CN110715759B

CN110715759B - Vehicle braking torque detection device

Info

Publication number: CN110715759B
Application number: CN201810755844.5A
Authority: CN
Inventors: M·希尔; M·克莱因克内希特; 童柏超; 洪志超; C·奥斯曼; D·莫勒; F·松德迈尔
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2018-07-11
Filing date: 2018-07-11
Publication date: 2022-10-21
Anticipated expiration: 2038-07-11
Also published as: CN110715759A

Abstract

A braking torque detection device for detecting a braking torque applied to a wheel by a brake mechanism, the braking torque detection device comprising: at least one sensor comprising a sensor element on or within a brake component of the brake mechanism, the brake component exhibiting elastic deformation or displacement in a condition in which the wheel is subjected to braking torque from the brake mechanism, the sensor element being configured to deform as a result of the deformation or displacement of the brake component, the sensor being configured to generate an output signal that varies as a result of the deformation of the sensor element, and a relationship exists between the output signal and the braking torque such that the output signal is indicative of the braking torque; wherein the braking torque detecting means is configured to calculate a braking torque based on an output signal of the sensor.

Description

Vehicle braking torque detection device

Technical Field

The present application relates to a brake torque detection device for detecting a brake torque applied to a wheel by a brake mechanism, and a brake condition monitoring system and a fail-safe safety system including such a brake torque detection device.

Background

Brake torque is a key factor in vehicle braking operation. Many accidents are caused by the lack of sufficient braking torque when the vehicle is braked. Therefore, monitoring the braking torque during a braking operation is important for all types of vehicles.

Furthermore, some vehicles are equipped with a function in which the braking torque is a parameter to be detected, such as ESP, ABS, automatic driving, etc., and it is also important to detect the braking torque applied to the wheels for the function to operate properly.

In addition, some electric vehicles are provided with a brake-by-wire (BbW) system in which a fail-safe safety frame is required. Such a framework can be implemented by, for example, plausibility evaluation (plausibilization) of the individual wheel braking states at the system (vehicle ECU) level based on a fail-safe individual wheel braking mode, and thus it is necessary to provide redundant braking condition monitoring.

Current brake monitoring is typically accomplished by measuring hydraulic brake pressure and checking vehicle speed and driver brake request. However, this method does not ensure complete and safe monitoring of the output of the braking mechanism to the wheels.

Disclosure of Invention

In view of the state of the art, it is an object of the present application to provide an accurate brake torque detection technique.

To this end, the present application provides a braking torque detection apparatus for a vehicle for detecting a braking torque applied to a wheel by a brake mechanism, the braking torque detection apparatus including: at least one sensor comprising a sensor element on or within a brake component of the brake mechanism, the brake component exhibiting elastic deformation or displacement in a condition in which the wheel is subjected to braking torque from the brake mechanism, the sensor element being configured to deform as a result of the deformation or displacement of the brake component, the sensor being configured to generate an output signal that varies as a result of the deformation of the sensor element, and a relationship exists between the output signal and the braking torque such that the output signal is indicative of the braking torque; wherein the braking torque detecting means is configured to calculate a braking torque based on an output signal of the sensor.

The present application also provides a brake condition monitoring system for a vehicle and a fail-safe safety system for a vehicle, including the brake torque detecting device of the present application or a sensor in the brake torque detecting device, the system being configured to use the brake torque calculated by the brake torque detecting device or an output signal of the sensor as an input or feedback parameter to monitor a wheel braking state.

According to the present application, one or more sensor elements of the sensor are arranged on or in a brake component which is elastically deformed (stressed) or displaced during a braking operation of the vehicle, so that an output signal representing a level of the braking torque can be obtained, and the braking torque can be calculated on the basis of the output signal. Therefore, the braking torque can be detected with high accuracy, and various vehicle functions and performance optimizations related to the braking torque are facilitated.

