CN114670796A

CN114670796A - Brake-by-wire air circuit, control method thereof and vehicle

Info

Publication number: CN114670796A
Application number: CN202210383998.2A
Authority: CN
Inventors: 崔振; 陈太荣; 孟祥虎; 周旋; 施昊; 赵志强
Original assignee: Xuzhou Xugong Automobile Manufacturing Co ltd
Current assignee: Xuzhou Xugong Automobile Manufacturing Co ltd
Priority date: 2022-04-13
Filing date: 2022-04-13
Publication date: 2022-06-28

Abstract

The invention discloses a line control pneumatic circuit, a control method thereof and a vehicle, and relates to the field of intelligent driving. This drive-by-wire braking gas circuit includes: a first line control system configured to control air pressure of the brake chamber according to a control instruction of the automatic driving system; and a second line control actuator configured to control the air pressure of the brake chamber after the first line control actuator is malfunctioning. According to the vehicle brake system, the two sets of brake-by-wire systems are arranged, so that the vehicle can be braked through the other set of brake-by-wire system after one set of brake-by-wire system fails, and the safety level of the vehicle can be improved.

Description

Brake-by-wire air circuit, control method thereof and vehicle

Technical Field

The disclosure relates to the field of intelligent driving, in particular to a line control pneumatic circuit, a control method thereof and a vehicle.

Background

With the progress of science and technology and the improvement of social development level, the automatic driving technology increasingly becomes the key development direction of various industries. Since the autonomous vehicle has no driver or the driver is not involved in the driving task, the driving task of the vehicle is taken care of by the autonomous system, thereby placing new demands on the autonomous vehicle. For example, the vehicle braking, throttle, steering, etc. actuating systems need to respond to the control requests of the automatic driving system. The brake-by-wire system can satisfy the condition that a driver is absent, and is one of the most important execution systems influencing the running safety in response to a braking instruction of the automatic driving system to the vehicle, such as a braking deceleration request, a braking pressure request, a parking request and the like. If the brake-by-wire system fails, it may cause a safety problem for the vehicle.

Disclosure of Invention

One technical problem to be solved by the present disclosure is to provide a line-controlled pneumatic circuit, a control method thereof, and a vehicle, so as to improve the safety level of the vehicle.

According to an aspect of the present disclosure, a brake-by-wire air circuit is provided, including: a first line control system configured to control air pressure of the brake chamber according to a control instruction of the automatic driving system; and a second line control actuator configured to control the air pressure of the brake chamber after the first line control actuator is malfunctioning.

In some embodiments, the brake-by-wire air circuit further comprises a first power supply, a second power supply, a first power supply distributor and a second power supply distributor, wherein the first power supply and the second power supply respectively supply power to the first wire control power system through the first power supply distributor and supply power to the second wire control power system through the second power supply distributor.

In some embodiments, the second control-by-wire system is configured to determine whether the first control-by-wire system is malfunctioning based on a state of the first control-by-wire system or a pressure of the brake chamber.

In some embodiments, the first line control actuator system and the second line control actuator system are connected by a plurality of two-way single-pass valves.

In some embodiments, the second wire control system controls the relay valve via a proportional solenoid valve to control air pressure in a brake chamber located in the rear axle.

In some embodiments, the first brake-by-wire system is further configured to calculate a deceleration of the vehicle based on a signal output from a wheel speed sensor located at the ring gear to implement brake-by-wire.

In some embodiments, the first line control system comprises a first controller, a single channel module, a dual channel module, a first ABS valve, and a second ABS valve, wherein the first controller is connected to the single channel module, the dual channel module, the first ABS valve, and the second ABS valve, respectively; the input port of the single-channel module is connected with the front axle air cylinder, and the output port of the single-channel module is respectively connected with the input ports of the first ABS valve and the second ABS valve; the output ports of the first ABS valve and the second ABS valve are respectively connected with the corresponding brake air chambers through a bidirectional one-way valve positioned on the front axle; and the input ports of the double-channel modules are connected with the rear axle air cylinder, and each output port is connected with the corresponding brake air chamber through a bidirectional one-way valve positioned on the rear axle, wherein the bidirectional one-way valves and the brake air chambers are in one-to-one correspondence.

