicle, ALV) etc., the research of its correlation technique has important war to developing high motor-driven unmanned weapon platform
Slightly meaning.Military unmanned vehicle is as the pass of Future Combat System (Future Combating System, FCS)
Key part, it can rely on the ability such as location and navigation, environment sensing and target search independently to make respectively
Plant decision-making, be mainly used in the tasks such as battle reconnaissance, urban operation and logistics support.
Electric controlled brake system is one of intelligent vehicle platform core technology, realizes intelligent vehicle intelligent behavior
Premise and basis.The electric control hydraulic braking System Development being currently used for passenger car is the most ripe, has polytype
Device applied, such as electronic vacuum booster, hydraulic electric control complemental brake system etc..And for using
The commerial vehicle of air-pressure brake, existing controlled pneumatic complemental brake system is not directed to intelligent vehicle requirement developing,
It is not easy to realize pilot steering and unpiloted flexible switching.
Summary of the invention
In view of this, it is an object of the invention to the actual demand for intelligent vehicle control for brake, propose one
Vehicle electrically controlling Pneumatic braking system, this system while realizing vehicle unmanned pattern electric control braking function,
Retain the artificial braking function of pilot steering pattern, and pilot steering and unmanned between can switch flexibly,
And there is the function of in emergency circumstances remote controlled braking.
For achieving the above object, the present invention is by the following technical solutions:
A kind of vehicle electrically controlling Pneumatic braking system, including brake monitor, propons proportion magnetic valve, propons shuttle
Valve, back axle proportion magnetic valve, back axle shuttle valve and open type two-bit triplet magnetic valve；Wherein
Brake monitor is electric with propons proportion magnetic valve, back axle proportion magnetic valve and open type two-bit triplet respectively
The electrical control interface of magnet valve is connected；The input port of propons proportion magnetic valve is connected with former car source of the gas, delivery outlet
It is connected with one of them input port of propons shuttle valve；Another input port of propons shuttle valve and former garage car brake valve
Delivery outlet be connected, delivery outlet is connected with the input port of the relay valve in former front axle service braking system；After
The input port of bridge proportion magnetic valve is connected with former car source of the gas, delivery outlet and one of them input port of back axle shuttle valve
It is connected；Another input port of back axle shuttle valve is connected with the delivery outlet of former garage car brake valve, delivery outlet and former car
The input port of the regulation valve in back axle service braking system is connected；Open type two-bit triplet magnetic valve normally opened defeated
Entrance is connected with the delivery outlet of former car hand braking valve, in normally opened delivery outlet and former car back axle parking braking system
Governor valve control mouth be connected, exhaust outlet communicates with air；
Brake monitor, is used for receiving the programmed decision-making order of intelligent vehicle upper strata, implements electric control driving at needs
During braking, brake monitor controls propons proportion magnetic valve and back axle proportion magnetic valve action, makes propons shuttle valve
The air pressure that air pressure is propons proportion magnetic valve delivery outlet of output, the air pressure making back axle shuttle valve export is back axle ratio
The air pressure of example magnetic valve delivery outlet；When artificial service brake implemented by needs, brake monitor makes propons ratio
Magnetic valve and back axle proportion magnetic valve power-off, making propons shuttle valve and back axle shuttle valve output pressure is service brake valve
The air pressure of delivery outlet；When electric control parking braking implemented by needs, brake monitor controls open type two-bit triplet
Magnetic valve action, makes former car back axle parking braking air chamber bleeder brake.
Further, brake monitor of the present invention controls propons proportion magnetic valve and back axle proportion magnetic valve
Action is: brake monitor is according to upper strata programmed decision-making order and combines the calculating of Current vehicle running condition information
Go out corresponding controlled quentity controlled variable, change input to propons proportion magnetic valve and back axle ratio electricity according to described controlled quentity controlled variable
PWM (Pulse Width Modulation, pulse width modulation) the dutycycle size of magnet valve, regulates propons ratio
The size of example magnetic valve and back axle proportion magnetic valve output pressure controls its action.