Drawings

The foregoing and other aspects of the present application will be more fully understood from the following detailed description, taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a schematic cross-sectional view of a brake mechanism incorporating a brake torque sensing device according to the present application;

FIG. 2 is a schematic side view of the brake mechanism of FIG. 1 showing a brake torque sensing device sensor according to one embodiment of the present application;

3-5 are schematic diagrams of some examples of sensors of the brake torque sensing device;

FIG. 6 is a schematic diagram showing the relationship between sensor output and detected brake torque;

FIGS. 7 and 8 are schematic diagrams showing how temperature affects sensor output;

FIGS. 9 and 10 are schematic views showing a smart brake pad constituting a detection device according to an embodiment of the present application;

FIGS. 11 through 14 are schematic diagrams illustrating alternative locations where sensors may be disposed according to some other embodiments of the present application;

FIG. 15 shows a schematic view of an intelligent fastener comprising a detection device according to an embodiment of the present application; and

fig. 16 is a schematic cross-sectional view of a smart fastener.

Detailed Description

The present application relates generally to a brake torque detection device for detecting a brake torque applied to a wheel by a brake mechanism. The braking torque detection device comprises one or more sensors, one or more sensor elements of which are arranged on or in a braking part of the braking mechanism which is subjected to stress or undergoes elastic deformation or displacement during a wheel braking operation. One or more output signals representative of the level of braking torque applied to the wheels by the braking mechanism are available, and the braking torque may be calculated based on the output signals. The brake torque detection technique of the present application provides detection results with higher accuracy than conventional methods such as detecting brake torque by measuring hydraulic pressure in a brake system, because the hydraulic pressure may not be efficiently used to generate brake torque applied to wheels.

Some possible embodiments of the present application are described below with reference to the drawings. It is noted that the drawings are merely exemplary and are not drawn to scale. Furthermore, some details are omitted and some details are exaggerated in order to clearly illustrate the principles of the present application.

In fig. 1, a brake mechanism for performing a braking operation on a wheel (not shown) is shown. In particular, the wheel comprises a hub 1 around which a brake disc 2 is mounted. The brake disc 2 has a radially outer annular friction portion and an inner fixing portion fixed to the hub 1, for example by means of bolts 3. Features for improving the braking operation, for example, ventilation through holes 4 for cooling the brake disc 2, may be provided in the friction portion.

The brake mechanism mainly comprises a frame 5 which is fixed to a part of the vehicle frame 6 by means of fasteners 7, such as bolts, the frame 5 being mounted around a part of the friction portion of the brake disc 2.

The caliper body 8 is mounted to the frame 5 and is movable relative to the frame 5 in an axial direction perpendicular to the brake disc 2. The axial movement of the caliper body 8 is guided by one or more guide pins 9, and after the axial movement the caliper body 8 can be forced back to the original position (position shown in fig. 1) by means of a return member, for example a return spring 10 mounted around the guide pin 9.

A pair of axially opposed brake pads 11 are arranged on opposite sides of the friction portion of the brake disc 2. One brake pad 11 (the left one in fig. 1), called the active brake pad, is driven by an electric motor (not shown) mounted to caliper body 8 via a reduction gear (not shown), and an actuating rod 12 and a piston 13 arranged in caliper body 8 to move axially towards brake disc 2. The other brake pad 11 (the one on the right in fig. 1), called passive brake pad, is carried by the caliper body 8 and follows the axial movement of the caliper body 8. In a braking operation, the motor drives the actuating rod 12 and the piston 13 to axially move the active brake pad 11 toward one of opposite sides of the friction portion of the brake disc 2. The motor also applies an opposite force to the caliper body 8 so that the caliper body 8 axially moves the passive brake pad 11 toward the other of the opposite sides of the friction portion of the brake disc 2. Finally, the pair of brake pads 11 clamp the friction portion of the brake disk 2 therebetween to apply a braking torque to the brake disk 2.

The pair of brake pads 11 have guiding features, not shown, to be guided by the frame 5 as they move axially. After the braking operation is completed, the motor rotates in the reverse direction, the passive brake pad 11 returns to the home position with the caliper body 8 under the action of the return member of the caliper body 8, and the active brake pad 11 also returns to the home position under the action of its return member (not shown) or under the action of the motor rotating in the reverse direction.

