CN113799754A - Brake system for automatic driving vehicle - Google Patents
Brake system for automatic driving vehicle Download PDFInfo
- Publication number
- CN113799754A CN113799754A CN202010528023.5A CN202010528023A CN113799754A CN 113799754 A CN113799754 A CN 113799754A CN 202010528023 A CN202010528023 A CN 202010528023A CN 113799754 A CN113799754 A CN 113799754A
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- China
- Prior art keywords
- control unit
- hydraulic control
- brake
- vehicle
- hydraulic
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Classifications
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- 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
- B60T13/10—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 fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
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- 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
- B60T13/745—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 acting on a hydraulic system, e.g. a master cylinder
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- 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
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/06—Disposition of pedal
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Braking Systems And Boosters (AREA)
Abstract
The invention provides a brake system for an automatic driving vehicle, which is provided with a hydraulic control unit with double pressure relief devices, and is arranged on a vehicle chassis frame without a brake master cylinder; the pedal input unit and the hydraulic control unit are separated, the size and the weight are decomposed into two small units, flexible arrangement in a front cabin of a vehicle is facilitated, the weight of the pedal input unit installed on a fireproof wallboard is small compared with that of a traditional vacuum booster-brake master cylinder assembly (no vacuum booster device), the requirement on the fireproof wallboard of a thin-wall sheet metal part is low, the pedal input unit is of a split structure, one side (the left side and the right side) of a hydraulic valve block is not required to be installed tightly to the fireproof wallboard, the hydraulic valve block can be provided with more faces to flexibly set each functional module device of the hydraulic control unit, an electronic control unit fixed on the hydraulic control unit is installed on a chassis frame of the vehicle, a vehicle inertia sensor required by the electronic stability function of the vehicle body can be integrated, and the cost is reduced.
Description
Technical Field
The invention relates to the field of vehicle braking, in particular to a braking system for an automatic driving vehicle.
Background
A known vehicle brake-by-wire system includes a hydraulic control unit and an electronic control unit. The hydraulic control unit generally comprises: the brake system comprises a brake master cylinder, a pedal stroke sensor, a pedal feeling simulator, a pressure generating device, a plurality of electromagnetic valves and a hydraulic valve block for accommodating and fixing the components. The electronic control unit is typically mounted on the hydraulic valve block.
The brake master cylinder generates hydraulic pressure through a master cylinder piston which is connected with a vehicle brake pedal and driven by the brake pedal, the pedal stroke sensor is used for transmitting pedal stroke signals to the electronic control unit, the pedal feeling simulator absorbs the hydraulic pressure of the brake master cylinder to provide foot feeling of a driver, the pressure generating device drives the piston to provide brake pressure for a vehicle brake wheel cylinder through a motor, the electromagnetic valve is arranged on each control node of a hydraulic oil path and conducts on-off operation on the hydraulic flow path according to the requirement of brake control, a plurality of hole characteristics and connecting structure characteristics are arranged on the hydraulic valve block to contain and install the components, and a plurality of hydraulic oil paths are constructed to hydraulically connect the components. The electronic control unit controls a motor and a plurality of electromagnetic valves of the pressure generating device and provides the functions of line control braking, various active/automatic braking, braking energy recovery (regenerative braking), anti-lock braking, electronic stability of a vehicle body and the like.
The system principle is shown in fig. 2, and the basic working process is as follows:
when the system works normally, a brake-by-wire mode is executed, the brake intention of a driver is obtained through the pedal stroke sensor 43, the motor 211 of the pressure generating device is electrified to drive the booster piston 212 to generate brake hydraulic pressure, and meanwhile, the corresponding electromagnetic valve device is electrified to work, and the brake hydraulic pressure is transmitted to the wheel cylinder 90 of the vehicle brake for braking; when the system is in a failure, the system enters a mechanical backup braking mode, the motor and the electromagnetic valves of the pressure generating device do not work (are powered off), and a driver directly drives the brake pedal 10, further drives the master cylinder pistons 41 and 42 to generate brake hydraulic pressure and transmits the brake hydraulic pressure to the wheel cylinders 90 of the vehicle brakes for braking.