Further, electronic control pneumatic brake system of the present invention also includes brake pedal angular displacement sensor, remote control
The rotary shaft of signal receiver and multiple pressure sensor, described angular displacement sensor and former car brake pedal
Being connected, multiple pressure sensors are respectively arranged at the input port of propons proportion magnetic valve, back axle proportion magnetic valve
Input port, the delivery outlet of propons shuttle valve, the delivery outlet of back axle shuttle valve, the input of propons service brake air chamber
Mouth and the input port of back axle service brake air chamber；
Brake monitor is mainly by microprocessor, two-way CAN communication module, serial communication module, simulation letter
Number process circuit, switching signal processing circuit, pwm signal process circuit, PWM drive circuit, switch
Drive circuit and power module composition；
Analog signal processing circuit, for adopting described brake pedal angular displacement sensor and each pressure sensor
Collect to the low-pass filtered process of analog signal after be transported to microprocessor；
Switching signal processing circuit, for 24V park brake switch signal is transformed into 5V switching signal, and
It is transported to microprocessor；
Pwm signal processes circuit, and the pwm signal being used for exporting remote signal receiver is through light-coupled isolation
After be transported to microprocessor；
Two-way CAN communication module, a road CAN is used for and intelligent vehicle upper strata programmed decision-making mould
Block communication, receives upper strata programmed decision-making order and is transferred to microprocessor, to the programmed decision-making of intelligent vehicle upper strata
Module sends the current brake state from microprocessor；Another road CAN is led to former car CAN
News network is connected, and receives former vehicle travelling state information and is transferred to microprocessor, to former car CAN communication network
Send self state of a control from microprocessor；
Serial communication module, for collection and debugging industrial computer communication with outside, receives and gathers and debugging work
Single function debugging control instruction that control machine issues, and the collection data from microprocessor are controlled shape with self
State is sent to gather and debugging industrial computer, is preserved with debugging industrial computer by gathering；
Microprocessor, according to the information received and combine after self state of a control carries out COMPREHENSIVE CALCULATING, to
PWM drive circuit issues pwm control signal, issues switch controlling signal, Xiang Yi to switch driving circuit
Road CAN uploads current brake state, uploads self to another road CAN and controls shape
State, sends the information and self state of a control received to serial communication module；Microprocessor is receiving list simultaneously
Debug during function debugging control instruction；
PWM drive circuit, receives the pwm control signal that microprocessor sends, through power amplification rear-guard
Dynamic propons proportion magnetic valve, back axle proportion magnetic valve and open type two-bit triplet magnetic valve；
Switch driving circuit, receives the switch controlling signal that microprocessor sends, through power amplification rear drive
Service brake lamp and parking indicator lamp；
Power module, for powering for brake monitor.
Beneficial effect
1, it is actually needed exploitation due to present system according to intelligent vehicle, by shuttle valve reality from gas circuit structure
Existing manned and unmanned flexible switching, safe and reliable.
2, hand braking valve of the present invention is connected with open type two-bit triplet magnetic valve, thus ensures artificial parking system
Dynamic and electric control parking is braked all effective, and in the case of both of which releases, back axle parking braking side releases,
Take into full account intelligent vehicle parking safety, it is to avoid driver or intelligent vehicle upper strata programmed decision-making module are one-sided
Maloperation.
3, the present invention includes remote signal receiver, in case of emergency (such as the programmed decision-making of intelligent vehicle upper strata
Module planning mistake or deadlock), with car experimenter can implement remote controlled braking by remote control signal generator,
Ensure vehicles or pedestrians safety.
4, the present invention can simply transform, from forming on the basis of former car Pneumatic braking system
This is low, applied range.
Accompanying drawing explanation
Fig. 1 is the structural representation of the vehicle electrically controlling Pneumatic braking system of the present invention.
Fig. 2 is the structural representation of the automatically controlled part of the present invention.
Wherein, after 4-brake pedal, 5-service brake valve, 6-relay valve, 7-propons service brake air chamber, 8-
Regulation valve in travelling gantry frame brakes, 9-back axle service brake air chamber, 10-check valve, 11-hand braking valve,
Regulation valve in 12-back axle parking braking system, 13-back axle parking braking air chamber, 14-propons proportion magnetic valve,
15-back axle proportion magnetic valve, 16-propons shuttle valve, 17-back axle shuttle valve, 18-open type two-bit triplet magnetic valve,
19-pressure sensor, 20-brake pedal angular displacement sensor, 21-acquisition module, 22-brake monitor, 23-
Remote control signal generator, 24-park brake switch, 25-remote signal receiver, 26-analog signal processing circuit,
27-switching signal processing circuit, 28-PWM signal processing circuit, 29-intelligent vehicle upper strata programmed decision-making module,
30-former car CAN communication network, 31-gather and lead to debugging industrial computer, 32-CAN0 communication module, 33-CAN1
News module, 34-serial communication module, 35-microprocessor, 36-drive module, 37-PWM drive circuit, 38-
Switch driving circuit, 39-service brake lamp, 40 parking braking lamps, 41-power module, 42-24V vehicular electricity storage
Pond.