It will be appreciated that in the embodiment of fig. 1, the electric machine is used as a braking power source to generate braking torque; however, other types of braking power sources, such as hydraulic types, may also be used herein, instead of or in addition to electric motors. Further, the braking mechanism may be configured to have a different configuration than that shown in FIG. 1.

In a braking operation, a clamping force in the axial direction and a braking torque in the circumferential direction are applied to the brake disc 2, and in turn, the respective components of the brake mechanism are subjected to a reaction force and a torque from the brake disc 2. The reaction forces and torques produce stresses in the respective components of the brake mechanism that cause elastic deformation in structurally relatively weak portions of these components as well as in some structurally relatively weak components, and also cause slight temporary displacements between some of the components. The present application utilizes one or more of these deformations and/or displacements to detect braking torque by arranging one or more sensors of the braking torque detection device on or within one or more of those components which are subject to high stresses during braking operations and therefore exhibit measurable deformations or displacements.

According to one embodiment of the application, as shown in fig. 2, the sensor 20 is arranged between the caliper body 8 and the passive brake pad 11.

The sensor 20 integrally includes a first fixing portion 21, a second fixing portion 22, and an elastic body 23 between the first and

second fixing portions

21 and 22. The first and

second fixing portions

21 and 22 are made of a hard material, such as metal, and are fixed to the caliper body 8 and the passive brake pad 11, respectively. The elastic body 23 is made of an elastic material, such as rubber. Sensor elements in the form of micromechanical devices are embedded in the elastic body 23 or formed on one or more surfaces of the elastic body 23.

In a braking operation, the passive brake pad 11 receives a reaction torque from the brake disk 2, and thus a slight displacement is present between the caliper body 8 and the passive brake pad 11. The elastic body 23 is thus subjected to bending forces and exhibits an elastic deformation, and the sensor 20 detects this deformation with a sensor element carried by the elastic body 23 and outputs an electrical signal via the cable 24.

The sensor element may be made in advance and then embedded in the elastic body 23, for example by overmoulding. Alternatively, the sensor elements may be laser printed on the surface(s) of the elastic body 23.

The cable 24 may be a multicore cable and is connected directly to the control unit or through a CAN bus. The output signal of the sensor 20 may be sent to the control unit via a cable 24. The electrical output signal, for example the voltage or the current intensity, is representative of the small displacement between the caliper body 8 and the passive brake pad 11 and, therefore, of the braking torque. In other words, the control unit may calculate the braking torque using the output signal of the sensor 20.

It will be appreciated that the sensor 20 may also be disposed between other components of the braking mechanism, so long as a measurable displacement is produced between the components during a braking operation.

The sensor 20 may be of any type capable of detecting stress or elastic deformation. For example, it may be of a resistive type, a capacitive type, a magnetoelastic effect type, or the like.

Fig. 3 shows a resistive sensor 20 whose sensor elements include resistors R1, R2, R3 and R4 formed on or in an elastomeric body 23. Resistors R1 and R3 are disposed on one side of the elastic body 23, and resistors R2 and R4 are disposed on the other side of the elastic body 23, the four resistors forming a bridge-type sensing circuit. When the elastic body 23 is bent by the force F applied to the second fixing portion 22, the four resistors are deformed accordingly, so that the resistance values of the four resistors vary, and the output signal of the bridge circuit also varies. Sensor 20 outputs an electrical signal that reflects the bridge circuit voltage and can be used as a representation of braking torque.

Fig. 4 shows a capacitive sensor 20, the sensor element of which comprises capacitors C1 and C2. Capacitors C1 and C2 are connected in the inductive circuit and are arranged in an orientation at an angle to each other, preferably perpendicular to each other. When the elastic body 23 is bent under the action of the force F applied to the second fixing portion 22, the capacitor is thus deformed, so that the capacitance values of the two capacitors vary. The sensor 20 outputs an electrical signal via cable 24 reflecting the capacitance value of the capacitor, which can be used as a representation of the braking torque.