Refer to the structure of the hydraulic control unit shown in international publication number WO 2019/076642 a1 and chinese publication number CN 208881776U, as shown in fig. 3 and 4. In the prior art, the master cylinder 40, the pedal stroke sensor 43, the pedal feel simulator 30, the first pressure generating device 210, the brake fluid reservoir 50, and the solenoid valves are constructed as an integrated hydraulic control unit 100, and are mounted and fixed to the firewall 20 of the front compartment of the vehicle. Such an integrated hydraulic control unit is relatively heavy and bulky, typically 2 times heavier than the vacuum booster-master cylinder assembly of a conventional fuel vehicle.
1. The position of the pedal (the driver's foot) on the vehicle is relatively fixed, and the master cylinder in the hydraulic control unit must be connected to the pedal, whereby the mounting position of the bulky hydraulic control unit on the vehicle is fixed, and therefore, the arrangement around the pedal in the front compartment of the vehicle is disadvantageous.
2. The fireproof wallboard for supporting the hydraulic control unit on the vehicle is generally a thin-wall sheet metal part with low rigidity and strength, and the large weight causes the aggravation of vibration amplitude, thus being unfavorable for the performance and the service life of the product.
3. While the vehicle inertia sensors (for sensing the vehicle longitudinal acceleration and yaw rate) required for the electronic body stabilization function must be rigidly fixed to the vehicle chassis frame to accurately sense the vehicle motion state, the typical inertia sensors are integrated with the circuit board of the electronic control unit and are fixedly connected to the hydraulic control unit through the housing of the electronic control unit for cost reduction. Therefore, the integral hydraulic control unit is heavy and is arranged on a fireproof wall of a thin-wall sheet metal part, so that the vibration amplitude is large, the signal distortion of a vehicle inertia sensor can be caused, and the electronic stability function of a vehicle body can not be realized. In order to solve the problem, a separate inertia sensor module needs to be arranged, and the cost is high.
4. The first hydraulic pressure generating device of the hydraulic control unit comprises a first motor, and the noise of the first motor is easy to transmit to a driving cabin and further be sensed by a vehicle passenger when braking is carried out due to the fact that the first motor is close to a firewall of a front cabin of the vehicle.
5. Only one pressure generating device (first pressure generating device) fails the automatic braking function when a malfunction occurs, and cannot be used in the unmanned vehicle.
Disclosure of Invention
To solve the above problems, the present invention provides a brake system for an autonomous vehicle, having a hydraulic control unit of a dual pressure relief device installed on a vehicle chassis frame without including a brake master cylinder; the pedal input unit and the hydraulic control unit are separated, the size and the weight are decomposed into two small units, flexible arrangement in a front cabin of a vehicle is facilitated, the weight of the pedal input unit installed on a fireproof wallboard is small compared with that of a traditional vacuum booster-brake master cylinder assembly (no vacuum booster device), the requirement on the fireproof wallboard of a thin-wall sheet metal part is low, the pedal input unit is of a split structure, one side (the left side and the right side) of a hydraulic valve block is not required to be installed tightly to the fireproof wallboard, the hydraulic valve block can be provided with more faces to flexibly set each functional module device of the hydraulic control unit, an electronic control unit fixed on the hydraulic control unit is installed on a chassis frame of the vehicle, a vehicle inertia sensor required by the electronic stability function of the vehicle body can be integrated, the cost is reduced, and the problem occurring in the background technology is solved.
The invention aims to provide a brake system for an automatic driving vehicle, which consists of a hydraulic control unit, a pedal input unit and an electronic control unit; the hydraulic control unit includes: a pressure generating device for supplying hydraulic pressure to a brake wheel cylinder of a vehicle, a plurality of solenoid valves, a pedal simulator, a hydraulic valve block for accommodating and mounting the above components; the pedal input unit includes: a brake master cylinder for generating hydraulic pressure by a master cylinder piston driven by a brake pedal, a pedal stroke sensor for recognizing the displacement or angle of the brake pedal pressed by a driver, one or more brake fluid reservoirs; the electronic control unit is arranged on a hydraulic valve block of the hydraulic control unit; the pressure generating device of the hydraulic control unit comprises a first pressure generating device and a second pressure generating device; the hydraulic control unit and the pedal input unit are independent of each other, i.e., a master cylinder piston of a brake master cylinder of the pedal input unit is not accommodated and mounted via the hydraulic valve block of the hydraulic control unit.