Detailed description of the invention
With embodiment, the present invention is described in detail below in conjunction with the accompanying drawings.
Former car Pneumatic braking system generally includes propons service braking system, back axle service braking system and back axle
Parking braking system；Wherein propons service braking system and back axle service braking system share driving brake valve；
Propons service braking system is mainly made up of relay valve 6 and propons service brake air chamber 7, back axle service brake
System is mainly made up of regulation valve 8 and back axle service brake air chamber 9, and back axle parking braking system is by check valve
10, hand braking valve 11, regulation valve 12 and back axle parking braking air chamber 13 form.During pilot steering pattern,
Driver's brake pedal 4, service brake valve 5 is opened, by relay valve 6 travelling gantry frame brake chamber forward
7 are inflated, thus propons is implemented service brake；Entered by regulation valve 8 travelling gantry frame brake chamber 9 backward
Row inflation, thus back axle is implemented service brake.Driver is by controlling brake pedal angular displacement, thus adjusts
Joint propons service brake air chamber 7 and the pressure of back axle service brake air chamber 9, and then control vehicle driving braking
Intensity.Driver loosens the brake 4, and propons service brake air chamber 7 is released by relay valve 6 Rapid degassing
Propons is braked, and back axle service brake air chamber 9 releases back axle by regulation valve 8 Rapid degassing and brakes.Driver
Opening hand braking valve 11, back axle parking braking air chamber 13 is by regulation valve 12 Rapid degassing, thus to rear
Parking braking implemented by bridge；When driver closes hand braking valve 11, source of the gas is stayed to back axle by regulation valve 12
Car brake chamber 13 is inflated, thus releases back axle parking braking.
The present invention increases electronic control pneumatic brake system on the basis of former car, is realizing vehicle unmanned pattern electricity
While control braking function, retain the artificial braking function of pilot steering pattern, and pilot steering is with unmanned
Between can switch flexibly.
As it is shown in figure 1, vehicle electrically controlling Pneumatic braking system of the present invention, including brake monitor 22, propons ratio
Example magnetic valve 14, propons shuttle valve 16, back axle proportion magnetic valve 15, back axle shuttle valve 17 and open type two three
Three-way electromagnetic valve 18；
Brake monitor 22 respectively with propons proportion magnetic valve 14, back axle proportion magnetic valve 15 and open type two
The electrical control interface of position-3-way solenoid valve 18 is connected；The input port of propons proportion magnetic valve 14 and former car gas
Source is connected, and delivery outlet is connected with one of them input port of propons shuttle valve 16；Another of propons shuttle valve 16 is defeated
Entrance is connected with the delivery outlet of former garage car brake valve 5, and delivery outlet is connected with the input port of relay valve 6；After
The input port of bridge proportion magnetic valve 15 is connected with former car source of the gas, one of them of delivery outlet and back axle shuttle valve 17
Input port is connected；Another input port of back axle shuttle valve 17 is connected with the delivery outlet of former garage car brake valve 5, defeated
Export the input port with regulation valve 8 to be connected；The normally opened input port of open type two-bit triplet magnetic valve 18 and former car
The delivery outlet of hand braking valve 11 is connected, and normally opened delivery outlet controls mouth be connected with regulation valve 12, exhaust outlet and
Air communicates；
Brake monitor 22, is used for receiving the programmed decision-making order of intelligent vehicle upper strata, implements automatically controlled row at needs
During car braking, brake monitor 22 controls propons proportion magnetic valve 14 and back axle proportion magnetic valve 15 action,
Make the air pressure that air pressure is propons proportion magnetic valve 4 delivery outlet that propons shuttle valve 16 exports, make back axle shuttle valve 17
The air pressure that air pressure is back axle proportion magnetic valve 15 delivery outlet of output；When artificial service brake implemented by needs,
Brake monitor 22 makes propons proportion magnetic valve 14 and back axle proportion magnetic valve 15 power-off, propons shuttle valve 16
With the air pressure that back axle shuttle valve 17 output pressure is service brake valve 5 delivery outlet；Electric control parking system is implemented at needs
Time dynamic, brake monitor 22 controls open type two-bit triplet magnetic valve 18 action, makes former car back axle parking system
Take offence room 9 bleeder brake.