In some embodiments, the second line control power system comprises a second controller, a first proportional solenoid valve, a second proportional solenoid valve, a third proportional solenoid valve, a first relay valve and a second relay valve, wherein the second controller is connected with the first proportional solenoid valve, the second proportional solenoid valve and the third proportional solenoid valve respectively; the input port of the first proportional solenoid valve is connected with the front axle air cylinder, and the output port of the first proportional solenoid valve is connected with the corresponding brake air chamber through a bidirectional one-way valve positioned on the front axle; the second proportional solenoid valve is connected with the first relay valve; the third proportional solenoid valve is connected with the second relay valve; and the first relay valve and the second relay valve are connected with the corresponding brake air chambers through the two-way one-way valves positioned on the rear axle, wherein the two-way one-way valves and the brake air chambers are in one-to-one correspondence.

In some embodiments, the second wire control system further comprises a plurality of pressure sensors located in the brake chamber, wherein the second controller is connected to the plurality of pressure sensors.

In some embodiments, the input port of the first power distributor is connected to a first power source and a second power source, respectively, and the output port is connected to a first line control system; and the input port of the second power supply distributor is respectively connected with the first power supply and the second power supply, and the output port of the second power supply distributor is connected with the second linear control power system.

According to another aspect of the present disclosure, there is also provided a vehicle including: the brake-by-wire air passage is provided.

According to another aspect of the present disclosure, a method for controlling a brake-by-wire air circuit is further provided, including: the first line control system controls the air pressure of the brake chamber according to the control instruction of the automatic driving system; and the second line control action system controls the air pressure of the brake air chamber after the first line control action system is abnormal.

According to the vehicle brake system, the two sets of brake-by-wire systems are arranged, so that the vehicle can be braked through the other set of brake-by-wire system after one set of brake-by-wire system fails, and the safety level of the vehicle can be improved.

Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

The present disclosure may be more clearly understood from the following detailed description, taken with reference to the accompanying drawings, in which:

fig. 1 is a schematic structural view of some embodiments of a brake-by-wire air circuit of the present disclosure.

Fig. 2 is a schematic structural diagram of other embodiments of the brake-by-wire air circuit of the present disclosure.

Fig. 3 is a schematic structural diagram of other embodiments of the brake-by-wire air circuit of the present disclosure.

Fig. 4 is a schematic structural diagram of another embodiment of the brake-by-wire air circuit of the present disclosure.

FIG. 5 is a schematic diagram of some embodiments of a two-way, one-way valve of the brake-by-wire air circuit of the present disclosure.

Fig. 6 is a schematic structural diagram of other embodiments of the brake-by-wire air circuit of the present disclosure.

Fig. 7 is a flowchart illustrating some embodiments of a method for controlling a brake-by-wire air circuit according to the present disclosure.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.

Fig. 1 is a schematic structural view of some embodiments of a brake-by-wire air circuit of the present disclosure. The brake-by-wire air circuit comprises a first brake-by-wire system 110 and a second brake-by-wire system 120.

The first line control system 110 is configured to control the air pressure of the brake chamber according to a control command of the automatic driving system. The second line control actuator 120 is configured to control the air pressure of the brake chamber after the first line control actuator 110 malfunctions.

In some embodiments, second wire control system 120 determines whether first wire control system 110 is malfunctioning based on the state of first wire control system 110 or the air pressure of the brake chamber. For example, the controller in the second wire control actuator system 120 monitors the state of the controller in the first wire control actuator system 110 in real time, and after the state of the first wire control actuator system 110 is abnormal, the second wire control actuator system 120 takes over the control system immediately, and the vehicle is braked by controlling the air pressure of the brake chamber. Or, although the controller in the first linear control actuator system 110 issues a braking command, if the air pressure of the brake chamber is abnormal, the second linear control actuator system 120 immediately takes over the control system, and the second linear control actuator system 120 implements braking of the vehicle.

In the embodiment, by arranging two sets of brake-by-wire systems, after one set of brake-by-wire system fails, the other set of brake-by-wire system can brake the vehicle, so that the safety level of the vehicle can be improved.

In some embodiments of the present disclosure, the second wire control system 120 controls the relay valve via a proportional solenoid valve to control air pressure in the brake chamber at the rear axle.

In the embodiment, because the volume of the brake chamber of the rear axle of the vehicle is larger than that of the brake chamber of the front axle, the distance from the air reservoir is far, the pipeline is long, and in order to improve the braking response timeliness, the second-line control system is provided with the relay valve which can quickly realize the pressure build-up of the brake chamber according to the air pressure output by the proportional solenoid valve, so that the braking response speed of the rear axle can be improved.

Fig. 2 is a schematic structural diagram of other embodiments of the brake-by-wire air circuit of the present disclosure. In this embodiment, the brake-by-wire air passage includes a first power supply 18, a second power supply 19, a first power supply distributor 20, and a second power supply distributor 21.