The further improvement lies in that: the hydraulic control unit is mechanically constructed as a separate body and is mounted on a vehicle chassis frame, and the pedal input unit is mechanically constructed as a separate body and is mounted and fixed on a vehicle fire wall board.
The further improvement lies in that: the pedal input unit is provided with one or more main cylinder oil outlets; the hydraulic control unit is provided with one or more hydraulic control unit oil inlets corresponding to the main cylinder oil outlets, and the corresponding main cylinder oil outlets are hydraulically connected with the hydraulic control unit oil inlets through brake pipelines.
The further improvement lies in that: the brake fluid storage tanks can be optionally arranged into one and are fixedly arranged on the pedal input unit, or the first brake fluid storage tank and the second brake fluid storage tank are arranged into one and are respectively fixedly arranged on the pedal input unit and the hydraulic control unit, and the first brake fluid storage tank is connected with the second brake fluid storage tank through an oil supply pipeline.
The further improvement lies in that: and the hydraulic valve block of the hydraulic control unit is provided with one or more hydraulic control unit oil outlets which are hydraulically connected with a vehicle brake wheel cylinder.
The further improvement lies in that: the installation position of the hydraulic control unit on the vehicle is lower than that of the pedal input unit in the gravity direction, so that the brake fluid storage tank can input brake fluid to the hydraulic control unit or the first brake fluid storage tank can input brake fluid to the second brake fluid storage tank.
The further improvement lies in that: the electronic control unit comprises a first wire harness interface and a second wire harness interface which respectively supply power to a first controller and a second controller of the electronic control unit, the first controller controls a first motor of the first pressure generating device, and the second controller controls a second motor of the second pressure generating device.
The invention has the beneficial effects that: the hydraulic control unit with the double pressure relief device is mounted on a vehicle chassis frame without including a brake master cylinder.
1. The pedal input unit and the hydraulic control unit are separated, and the size and the weight are decomposed into two small units, so that flexible arrangement in a front cabin of the vehicle is facilitated.
2. The pedal input unit installed on the fireproof wallboard is light in weight, smaller than a traditional vacuum booster-brake master cylinder assembly (no vacuum booster device), and low in requirement on the fireproof wallboard of a thin-wall sheet metal part.
3. The split structure does not need to enable one side face (the left side face and the right side face) of the hydraulic valve block to be tightly attached to the fireproof wall board, and the hydraulic valve block can be provided with one more face to flexibly set each functional module device of the hydraulic control unit.
4. The electronic control unit fixed on the hydraulic control unit is independently installed on the chassis frame of the vehicle, and can be integrated with a vehicle inertia sensor required by the electronic stability function of the vehicle body, so that the cost is reduced.
5. The motor of the pressure generating device is far away from the fireproof wallboard for installation, and the working noise isolation effect on the motor is good.
6. When the first pressure generating device fails, the redundant second pressure generating device takes over the double-pressure generating devices controlled by the double controllers, the automatic braking function is continuously provided, and the requirements of the unmanned vehicle are met.
Drawings
FIG. 1 is a schematic of the present invention.
Fig. 2 is a schematic diagram of a prior art system of the background of the invention.
FIG. 3 is a schematic representation of prior art WO 2019/076642A 1.
Fig. 4 is a schematic diagram of prior art CN 208881776U of the background of the invention.
In fig. 1: 120-a hydraulic control unit, 110-a pedal input unit, 30-a pedal feel simulator, 200-an electronic control unit, 80-a hydraulic valve block, 40-a brake master cylinder, 50-a brake fluid storage tank, 210-a first pressure generating device, 220-a second pressure generating device, 44-a master cylinder oil outlet, 87-a hydraulic control unit oil inlet, 130-a brake pipeline, 88-a hydraulic control unit oil outlet, 201-a first wiring harness interface and 202-a second wiring harness interface.
Detailed Description
For the purpose of enhancing understanding of the present invention, the present invention will be further described in detail with reference to the following examples, which are provided for illustration only and are not to be construed as limiting the scope of the present invention.