In order to make electric control driving braking can be well adapted for the driving condition of Current vehicle, brake monitor 22
According to upper strata programmed decision-making order and combine Current vehicle running condition information and calculate corresponding controlled quentity controlled variable, root
Change, according to described controlled quentity controlled variable, the PWM inputted to propons proportion magnetic valve 14 and back axle proportion magnetic valve 15 to account for
Empty ratio size, thus regulate propons proportion magnetic valve 14 and back axle proportion magnetic valve 15 controls size of current,
Proportion magnetic valve delivery outlet air pressure size and proportion magnetic valve input port air pressure size and proportional solenoid valve control
Size of current proportion relation.Brake monitor 22 is by regulation propons proportion magnetic valve 14 and back axle
Proportion magnetic valve 15 controls size of current, thus controls propons service brake air chamber 7 and back axle service brake gas
The pressure size of room 9, and then control vehicle driving severity of braking.
Shuttle valve has and compares two input port air pressure sizes and select higher value to carry out the characteristic exported.Therefore, people
During work service brake, propons shuttle valve 16 and back axle shuttle valve 17 output pressure are that service brake valve 5 exports implication
Pressure, thus controlled car braking intensity by driver；During electric control driving braking, propons shuttle valve 16 output pressure
For the delivery outlet air pressure of propons proportion magnetic valve 14, back axle shuttle valve 17 output pressure is back axle proportion magnetic valve
The delivery outlet air pressure of 15, thus controlled car braking intensity by brake monitor 22；Implement artificial driving simultaneously
When braking and electric control driving are braked, propons shuttle valve 16 (or back axle shuttle valve 17) selects service brake valve 5 to export
In mouth and propons proportion magnetic valve 14 (or back axle proportion magnetic valve 15) delivery outlet air pressure, the greater exports,
When both values are identical, shuttle valve output wherein any one value, from gas circuit structure, therefore achieve people industrial and commercial bank
Flexible switching between car braking and electric control driving braking.
When unmanned model needs to implement electric control parking braking, brake monitor 22 is to open type two three
Three-way electromagnetic valve 18 is powered so that regulation valve 12 controls mouth and communicates with air, so that back axle parking braking gas
Parking braking is implemented by regulation valve 12 Rapid degassing in room 13；When needing to release electric control parking braking, normally opened
Type two-bit triplet magnetic valve 18 power-off, source of the gas passes through check valve 10, hand braking valve 11, open type two three
Three-way electromagnetic valve 18 enter regulation valve 12 control mouth so that source of the gas by check valve 10, regulation valve 12 to
The inflation of back axle parking braking air chamber 13 releases parking braking.Hand braking valve 11 and open type two-bit triplet electricity
Magnet valve 18 is connected, thus ensures that artificial parking braking and electric control parking braking are all effective, and releases in both of which
In the case of, back axle parking braking side release, take into full account intelligent vehicle parking safety, it is to avoid driver or
The one-sided maloperation of intelligent vehicle upper strata programmed decision-making module 29.
Electronic control pneumatic brake system of the present invention also includes brake pedal angular displacement sensor 20, remote control signal receiver
Device 25 and multiple pressure sensor 19, described angular displacement sensor is connected with the rotary shaft of former car brake pedal,
During for gathering artificial braking, driver steps on the information of brake pedal；Multiple pressure sensors 19 are respectively arranged at
The input port of propons proportion magnetic valve 14, the input port of back axle proportion magnetic valve 15, propons shuttle valve 16 defeated
Outlet, the delivery outlet of back axle shuttle valve 17, the input port of propons service brake air chamber 7 and back axle service brake gas
The input port of room 9, gathers each pressure tap pressure information in Fig. 1, for test data analyzer；Remote signal
Receiver 25 is for receiving the remote signal that remote control signal generator 23 sends and different according to remote signal
Produce the pwm signal of different duty.In the case of unmanned mode emergency, as intelligent vehicle upper strata is advised
Draw decision-making module 29 and plan the situation such as mistake or deadlock, jeopardize car with car testing crew judges that intelligent vehicle exists
, pedestrian and other securities of the lives and property possible time, can be remote by remote control signal generator 23
Send brake hard remote signal and make emergency brake of vehicle.