Fig. 5 shows a sensor 20 of the magnetoelastic effect type, which comprises a ferromagnetic material 25 as a sensor element either attached to the elastic body 23 or embedded in the elastic body 23. The sensor element comprises a magnetic induction circuit 26, which faces the ferromagnetic material 25. The magnetic induction circuit 26 includes a magnetic field generating coil and a magnetic field induction coil. When charged, the magnetic field generating coil generates a magnetic field passing through the ferromagnetic material 25, while the magnetic field induction coil receives the magnetic field influenced by the ferromagnetic material 25, and thus the magnetic induction circuit 26 can detect the magnetic flux of the magnetic field. When the elastic body 23 is bent by the force F applied to the second fixing portion 22, the ferromagnetic material 25 is deformed, the magnetic field is also deformed, and the magnetic flux of the magnetic field is changed. The sensor 20 detects the magnetic flux of the magnetic field by means of the magnetic field induction coil and outputs an electrical signal reflecting the magnetic flux of the magnetic field, which can be used as a representation of the braking torque.

Other types of sensors 20 are contemplated under the principles of the present application.

The output signal of the sensor 20 is substantially linear with the brake torque. Fig. 6 shows the relationship between the output voltage of the resistance type sensor 20 and the braking torque, which is summarized by the experiment. In fig. 6, the horizontal axis represents braking torque, and the vertical axis represents output voltage. It can be seen that the output voltage of the sensor 20 is substantially linear with brake torque. Experiments with other types of sensors 20 also show similar linear relationships. Therefore, it can be confirmed that the braking torque can be calculated by using the output signal representing the elastic deformation (stress) of the elastic body 23.

In some applications, the temperature of the brake disc 2 also needs to be monitored. In this case, a separate temperature sensor element may be provided at a position in the vicinity of the sensor 20. Alternatively, a temperature sensor element may be integrated in the sensor 20 and the common cable 24 may be capable of outputting a signal that is indicative of the braking torque as a signal that is indicative of the temperature.

According to one embodiment, the sensor 20 configured for detecting braking torque as described above may also be used for detecting temperature without adding a temperature sensor element. In particular, the sensitivity of the sensor 20 was found to change at different temperatures. For example, fig. 7 shows the relationship between the output voltage and the torque of the sensor 20 at different temperatures, and fig. 8 shows the change in the output voltage with time at different temperatures for the same braking torque. Thus, the output voltage is a function of brake torque, temperature, and time. The output signals of other types of sensors 20 also exhibit similar relationships and functions.

By using these relationships and functions, not only the braking torque but also the temperature can be calculated using the output signal of the sensor 20.

Fig. 9 and 10 show another embodiment of the detection device of the present application, comprising a sensor 20 laminated between layers of a brake pad 11, preferably a passive brake pad 11. Specifically, the brake lining 11 includes a lining 30 and a friction plate (or possibly more than one) 31 fixed to the lining 30 by means of a positive fit structure having force transmission properties, fasteners, or the like. The sensor 20 is superimposed between the lining 30 and the friction plate 31. The sensor 20 may be a shear stress sensor (e.g., resistive, capacitive, magnetoelastic, etc.), a piezoelectric sensor, or the like. To improve the detection accuracy, the sensor may comprise several sensor elements 33 arranged at different positions on the lining 30, as shown in fig. 10. These sensor elements 33 are connected to a micro circuit board 32 to which the cable 24 is attached. The sensor 20 may additionally include a temperature sensor element 34 connected to the common circuit board 32.

In a braking operation, the friction plate 31 receives a force F from the brake disk 2, and thus exhibits elastic deformation or a slight displacement with respect to the lining 30. A shear force is thus applied to the sensor element, and the sensor 20 generates and outputs a signal corresponding to the shear force. The output signal of the sensor can be used as a representation of the braking torque.

The brake pad 11, in which the sensor 20 is superimposed, can be called a smart brake pad since it has a function of detecting a brake torque. The sensor elements of the sensor 20 are preferably attached (e.g. by gluing) to the lining 30, which lining 30 together with the sensor 20 is a reusable part of the brake pad 11. The friction lining 31 is worn by the brake disc 2 during use, and can be discarded when its thickness is less than a threshold value, and a new friction lining 31 is replaced on the lining 30.