As shown in fig. 1, the present embodiment provides a brake system for an autonomous vehicle, which is composed of a hydraulic control unit 120, a pedal input unit 110, and an electronic control unit 200; the hydraulic control unit 120 includes: a pressure generating device for supplying hydraulic pressure to a brake wheel cylinder of a vehicle, a plurality of solenoid valves, a pedal simulator, a hydraulic valve block 80 for accommodating and mounting the above components; the pedal input unit includes: a brake master cylinder 40 for generating hydraulic pressure by a master cylinder piston driven by a brake pedal, a pedal stroke sensor 43 for recognizing a displacement or an angle of a brake pedal depressed by a driver, one or more brake fluid reservoirs 50; the electronic control unit is mounted on a hydraulic valve block 80 of the hydraulic control unit; the pressure generating devices of the hydraulic control unit 120 include a first pressure generating device 210 and a second pressure generating device 220; the hydraulic control unit 120 and the pedal input unit 110 are independent from each other, i.e., a master cylinder piston of a brake master cylinder 40 of the pedal input unit 110 is not received and mounted via the hydraulic valve block 80 of the hydraulic control unit 120.
The hydraulic control unit 120 is mechanically constructed as a separate body and is mounted on a chassis frame of the vehicle, and the pedal input unit 110 is mechanically constructed as a separate body and is mounted and fixed on a firewall of the vehicle. The pedal input unit 110 is provided with one or more master cylinder oil outlets 44; the hydraulic control unit 120 is provided with one or more hydraulic control unit oil inlets 87 corresponding to the master cylinder oil outlets 44, and the corresponding master cylinder oil outlets 44 are hydraulically connected with the hydraulic control unit oil inlets 87 through the brake pipelines 130.
The brake fluid reservoirs 50 may be optionally configured as one and mounted and fixed on the pedal input unit 110, or configured as a first brake fluid reservoir and a second brake fluid reservoir and mounted and fixed on the pedal input unit 110 and the hydraulic control unit 120, respectively, and the first brake fluid reservoir is connected to the second brake fluid reservoir through an oil supply pipeline. The hydraulic valve block 80 of the hydraulic control unit 120 is provided with one or more hydraulic control unit oil outlets 88 which are hydraulically connected with the vehicle brake wheel cylinder. The installation position of the hydraulic control unit 120 on the vehicle is lower than the installation position of the pedal input unit 110 in the gravity direction, so that the brake fluid reservoir 50 inputs the brake fluid to the hydraulic control unit 120 or the first brake fluid reservoir inputs the brake fluid to the second brake fluid reservoir. The electronic control unit 200 includes a first harness interface 201 and a second harness interface 202, which respectively supply power to a first controller and a second controller of the electronic control unit 200, wherein the first controller controls a first motor 211 of a first pressure generating device 210, and the second controller controls a second motor 221 of a second pressure generating device 220.
The hydraulic control unit with the dual pressure relief device according to the present embodiment is mounted on the vehicle chassis frame without including the master cylinder.
1. The pedal input unit and the hydraulic control unit are separated, and the size and the weight are decomposed into two small units, so that flexible arrangement in a front cabin of the vehicle is facilitated.
2. The pedal input unit installed on the fireproof wallboard is light in weight, smaller than a traditional vacuum booster-brake master cylinder assembly (no vacuum booster device), and low in requirement on the fireproof wallboard of a thin-wall sheet metal part.
3. The split structure does not need to enable one side face (the left side face and the right side face) of the hydraulic valve block to be tightly attached to the fireproof wall board, and the hydraulic valve block can be provided with one more face to flexibly set each functional module device of the hydraulic control unit.
4. The electronic control unit fixed on the hydraulic control unit is independently installed on the chassis frame of the vehicle, and can be integrated with a vehicle inertia sensor required by the electronic stability function of the vehicle body, so that the cost is reduced.
5. The motor of the pressure generating device is far away from the fireproof wallboard for installation, and the working noise isolation effect on the motor is good.
6. When the first pressure generating device fails, the redundant second pressure generating device takes over the double-pressure generating devices controlled by the double controllers, the automatic braking function is continuously provided, and the requirements of the unmanned vehicle are met.