Brake monitor 22 mainly by microprocessor 35, two-way CAN communication module, serial communication module 34,
Analog signal processing circuit 26, switching signal processing circuit 27, pwm signal process circuit 28, PWM drives
Dynamic circuit 37, switch driving circuit 38 and power module 41 form；
Analog signal processing circuit 26, for by described brake pedal angular displacement sensor 20 and each pressure sensing
It is transported to microprocessor 35 after the low-pass filtered process of analog signal that device collects；
Switching signal processing circuit 27, for the 24V park brake switch letter produced by park brake switch 24
Number it is transformed into 5V switching signal, and is transported to microprocessor 35；
Pwm signal processes circuit 28, and the pwm signal being used for exporting remote signal receiver 25 is through light
It is transported to microprocessor 35 after coupling isolation；
Two-way CAN communication module, a road CAN0 communication module 32 is for the planning of intelligent vehicle upper strata certainly
Plan module 29 communication, receives upper strata programmed decision-making order and is transferred to microprocessor 35, to intelligent vehicle upper strata
Programmed decision-making module sends the current brake state from microprocessor 35；Another road CAN1 communication module 33
It is connected with former car CAN communication network 30, receives former vehicle travelling state information and be transferred to microprocessor 35,
Self state of a control from microprocessor 35 is sent to former car CAN communication network 30；
Serial communication module 34, for collection and debugging industrial computer 31 communication with outside, receives and gathers and adjust
Examination single function debugging control instruction of issuing of industrial computer 31, and by from microprocessor 35 collection data and
Self state of a control is sent to gather and debugging industrial computer 31, is preserved with debugging industrial computer 31 by gathering,
For follow-up test data analysis；
Microprocessor 35 is according to acquisition module 21, CAN communication module 32 and 33, serial communication module 34
The information such as the vehicle running state that obtains, upper strata programmed decision-making order, single function debugging control instruction, and tie
Close self state of a control, after carrying out COMPREHENSIVE CALCULATING, issue pwm control signal to PWM drive circuit 37,
Issue switch controlling signal to switch driving circuit 38, upload current system to a road CAN0 communication module 32
Dynamic state, uploads self state of a control to another road CAN1 communication module 33, to serial communication module 34
Send the information and self state of a control received；Microprocessor 35 is receiving single function debugging control instruction simultaneously
Shi Jinhang debugs.
Driving module 36 to include PWM drive circuit 37 and switch driving circuit 38, wherein PWM drives electricity
Road 37, receives the pwm control signal that microprocessor 35 sends, through power amplification rear drive propons ratio
Magnetic valve 14, back axle proportion magnetic valve 15 and open type two-bit triplet magnetic valve 18；Switch driving circuit 38,
Receive the switching signal that microprocessor sends, indicate through power amplification rear drive service brake lamp 39 and parking
Lamp 40；
Power module 41 is used for the unstable direct current provided by the 24V Vehicular accumulator cell 42 on intelligent vehicle,
It is converted into stable 5V and 24V direct current, respectively to acquisition module 21, microprocessor 35 and driving module
36 power supplies.
Claims (3)
1. a vehicle electrically controlling Pneumatic braking system, it is characterised in that: include brake monitor, propons ratio
Magnetic valve, propons shuttle valve, back axle proportion magnetic valve, back axle shuttle valve and open type two-bit triplet magnetic valve；Its
In
Brake monitor is electric with propons proportion magnetic valve, back axle proportion magnetic valve and open type two-bit triplet respectively
The electrical control interface of magnet valve is connected；The input port of propons proportion magnetic valve is connected with vehicle source of the gas, delivery outlet
It is connected with one of them input port of propons shuttle valve；Another input port of propons shuttle valve is braked with this vehicle driving
The delivery outlet of valve is connected, and delivery outlet is connected with the input port of the relay valve in this vehicle propons service braking system；
The input port of back axle proportion magnetic valve is connected with this vehicle source of the gas, and one of them of delivery outlet and back axle shuttle valve is defeated
Entrance is connected；Another input port of back axle shuttle valve is connected with the delivery outlet of this vehicle driving brake valve, delivery outlet
It is connected with the input port of the regulation valve in this vehicle rear axle service braking system；Open type two-bit triplet magnetic valve
Normally opened input port be connected with the delivery outlet of this vehicle hand braking valve, normally opened delivery outlet is stayed with this vehicle rear axle
Governor valve control mouth in car brakes is connected, and exhaust outlet communicates with air；
Brake monitor, is used for receiving this vehicle upper strata programmed decision-making order, implements electric control driving system at needs
Time dynamic, brake monitor controls propons proportion magnetic valve and back axle proportion magnetic valve action, makes propons shuttle valve defeated
The air pressure gone out is the air pressure of propons proportion magnetic valve delivery outlet, and the air pressure making back axle shuttle valve export is back axle ratio
The air pressure of magnetic valve delivery outlet；When artificial service brake implemented by needs, brake monitor makes propons ratio electricity
Magnet valve and back axle proportion magnetic valve power-off, propons shuttle valve and back axle shuttle valve output pressure are the output of service brake valve
The air pressure of mouth；When electric control parking braking implemented by needs, brake monitor controls open type two-bit triplet electromagnetism
Valve events, makes this vehicle rear axle parking braking air chamber bleeder brake.