Fig. 11 shows another embodiment of the present application, wherein the sensor element of the sensor 20 is arranged on or in a cross beam 41 of the frame 5, the cross beam 41 being located between the pair of fasteners 7 fixing the frame 5 to the vehicle frame 6. Two vertical legs 42 extend from the cross beam 41 and carry guide pins 9, respectively. During braking operation, the brake pads 11 are subjected to a reaction force from the brake disc 2, which in turn exerts a force F on the vertical legs 42 via the guide pins 9, respectively. These two forces F generate a torque in the cross beam 41, which can be detected by the sensor 20. The sensor 20 outputs a signal that can be used as a representation of the braking torque.

Alternatively or additionally, the sensor elements of the sensor 20 may be arranged on or in one or both of the vertical legs 42.

Fig. 12 shows another embodiment of the present application, wherein the magnetoelastic effect type sensor 20 comprises magnetic induction circuitry 26 comprising a magnetic field generating coil and a magnetic field sensing coil. The sensor 20 also comprises ferromagnetic material. The ferromagnetic material may be the material constituting the guide pin 9 or attached to or embedded in the guide pin 9. When the field generating coil is charged, it generates a magnetic field, as shown by the dotted line, which passes through the ferromagnetic material. In the braking operation, the guide pin 9 receives a shearing force generated between the caliper body 8 and the frame 5, the ferromagnetic material is deformed, the magnetic field is deformed accordingly, and the magnetic flux of the magnetic field is changed. The sensor 20 detects the change in the magnetic flux of the magnetic field by means of the magnetic field induction coil and outputs an electrical signal reflecting the magnetic flux of the magnetic field, which can be used as a representation of the braking torque.

Fig. 13 shows another embodiment of the present application, wherein the magnetoelastic effect type sensor comprises magnetic induction circuitry 26 comprising a magnetic field generating coil and a magnetic field sensing coil. The sensor also includes a ferromagnetic material. The ferromagnetic material may be the material constituting the hub 1, or attached to or embedded in a brake disc support portion 50 (which may be in the form of a ring of teeth) provided in the circumferential direction on the outer side of the hub 1, to which brake disc support portion 50 the brake disc 2 is mounted. The magnetic induction circuit 26 faces the ferromagnetic material. During a braking operation, the outer disc support portion 50 (or its respective teeth) is subjected to a torque from the disc 2, and therefore the ferromagnetic material is deformed, and the magnetic field generated by the magnetic field generating coil is also deformed accordingly, and the magnetic flux of the magnetic field is changed. The sensor detects the magnetic flux of the magnetic field by means of the magnetic field induction coil and outputs an electrical signal reflecting the magnetic flux of the magnetic field, which can be used as a representation of the braking torque.

In the case where the outboard brake disc support portion 50 takes the form of a ring of teeth, the sensor output signal (e.g., the frequency of change of the signal) may also be responsive to the rotational speed of the wheel.

Fig. 14 shows another embodiment of the present application, wherein the magnetoelastic effect type sensor includes magnetic induction circuitry 26, which includes a magnetic field generating coil and a magnetic field sensing coil. The sensor also includes a ferromagnetic material. The ferromagnetic material may be the material constituting the brake disc 2, or attached to or embedded in the annular portion 51 of the brake disc 2. The annular portion 51 is a transition portion between an outer annular friction portion and an inner fixed portion of the brake disc 2, and is provided with a specific structure, such as a cooling hole, therein. The magnetic induction circuit 26 faces the ferromagnetic material. In the braking operation, the annular portion 51 receives a torque from the brake pad 11, and therefore the ferromagnetic material is deformed, and thus the magnetic field generated by the magnetic field generating coil is deformed, and the magnetic flux of the magnetic field is changed. The sensor detects the magnetic flux of the magnetic field by means of the magnetic field induction coil and outputs an electrical signal that reflects the magnetic flux of the magnetic field, which signal can be used as a representation of the brake torque.

In the case where the annular portion 51 is formed with a circle of cooling holes, the sensor output signal (e.g., the frequency of change of the signal) may also reflect the rotational speed of the wheel.