The first power source 18 and the second power source 19 respectively supply power to the first linear control system 110 through the first power distributor 20 and supply power to the second linear control system 120 through the second power distributor 21.

In some embodiments, each power adapter has two power input interfaces, for example, the input port of the first power distributor 20 is connected to the first power source 18 and the second power source 19, respectively, and the output port is connected to the first wire control system 110. The second power distributor 21 has its inputs connected to the first power source 18 and the second power source 19, respectively, and its output connected to the second wire control system 120.

In the embodiment, two independent power supply systems are set, the first power supply and the second power supply are mutually backup, and after one power supply fails, the other power supply supplies power to the brake-by-wire system through the power adapter, so that the safety of the power supply system of the brake-by-wire air passage is improved.

Fig. 3 is a schematic structural diagram of other embodiments of the brake-by-wire air circuit of the present disclosure. In this embodiment, the first line control System includes a first controller 17, a single channel module 13, a dual channel module 23, a first ABS (Anti-Lock Braking System) valve 11, and a second ABS valve 12. The first controller 17 can receive control commands from the autopilot system, and can control the air pressure of the brake chamber (6/7) of the front axle and the brake chamber (28/29/34/35) of the rear axle by controlling the single channel module 13 and the dual channel module 23.

In some embodiments, as shown in fig. 3 and 4, the first controller 17 is connected to the single channel module 13, the dual channel module 23, the first ABS valve 11 and the second ABS valve 12, respectively. The gas circuit input port of the single-channel module 13 is connected with the front axle gas cylinder 4 through a pipeline, and the two output ports are respectively connected with the input ports of the first ABS valve 11 and the second ABS valve 12 through pipelines. The output ports of the first ABS valve 11 and the second ABS valve 12 are connected to the corresponding brake chambers through bidirectional one-way valves located at the front axle, respectively. For example, the first ABS valve 11 is connected to the brake chamber 6 through the two-way one-way valve 8, and the second ABS valve 12 is connected to the brake chamber 7 through the two-way one-way valve 9.

The input ports of the double-channel module 23 are connected with the rear axle air cylinder 5 through pipelines, and each output port is connected with a corresponding brake air chamber through a bidirectional one-way valve positioned on the rear axle, wherein the bidirectional one-way valves and the brake air chambers are in one-to-one correspondence. For example, 4 output ports of the dual channel module 23 are respectively connected to input ports of a bidirectional one-way valve (26/27/36/37) through pipelines, the bidirectional one-way valve 26 is connected to the brake chamber 29, the bidirectional one-way valve 27 is connected to the brake chamber 28, the bidirectional one-way valve 36 is connected to the brake chamber 35, and the bidirectional one-way valve 37 is connected to the brake chamber 34.

In some embodiments, the second line control train includes a second controller 22, a first proportional solenoid valve 10, a second proportional solenoid valve 24, a third proportional solenoid valve 30, a first relay valve 25, and a second relay valve 31. The second controller 22 monitors the state of the first controller 17 and the air pressure of the brake chamber (6/7/28/29/34/35), realizes pressure output by controlling a proportional solenoid valve (10/24/30), and realizes air pressure control of the brake chamber (6/7) of the front axle and the brake chamber (28/29/34/35) of the rear axle by enabling the air pressure to enter the brake chambers through a bidirectional one-way valve.

In some embodiments, as shown in fig. 3 and 4, the second controller 22 is connected by lines to the first, second, and third

proportional solenoid valves

10, 24, and 30, respectively, with the proportional solenoid valve (10/24/30) acting as the actuator of the second linear control actuator. An input port of the first proportional solenoid valve 10 is connected with the front axle air cylinder 4 through a pipeline, and an output port is respectively connected with the corresponding brake air chamber through a bidirectional one-way valve positioned on the front axle, for example, the bidirectional one-way valve 8 is connected with the brake air chamber 6, and the bidirectional one-way valve 9 is connected with the brake air chamber 7.

The second proportional solenoid valve 24 is connected to the first relay valve 25 via a line, and the third proportional solenoid valve 30 is connected to the second relay valve 31. The first relay valve 30 and the second relay valve 31 are connected to corresponding brake chambers through two-way one-way valves located in the rear axle, wherein the two-way one-way valves and the brake chambers are in one-to-one correspondence. For example, the first relay valve 25 is connected by a line to two input ports of a two-way one-way valve (26/27), and the second relay valve 31 is connected by a line to two input ports of a two-way one-way valve (36/37). The two-way one-way valve 26 is connected with the brake air chamber 29, the two-way one-way valve 27 is connected with the brake air chamber 28, the two-way one-way valve 36 is connected with the brake air chamber 35, and the two-way one-way valve 37 is connected with the brake air chamber 34.