2. vehicle electrically controlling Pneumatic braking system as claimed in claim 1, it is characterised in that described braking control
Device processed controls propons proportion magnetic valve and back axle proportion magnetic valve action is: brake monitor is planned according to upper strata
Decision-making order also combines Current vehicle running condition information and calculates corresponding controlled quentity controlled variable, according to described controlled quentity controlled variable
Change and input the PWM duty cycle size to propons proportion magnetic valve and back axle proportion magnetic valve, regulate propons
The size of proportion magnetic valve and back axle proportion magnetic valve output pressure controls its action.
3. vehicle electrically controlling Pneumatic braking system as claimed in claim 1, it is characterised in that described vehicle electrical
Control Pneumatic braking system also includes brake pedal angular displacement sensor, remote signal receiver and multiple pressure
Sensor, described angular displacement sensor is connected with the rotary shaft of this vehicle brake pedal, multiple pressure sensors
It is respectively arranged at the input port of propons proportion magnetic valve, the input port of back axle proportion magnetic valve, propons shuttle valve
Delivery outlet, the delivery outlet of back axle shuttle valve, the input port of propons service brake air chamber and back axle service brake air chamber
Input port；
Brake monitor is mainly by microprocessor, two-way CAN communication module, serial communication module, simulation letter
Number process circuit, switching signal processing circuit, pwm signal process circuit, PWM drive circuit, switch
Drive circuit and power module composition；
Analog signal processing circuit, for adopting described brake pedal angular displacement sensor and each pressure sensor
Collect to the low-pass filtered process of analog signal after be transported to microprocessor；
Switching signal processing circuit, for 24V park brake switch signal is transformed into 5V switching signal, and
It is transported to microprocessor；
Pwm signal processes circuit, and the pwm signal being used for exporting remote signal receiver is through light-coupled isolation
After be transported to microprocessor；
Two-way CAN communication module, a road CAN is used for and this vehicle upper strata programmed decision-making module
Communication, receives upper strata programmed decision-making order and is transferred to microprocessor, to this vehicle upper strata programmed decision-making module
Send the current brake state from microprocessor；Another road CAN and this vehicle CAN communication
Network is connected, and receives this vehicle running state information and is transferred to microprocessor, to this vehicle CAN communication network
Network sends self state of a control from microprocessor；
Serial communication module, for collection and debugging industrial computer communication with outside, receives and gathers and debugging work
Single function debugging control instruction that control machine issues, and the collection data from microprocessor are controlled shape with self
State is sent to gather and debugging industrial computer, is preserved with debugging industrial computer by gathering；
Microprocessor, according to the information received and combine after self state of a control carries out COMPREHENSIVE CALCULATING, to
PWM drive circuit issues pwm control signal, issues switch controlling signal, Xiang Yi to switch driving circuit
Road CAN uploads current brake state, uploads self to another road CAN and controls shape
State, sends the information and self state of a control received to serial communication module；Microprocessor is receiving list simultaneously
Debug during function debugging control instruction；
PWM drive circuit, receives the pwm control signal that microprocessor sends, through power amplification rear-guard
Dynamic propons proportion magnetic valve, back axle proportion magnetic valve and open type two-bit triplet magnetic valve；
Switch driving circuit, receives the switch controlling signal that microprocessor sends, through power amplification rear drive
Service brake lamp and parking indicator lamp；
Power module, for powering for brake monitor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410421560.4A CN104192114B (en) | 2014-08-25 | 2014-08-25 | A kind of vehicle electrically controlling Pneumatic braking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410421560.4A CN104192114B (en) | 2014-08-25 | 2014-08-25 | A kind of vehicle electrically controlling Pneumatic braking system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104192114A CN104192114A (en) | 2014-12-10 |