Fig. 15 and 16 show another embodiment of the detection device of the present application, which comprises a magnetoelastic effect type sensor integrated in each of the fasteners (e.g. mounting pins or bolts) 7 for fixing the frame 5 to the carriage 6. The sensor comprises a ferromagnetic material. The ferromagnetic material may be the material constituting the fastener 7 or attached to or embedded in the fastener. The sensor further comprises magnetic induction circuitry 26 arranged facing the ferromagnetic material and comprising a magnetic field generating coil and a magnetic field inducing coil. In a braking operation, a reaction force F (see fig. 15) against the braking torque is transmitted to the fasteners 7, and each fastener 7 receives a reverse shearing force (indicated by an arrow in fig. 16) from the frame 5 and the vehicle frame 6, so that both the fastener 7 and the ferromagnetic material are deformed. The magnetic field generated by the magnetic field generating coil is thus also deformed, and the sensor detects the magnetic flux of the magnetic field by means of the magnetic field induction coil and outputs an electrical signal reflecting the magnetic flux of the magnetic field, which can be used as a representation of the braking torque.

Such a sensor-integrated fastener 7 may be referred to as an intelligent fastener.

In fig. 16, the fastener 7 is in the form of a mounting pin with a hole formed therein. Magnetic induction circuit 26 is arranged in the hole, and a ferromagnetic material is arranged on the wall surface of the hole, or in the material of the mounting pin, and faces magnetic induction circuit 26. Alternatively, the mounting pins are made entirely of ferromagnetic material, or at least in their parts corresponding to the magnetic induction circuits 26. The cable 24 is connected to the magnetic induction circuitry 26 and extends from the mounting pin. The outer opening of the mounting pin hole is sealed to protect magnetic induction circuitry 26. Such mounting pins may be referred to as smart mounting pins.

It will be appreciated that the sensor elements of the sensor 20 may be on or within other components of the braking mechanism, so long as a measurable elastic deformation is exhibited in the components during a braking operation.

In summary, the brake torque detection device of the present application comprises a sensor for detecting a measurable elastic deformation or a small displacement of at least one brake component of the brake mechanism. The sensor comprises at least one sensor element arranged on or in the brake part such that the sensor element is deformed by a deformation or displacement of the brake part. The sensor is configured to generate an output signal that varies with deformation of the sensor element. Preferably, the sensor element of the sensor is arranged at a position where a maximum deformation or displacement of the brake component occurs. The sensor element is also oriented in an orientation in which the sensor can detect deformations or displacements to a higher degree, preferably to the greatest degree. For this purpose, the sensor element may be provided with an orientation feature. By the aid of the method and the device, the braking torque can be detected with high precision.

The control unit of the brake torque detection device is capable of calculating the brake torque based on the output signal of the sensor(s). For example, the control unit can calculate the force (magnitude and direction) to which the braking component provided with the sensor(s) is subjected. Then, based on the magnitude of the force and the position of the force relative to the wheel center axis, the braking torque may be calculated.

Further, the number and type of sensors, the number and type of constituent elements of the sensors (e.g., resistors, capacitors, coils, etc.), may be selected to achieve high detection accuracy. The various sensors of the present application may be used in combination in the same brake torque sensing device.

Various modifications can be made to the brake torque detecting apparatus of the present application by those skilled in the art.

The application also relates to a brake condition monitoring system and a fail-safe safety system, comprising the brake torque detection device of the application or comprising the sensor of the application, respectively. The brake condition monitoring system or the fail-safe safety system uses the brake torque calculated by the brake torque detecting means or the output signal of the sensor as an input or feedback signal. A plausibility assessment of the braking state of each wheel can be established. By means of the brake torque detection device, various vehicle functions relating to the brake torque can be implemented. Operational failures of the vehicle brake system can also be discovered using the brake condition monitoring system to provide a fail-safe architecture.

It will be appreciated that the various features of the present application described above may be applied to various types of vehicles, particularly electric vehicles. The electric vehicle may be provided with a brake-by-wire system which may be combined with the above-described brake condition monitoring system or fail-safe safety system.

Although the present application has been described herein with reference to particular embodiments, the scope of the present application is not intended to be limited to the details shown. Various modifications may be made to these details without departing from the underlying principles of the application.