Claims (7)
1. A brake system for an autonomous vehicle is composed of a hydraulic control unit (120), a pedal input unit (110), and an electronic control unit (200); the hydraulic control unit (120) includes: a pressure generating device for supplying hydraulic pressure to a brake wheel cylinder of a vehicle, a plurality of solenoid valves, a pedal simulator, a hydraulic valve block (80) for accommodating and mounting the above components; the pedal input unit includes: a brake master cylinder (40) for generating hydraulic pressure by a master cylinder piston driven by a brake pedal, a pedal stroke sensor (43) for recognizing the displacement or angle of the brake pedal depressed by the driver, one or more brake fluid reservoirs (50); the electronic control unit is mounted on a hydraulic valve block (80) of the hydraulic control unit; the method is characterized in that: the pressure generating means of the hydraulic control unit (120) comprise a first pressure generating means (210) and a second pressure generating means (220); the hydraulic control unit (120) and the pedal input unit (110) are independent of each other, i.e., a master cylinder piston of a brake master cylinder (40) of the pedal input unit (110) is not accommodated and mounted via the hydraulic valve block (80) of the hydraulic control unit (120).
2. A braking system for autonomous vehicles as claimed in claim 1, characterized in that: the hydraulic control unit (120) is mechanically configured as a separate body and is mounted on a vehicle chassis frame, and the pedal input unit (110) is mechanically configured as a separate body and is mounted and fixed on a vehicle fire wall panel.
3. A braking system for autonomous vehicles as claimed in claim 1, characterized in that: the pedal input unit (110) is provided with one or more master cylinder oil outlets (44); the hydraulic control unit (120) is provided with one or more hydraulic control unit oil inlets (87) corresponding to the master cylinder oil outlets (44), and the corresponding master cylinder oil outlets (44) are hydraulically connected with the hydraulic control unit oil inlets (87) through brake pipelines (130).
4. A braking system for autonomous vehicles as claimed in claim 1, characterized in that: the brake fluid storage tanks (50) can be optionally arranged into one and fixedly arranged on the pedal input unit (110), or arranged into a first brake fluid storage tank and a second brake fluid storage tank which are respectively fixedly arranged on the pedal input unit (110) and the hydraulic control unit (120), and the first brake fluid storage tank is connected with the second brake fluid storage tank through an oil supply pipeline.
5. A braking system for autonomous vehicles as claimed in claim 1, characterized in that: the hydraulic valve block (80) of the hydraulic control unit (120) is provided with one or more hydraulic control unit oil outlets (88) which are hydraulically connected with a vehicle brake wheel cylinder.
6. A braking system for autonomous vehicles as claimed in claim 4, characterized in that: the installation position of the hydraulic control unit (120) on the vehicle is lower than the installation position of the pedal input unit (110) in the gravity direction, so that the brake fluid storage tank (50) can input brake fluid to the hydraulic control unit (120) or the first brake fluid storage tank can input brake fluid to the second brake fluid storage tank.
7. A braking system for autonomous vehicles as claimed in claim 1, characterized in that: the electronic control unit (200) comprises a first wiring harness interface (201) and a second wiring harness interface (202) which respectively supply power to a first controller and a second controller of the electronic control unit (200), the first controller controls a first motor (211) of the first pressure generating device (210), and the second controller controls a second motor (221) of the second pressure generating device (220).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010528023.5A CN113799754A (en) | 2020-06-11 | 2020-06-11 | Brake system for automatic driving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010528023.5A CN113799754A (en) | 2020-06-11 | 2020-06-11 | Brake system for automatic driving vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113799754A true CN113799754A (en) | 2021-12-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010528023.5A Pending CN113799754A (en) | 2020-06-11 | 2020-06-11 | Brake system for automatic driving vehicle |
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| Country | Link |
|---|---|
| CN (1) | CN113799754A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115140006A (en) * | 2022-09-06 | 2022-10-04 | 万向钱潮股份公司 | Brake-by-wire system and vehicle |
-
2020
- 2020-06-11 CN CN202010528023.5A patent/CN113799754A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115140006A (en) * | 2022-09-06 | 2022-10-04 | 万向钱潮股份公司 | Brake-by-wire system and vehicle |
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