| CN104192114B true CN104192114B (en) | 2016-08-24 |
Family
ID=52077548
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410421560.4A Active CN104192114B (en) | 2014-08-25 | 2014-08-25 | A kind of vehicle electrically controlling Pneumatic braking system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104192114B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112277908A (en) * | 2020-10-30 | 2021-01-29 | 湖北航天技术研究院特种车辆技术中心 | Vehicle braking system, vehicle braking method based on vehicle braking system and storage medium |
Families Citing this family (34)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104494591B (en) * | 2014-12-23 | 2017-04-12 | 安徽安凯汽车股份有限公司 | Electronic parking control system of electric motor coach and control method of electronic parking control system |
| CN104608755B (en) * | 2015-01-30 | 2017-02-15 | 河南护航实业股份有限公司 | Van electric control air brake device |
| CN105151029A (en) * | 2015-08-21 | 2015-12-16 | 湖北航天技术研究院特种车辆技术中心 | Brake system and method for unmanned heavy duty vehicle |
| CN105313868A (en) * | 2015-11-03 | 2016-02-10 | 南京理工大学 | Service braking system based on intelligent hill-start assist |
| CN105313869B (en) * | 2015-11-20 | 2018-10-26 | 南车株洲电力机车研究所有限公司 | The Pneumatic braking system of rubber tire low-floor intelligent track train |
| CN106121831B (en) * | 2016-08-02 | 2018-10-26 | 江苏润杨汽车零部件制造有限公司 | A kind of throttle of vehicle, gear, exhaust brake combined control system |
| DE102016010460A1 (en) * | 2016-08-31 | 2018-03-01 | Wabco Gmbh | An electronically controllable pneumatic braking system in a utility vehicle and method for electronically controlling a pneumatic braking system in a utility vehicle |
| CN106494377B (en) * | 2016-09-21 | 2017-09-01 | 比亚迪股份有限公司 | Rail vehicle and its Pneumatic brake systems, Rail Transit System |
| CN106494378B (en) * | 2016-09-21 | 2017-09-01 | 比亚迪股份有限公司 | Rail vehicle and its Pneumatic brake systems, Rail Transit System |
| US10131336B2 (en) * | 2016-09-26 | 2018-11-20 | Bendix Commercial Vehicle Systems Llc | System and method for braking a vehicle |
| CN107284468A (en) * | 2017-06-29 | 2017-10-24 | 湘电重型装备有限公司 | A kind of unmanned engine brakes |
| DE102017118263B4 (en) * | 2017-08-10 | 2023-07-06 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Electric parking brake, parking brake system, a commercial vehicle, a method and a computer program product |
| CN107826096A (en) * | 2017-11-30 | 2018-03-23 | 长沙智能驾驶研究院有限公司 | Vehicle and its braking control system |
| CN110406517A (en) * | 2018-04-26 | 2019-11-05 | 陕西重型汽车有限公司 | A kind of heavy-duty car electromechanical brake control system and its control method |
| CN108622059A (en) * | 2018-05-09 | 2018-10-09 | 浙江荣众机械有限公司 | The automatically controlled gas braking pressure control method and device of commercial car |
| CN109398336B (en) * | 2018-10-19 | 2021-01-19 | 东南大学 | Man-machine driving-based general braking system and braking method for automatic driving vehicle |
| CN109532805B (en) * | 2018-11-26 | 2021-02-26 | 中联重科股份有限公司 | Crane braking system, automatic positioning system and crane |
| CN109291900A (en) * | 2018-12-05 | 2019-02-01 | 安徽华菱汽车有限公司 | A kind of service braking system and electric vehicle |
| CN109987071A (en) * | 2019-03-25 | 2019-07-09 | 开沃新能源汽车集团有限公司 | A kind of novel unmanned bus line control brake system |
| CN110103914A (en) * | 2019-05-13 | 2019-08-09 | 思与行科技(苏州)有限公司 | Active electronic Pneumatic braking system |
| CN110194134A (en) * | 2019-05-21 | 2019-09-03 | 西安翔迅科技有限责任公司 | More compartments even hang trolleybus braking system |
| CN111137265B (en) * | 2020-01-02 | 2021-03-16 | 佛山市一为制动技术有限公司 | Vehicle brake boosting system, control method and device |
| CN112061102B (en) * | 2020-08-27 | 2021-09-03 | 东风商用车有限公司 | Combination valve device for controlling compressed air distribution for vehicle |
| CN111994059A (en) * | 2020-08-27 | 2020-11-27 | 东风商用车有限公司 | Device for controlling compressed air distribution and use for vehicle through combination valve |
| CN112160890B (en) * | 2020-09-18 | 2022-08-19 | 东风商用车有限公司 | Electromagnetic valve set for distributing compressed air for vehicle, control method and vehicle |
| TWI740656B (en) * | 2020-09-21 | 2021-09-21 | 財團法人工業技術研究院 | Heavy vehicle brake control device and method thereof |
| CN112208536B (en) * | 2020-09-27 | 2022-01-04 | 东风商用车有限公司 | Slope parking device, slope parking method and vehicle |
| CN112026724A (en) * | 2020-09-28 | 2020-12-04 | 徐工集团工程机械股份有限公司科技分公司 | Jointly controllable loader brake system |
| CN112498318B (en) * | 2020-12-14 | 2021-12-28 | 安徽安凯汽车股份有限公司 | Gas-electric hybrid braking system |