Claims

1. A braking torque detection device for detecting a braking torque applied to a wheel by a brake mechanism, the braking torque detection device comprising:

at least one sensor comprising a sensor element, the braking component of the braking mechanism exhibiting an elastic displacement in a state in which the wheel is subjected to a braking torque from the braking mechanism, the sensor element being configured to deform as a result of the elastic displacement of the braking component, the sensor being configured to generate an output signal that varies as a result of the deformation of the sensor element, and there being a relationship between the output signal and the braking torque such that the output signal is indicative of the braking torque;

wherein the braking torque detecting means is configured to calculate a braking torque based on an output signal of the sensor;

the sensor comprises a first hard fixing part, a second hard fixing part and an elastic body positioned between the first fixing part and the second fixing part, the sensor element is embedded in the elastic body, the brake part comprises a caliper body and a passive brake pad, and the first fixing part and the second fixing part are respectively fixed on the caliper body and the passive brake pad;

alternatively, the brake components include pads and friction pads of a brake pad, and the sensor is superimposed between the pads and friction pads such that the brake pad forms an intelligent brake pad.

2. The brake torque sensing device of claim 1, wherein the sensor is of a resistive type and the sensor element includes four resistors connected in a bridge circuit, two of the resistors being disposed on one side of the elastomeric body and two of the other resistors being disposed on the other side of the elastomeric body, the output signal reflecting a resistance value of the sensor element.

3. The brake torque detection device of claim 1, wherein the sensor is of a capacitive type and the sensor element comprises two capacitors oriented in directions at an angle to each other, the capacitors being arranged on an elastic body, the output signal reflecting a capacitance value of the sensor element.

4. The brake torque detecting device according to claim 3, wherein the two capacitors are oriented in directions perpendicular to each other.

5. The brake torque detecting device according to claim 1, wherein the sensor is of a magnetoelastic effect type, the sensor element includes a ferromagnetic material attached to or embedded in the elastic body and a magnetic induction circuit facing the ferromagnetic material, the magnetic induction circuit includes a magnetic field generating coil and a magnetic field sensing coil and is configured to generate a magnetic field passing through the ferromagnetic material and detect a magnetic flux of the magnetic field, the output signal reflects the magnetic flux.

6. The brake torque sensing device of claim 1, wherein the output signal of the sensor further provides an indication of the temperature at which the sensor element is located and/or an indication of wheel speed.

7. The brake torque detecting device according to any one of claims 1 to 6, wherein the sensor element is disposed at a position where a maximum elastic displacement of the brake member occurs; and

the sensor element is oriented in an orientation in which the sensor is able to detect the elastic displacement to a maximum extent.

8. A braking torque detection device for detecting a braking torque applied to a wheel by a brake mechanism, the braking torque detection device comprising:

at least one sensor comprising a sensor element, the braking component of the braking mechanism exhibiting elastic deformation in a state in which the wheel is subjected to braking torque from the braking mechanism, the sensor element being configured to deform as a result of the elastic deformation of the braking component, the sensor being configured to generate an output signal that varies as a result of the deformation of the sensor element, and a relationship between the output signal and the braking torque being such that the output signal is indicative of the braking torque;

wherein the brake torque detection device is configured to calculate a brake torque based on an output signal of the sensor;

the brake mechanism comprises a frame fixed to the frame by means of a fastener, the brake member comprises a caliper body movable in an axial direction relative to the frame, the axial movement of the caliper body being guided by a guide pin; the sensor is a magnetoelastic effect type sensor integrated within the fastener or guide pin.

9. The brake torque sensing device of claim 8, wherein the output signal of the sensor further provides an indication of the temperature at which the sensor element is located and/or an indication of wheel speed.

10. A braking condition monitoring system comprising the braking torque detecting device according to any one of claims 1 to 9, the braking condition monitoring system being configured to use the braking torque calculated by the braking torque detecting device or an output signal of a sensor in the braking torque detecting device as an input or a feedback parameter to monitor a wheel braking state.

11. A fail-safe safety system comprising the brake torque detection device according to any one of claims 1 to 9, the fail-safe safety system being configured to use the brake torque calculated by the brake torque detection device or an output signal of a sensor in the brake torque detection device as an input or feedback parameter to monitor a wheel braking state.