In the above embodiment, on the basis of the first line control actuating system, a set of independent second line control actuating system is added, wherein the first line control actuating system and the second line control actuating system are connected through a plurality of bidirectional one-way valves, so that automatic air pressure switching of two sets of braking systems can be realized, the structural principle is simple, and the cost is controllable. In addition, the components of the second linear control system and the key execution components of the first linear control system are completely independent, the redundancy degree is high, and the safety level of the system is improved.

In some embodiments, the principle of the two-way one-way valve is shown in fig. 5, where

ports

1 and 2 of the two-way one-way valve are air inlets, and port 3 is an air outlet. The valve has a spool of a shuttle valve inside, which moves from port 1 to port 2 when there is air pressure at port 1, so that

ports

1 and 3 communicate. When the 2 ports are pressurized, the shuttle valve moves from the 2 ports to the 1 port, so that the 2 ports and the 3 ports are communicated. At the same time, only one of the

ports

1 and 2 is communicated with the port 3, so that the switching of the gas flow direction can be realized.

In still other embodiments of the present disclosure, the first brake-by-wire system is further configured to calculate a deceleration of the vehicle based on a signal output from a wheel speed sensor located at the ring gear to implement brake-by-wire. For example, wheel speed sensor 15 is located on ring gear 39, wheel speed sensor 16 is located on ring gear 38, wheel speed sensor 32 is located on ring gear 40, and wheel speed sensor 33 is located on ring gear 41. The first controller 17 is connected to the wheel speed sensors (15/16) through the single channel module 13 and connected to the wheel speed sensors (32/33) through the dual channel module 23.

In this embodiment, after voltage or current signals of the wheel speed sensor are connected to the single-channel module or the dual-channel module, the single-channel module and the dual-channel module transmit the voltage or current signals to the first controller in a CAN communication manner, so that too many wire harnesses CAN be prevented from being connected. The first controller performs deceleration calculation, speed calculation and the like by reading wheel speed information in the CAN message, thereby realizing brake-by-wire.

In some embodiments, the first controller 17 is connected to the foot valve 14 through a pipeline, and the foot valve 14 is a foot brake pedal for manual driving. The input port of foot valve 14 is connected with front axle gas receiver 4 and rear axle gas receiver 5, and the output port of foot valve 14 is connected with single channel module 12 and binary channels module 23 respectively. The air pump 1 is the pressure source of the whole brake system, the four-loop protection valve 2 connects and disconnects the air pressure of each air storage cylinder, and the auxiliary air storage cylinder 3 provides air pressure for vehicle accessories, such as an air horn, various electromagnetic air valves and parking brake release.

In other embodiments of the present disclosure, the second-line control system further includes a plurality of pressure sensors located in the brake chamber. As shown in fig. 4, the pressure sensor 42 detects the air pressure of the brake chamber 6, the pressure sensor 43 detects the air pressure of the brake chamber 7, the pressure sensor 44 detects the air pressure of the brake chamber 29, the pressure sensor 45 detects the air pressure of the brake chamber 28, the pressure sensor 46 detects the air pressure of the brake chamber 34, the pressure sensor 47 detects the air pressure of the brake chamber 35, the second controller 22 is connected to the pressure sensors (42/43/44/45/46/47) through lines, detects the pressure of the respective brake chambers, and controls the pressure of the brake chambers through the proportional solenoid valve (10/24/30) after detecting the abnormal pressure of the brake chambers.

In other embodiments of the present disclosure, as shown in fig. 6, in some embodiments, the first power source 18 and the second power source 19 are batteries. A first power distributor 20 supplies power to a first controller 17, a single-channel module 13, a dual-channel module 23, a first ABS valve 11, a second ABS valve 12, and a foot valve 14 of the first linear control system; the second power distributor 21 supplies power to the second controller 22, the first proportional solenoid valve 10, the second proportional solenoid valve 24, and the third proportional solenoid valve 30 of the second line control system, and supplies power to the air pressure sensor (42/43/44/45/46/47).

In the embodiment, two independent power supplies and power distributors are adopted, so that the power redundancy of the first line control actuating system and the second line control actuating system is realized, and the two line control brake systems are respectively supplied with power by the two power distributors, so that the power supply redundancy degree is improved, and further, the safety level of the vehicle is improved.

In other embodiments of the disclosure, a vehicle having the brake-by-wire air circuit described above is also protected. The vehicle is for example a commercial vehicle.

In step 710, the first line control system controls the air pressure of the brake chamber based on the control commands from the autopilot system.

In step 720, the second brake system controls the air pressure of the brake chamber after the first brake system is in malfunction.

In some embodiments, second wire control system 120 determines whether first wire control system 110 is malfunctioning based on the state of first wire control system 110 or the air pressure of the brake chamber.

Thus far, the present disclosure has been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.

The methods and apparatus of the present disclosure may be implemented in a number of ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless specifically stated otherwise. Further, in some embodiments, the present disclosure may also be embodied as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the present disclosure. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A brake-by-wire air circuit, comprising:

a first line control system configured to control air pressure of the brake chamber according to a control instruction of the automatic driving system; and

and the second line control action system is configured to control the air pressure of the brake air chamber after the first line control action system is abnormal.

2. The brake-by-wire air circuit of claim 1, further comprising a first power source, a second power source, a first power distributor, and a second power distributor, wherein,

the first power supply and the second power supply respectively supply power to the first line control power system through a first power supply distributor and supply power to the second line control power system through a second power supply distributor.

3. The brake-by-wire air circuit of claim 1,

the second line control brake system is configured to determine whether the first line control brake system is malfunctioning, based on a state of the first line control brake system or a pressure of the brake chamber.

4. The brake-by-wire air circuit of claim 1,

the first line control actuating system and the second line control actuating system are connected through a plurality of bidirectional one-way valves.

5. The brake-by-wire air circuit of claim 1,

the second linear control system controls the relay valve through a proportional solenoid valve to control the air pressure of a brake chamber positioned on the rear axle.

6. The brake-by-wire air circuit of claim 1,

the first brake-by-wire system is further configured to calculate the deceleration of the vehicle from a signal output from a wheel speed sensor located at the ring gear to achieve brake-by-wire.

7. The brake-by-wire air circuit of any one of claims 1-6, wherein the first brake-by-wire system comprises a first controller, a single channel module, a dual channel module, a first ABS valve, and a second ABS valve, wherein,

the first controller is respectively connected with the single-channel module, the dual-channel module, the first ABS valve and the second ABS valve;

an input port of the single-channel module is connected with a front axle air storage cylinder, and an output port of the single-channel module is respectively connected with input ports of the first ABS valve and the second ABS valve;

the output ports of the first ABS valve and the second ABS valve are respectively connected with the corresponding brake air chambers through a bidirectional one-way valve positioned on a front axle; and

the input ports of the double-channel modules are connected with the rear axle air cylinder, and each output port is connected with the corresponding brake air chamber through a bidirectional one-way valve positioned on the rear axle, wherein the bidirectional one-way valves and the brake air chambers are in one-to-one correspondence.

8. The brake-by-wire air circuit of any one of claims 1 to 6, wherein the second wire control system comprises a second controller, a first proportional solenoid valve, a second proportional solenoid valve, a third proportional solenoid valve, a first relay valve and a second relay valve, wherein,

the second controller is respectively connected with the first proportional solenoid valve, the second proportional solenoid valve and the third proportional solenoid valve;

the input port of the first proportional solenoid valve is connected with the front axle air cylinder, and the output port of the first proportional solenoid valve is connected with the corresponding brake air chamber through a bidirectional one-way valve positioned on the front axle;

the second proportional solenoid valve is connected with the first relay valve;

the third proportional solenoid valve is connected with the second relay valve; and

the first relay valve and the second relay valve are connected with corresponding brake air chambers through two-way one-way valves located on the rear axle, wherein the two-way one-way valves are in one-to-one correspondence with the brake air chambers.

9. The brake-by-wire air circuit of claim 8, wherein the second wire control system further comprises a plurality of pressure sensors located in a brake chamber, wherein,

the second controller is connected with a plurality of pressure sensors.

10. The brake-by-wire air circuit of claim 2,

the input port of the first power supply distributor is respectively connected with the first power supply and the second power supply, and the output port of the first power supply distributor is connected with the first line control system; and

and the input port of the second power supply distributor is respectively connected with the first power supply and the second power supply, and the output port of the second power supply distributor is connected with the second wire control power system.

11. A vehicle, comprising:

a brake-by-wire air circuit as claimed in any one of claims 1 to 10.

12. A method of controlling a brake-by-wire air circuit according to any one of claims 1 to 10, comprising:

the first line control system controls the air pressure of the brake chamber according to the control instruction of the automatic driving system; and

and the second line control dynamic system controls the air pressure of the brake air chamber after the first line control dynamic system is abnormal.