| CN113291270A (en) * | 2021-06-25 | 2021-08-24 | 徐州徐工矿业机械有限公司 | Unmanned brake hydraulic system of electric drive dumper |
| CN113844441B (en) * | 2021-10-14 | 2023-01-31 | 安徽江淮汽车集团股份有限公司 | Machine learning method of front collision early warning braking system |
| CN114715103B (en) * | 2022-06-10 | 2022-10-14 | 北京小马智卡科技有限公司 | Truck emergency braking system and operation method |
| CN115107724B (en) * | 2022-07-06 | 2023-09-26 | 山东蓬翔汽车有限公司 | Operating device and operating method of wheel type AGV stay wire type parking brake |
| CN115384476B (en) * | 2022-09-20 | 2024-01-23 | 北京京深深向科技有限公司 | The method comprises the following steps of: vehicle brake a control system control of method of |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19604391B4 (en) * | 1996-02-07 | 2011-06-16 | Robert Bosch Gmbh | Method and device for controlling the brake system of a vehicle |
| DE10009117B4 (en) * | 2000-02-26 | 2009-07-30 | Wabco Gmbh | Construction of a brake pressure modulator for trailers with electronic brake system |
| DE102006054433B4 (en) * | 2006-11-16 | 2024-03-14 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Stretch braking device for motor vehicles |
| CN101913351B (en) * | 2010-08-23 | 2013-08-14 | 三一汽车起重机械有限公司 | Pneumatic braking system, crane with pneumatic braking system and pneumatic braking method |
| CN101992763B (en) * | 2010-11-18 | 2013-01-23 | 三一汽车起重机械有限公司 | Pneumatic braking system and method, and crane having pneumatic braking system |
| CN102092379A (en) * | 2011-01-21 | 2011-06-15 | 铁道部运输局 | Parking braking control system for railway vehicles |
-
2014
- 2014-08-25 CN CN201410421560.4A patent/CN104192114B/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112277908A (en) * | 2020-10-30 | 2021-01-29 | 湖北航天技术研究院特种车辆技术中心 | Vehicle braking system, vehicle braking method based on vehicle braking system and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104192114A (en) | 2014-12-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104192114B (en) | A kind of vehicle electrically controlling Pneumatic braking system | |
| CN108345305B (en) | Intelligent vehicle-mounted system of trackless rubber-tyred vehicle, underground vehicle scheduling system and control method | |
| CN104820424B (en) | Electric automobile automated driving system and its control method based on Beidou navigation | |
| CN106948302B (en) | A kind of unmanned cleaning vehicle | |
| CN104732835B (en) | A kind of intelligent miniature vehicle instructional device in stadium | |
| CN106774291A (en) | A kind of electric-control system of automatic Pilot electric automobile | |
| CN103488173B (en) | Many landform intelligent family moving platform and control method thereof | |
| CN110262469A (en) | A kind of automatic ride control system and method applied to agricultural vehicle | |
| CN107037817A (en) | A kind of intelligent electric motor car longitudinal side is to integrated control platform and vehicle | |
| CN108995538A (en) | A kind of Unmanned Systems of electric car | |
| CN107329466A (en) | A kind of automatic Pilot compact car | |
| CN102627100B (en) | Vehicle double-brake system based on electro-hydraulic control technology and brake method thereof | |
| CN112009714B (en) | Automatic sensing system and method for omni-directional mobile rodless traction type mobile robot | |
| CN105739491B (en) | A kind of electric intelligent vehicle based on brake regulation is double to drive double-control system and control method | |
| CN108590664B (en) | Multi-functional unattended intelligent tunnel digging change system based on trinocular vision identification technology | |
| CN208521183U (en) | A kind of Unmanned Systems of sanitation cart | |
| CN103786703B (en) | Electro-hydraulic composite braking system hierarchical control structure and method of integrated braking cylinder | |
| CN105128857A (en) | Automobile autonomous driving control method and automobile autonomous driving system | |
| CN109866765A (en) | A kind of driverless electric automobile safety traffic system | |
| CN205421383U (en) | Wireless remote control hydraulic shovel walking electricity drives control system | |
| CN104169908A (en) | Train control system | |
| CN203766749U (en) | Electro-hydraulic composite braking upper-layer controller based on integrated brake master cylinder | |
| CN109358625A (en) | Automatic Pilot agricultural machinery and its dynamical system | |
| CN109827783A (en) | A kind of line traffic control air-pressure brake hardware-in―the-loop test platform and test method | |
| CN209746414U (en) | Modular wheel type unmanned vehicle and rotor unmanned aerial vehicle formation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |