CN115123160A - Line control actuating system and application thereof - Google Patents
Line control actuating system and application thereof Download PDFInfo
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- CN115123160A CN115123160A CN202210660353.9A CN202210660353A CN115123160A CN 115123160 A CN115123160 A CN 115123160A CN 202210660353 A CN202210660353 A CN 202210660353A CN 115123160 A CN115123160 A CN 115123160A
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
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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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
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Abstract
The application belongs to the technical field of automatic driving, and particularly relates to a line control actuating system and application thereof. The existing brake-by-wire system has low robustness, safety and reliability. The application provides a line control braking system, line control braking system is dual redundant backup line control braking system, dual redundant backup line control braking system is including the power subsystem, integrated subsystem and the communication subsystem that connect gradually, integrated subsystem is including the sensing unit, state estimation unit, failure diagnosis and reconstruction unit, whole car the control unit, execution control unit and the line control braking unit that connect gradually, the sensing unit with failure diagnosis and reconstruction unit are connected, the sensing unit with line control braking unit connects, the parameter information of sensing unit monitoring autopilot vehicle, the state estimation unit is right autopilot vehicle carries out parameter state estimation. The safety and the reliability of the automatic driving automobile are improved.
Description
Technical Field
The application belongs to the technical field of automatic driving, and particularly relates to a line control actuating system and application thereof.
Background
Under the large background of energy and environmental crisis, 4.0 industry and the rapid development of everything interconnection, the intelligent wave is rolled up in the global automobile industry, and the intelligent driving technology comes up. The automobile industry is undergoing a 'new four-way' technical revolution characterized by intellectualization, electromotion, networking and sharing, and the technical development puts new requirements on the braking performance of an intelligent-driving automobile, including improvement of driving safety, improvement of user experience, support of high-level automatic driving, reduction of carbon emission and the like.
High-grade automatic driving is one of the important directions of the development of the automobile industry, at present, the automobile system is also changed from a mechanical system to an information physical system, and the intellectualization is the inevitable development requirement of the high-grade automatic driving. From the perspective of supporting high-grade automatic driving, intellectualization is necessary conditions for ensuring that a vehicle provided with an automatic driving brake-by-wire system has excellent braking performance and safe and controllable braking function, namely the intelligent brake-by-wire system not only needs to meet various normal braking conditions under the automatic driving condition, but also needs to ensure the braking safety when the brake-by-wire system fails due to external factors or self conditions, and has good braking efficiency and safe and controllable braking function.
The existing brake-by-wire system has low robustness, safety and reliability.
Disclosure of Invention
1. Technical problem to be solved
Based on the problems of low robustness and low safety and reliability of the conventional brake-by-wire system, the application provides a brake-by-wire system and application thereof.
2 technical scheme
In order to reach foretell purpose, this application provides a line control braking system, line control braking system is dual redundancy backup line control braking system, dual redundancy backup line control braking system is including the power subsystem, integrated subsystem and the communication subsystem that connect gradually, integrated subsystem is including the sensing unit, state estimation unit, failure diagnosis and reconstruction unit, whole car the control unit, execution the control unit and the line control braking unit that connect gradually, the sensing unit with failure diagnosis and reconstruction unit are connected, the sensing unit with line control braking unit connects, the parameter information of sensing unit monitoring autopilot vehicle, the state estimation unit is right autopilot vehicle carries out parameter state estimation.
Another embodiment provided by the present application is: the fault diagnosis and reconstruction unit comprises a main fault diagnosis and reconstruction unit and a redundant fault diagnosis and reconstruction unit, the main fault diagnosis and reconstruction unit and the redundant fault diagnosis and reconstruction unit are mutually redundant, a fault diagnosis algorithm is arranged in the main fault diagnosis and reconstruction unit, and a fault diagnosis algorithm is arranged in the redundant fault diagnosis and reconstruction unit.
Another embodiment provided by the present application is: the state estimation unit comprises a main state estimator and a redundant state estimator, and the main state estimator and the redundant state estimator are redundant with each other.
Another embodiment provided by the present application is: the whole vehicle control unit receives an automatic driving target vehicle speed and an automatic driving target corner, and outputs target brake pressure to the execution control unit through the stability controller and the optimized distribution strategy; the whole vehicle control unit comprises a whole vehicle main controller and a whole vehicle redundancy controller, and the whole vehicle main controller and the whole vehicle redundancy controller are mutually redundant.
Another embodiment provided by the present application is: the execution control unit adjusts the brake-by-wire unit according to the target brake pressure and the actual brake pressure to realize the control of the wheel cylinder pressure; the execution control unit comprises a main execution controller and a redundant execution controller, and the main execution controller and the redundant execution controller are mutually redundant.
Another embodiment provided by the present application is: the drive-by-wire brake unit includes interconnect's pressure building module and pressure regulating module, the pressure building module builds pressure submodule piece, main pressure building submodule piece and redundant pressure building submodule piece including the manpower that connects gradually, the manpower build pressure submodule piece with the pressure regulating module is connected, main pressure building submodule piece with the pressure regulating module is connected, redundant pressure building submodule piece with the pressure regulating module is connected.
Another embodiment provided by the present application is: the sensing unit is arranged on the brake-by-wire unit and comprises a brake motor current signal sensor, a brake motor rotating speed signal sensor, a vehicle speed signal sensor, a wheel corner signal sensor, a wheel cylinder brake pressure signal sensor, a brake pedal displacement signal sensor and a yaw rate signal sensor.
Another embodiment provided by the present application is: and a vehicle dynamics reference model is arranged in the whole vehicle control unit, the automatic driving target vehicle speed and the automatic driving target turning angle are input into the vehicle dynamics reference model, and an expected mass center slip angle, an expected yaw rate and an expected vehicle speed are calculated.
Another embodiment provided by the present application is: the power subsystem comprises a main power module and a redundant power module, the main power module and the redundant power module are redundant, the communication subsystem comprises a main communication module and a redundant communication module, and the main communication module and the redundant communication module are redundant.
The application also provides an application of the brake-by-wire system to high-grade automatic driving vehicles of L3 grade and above.
3. Advantageous effects
Compared with the prior art, the brake-by-wire system and the application thereof have the beneficial effects that:
the application provides a brake-by-wire system, which is a high-grade automatic driving brake-by-wire system.
The brake-by-wire system provided by the application comprises a whole vehicle control system, an execution control system, a fault diagnosis and reconstruction system, a sensing system, a state estimation system, a power supply system, a communication system and a voltage building unit of the brake-by-wire system, which are dual redundancy backups. When any component fails, automatic switching can be performed through the system diagnosis and reconfiguration controller, the completeness of the function of the brake-by-wire system is guaranteed in real time, and the safety of an automatic driving automobile and the reliability of the brake system are improved.
According to the brake-by-wire system provided by the application, the upper layer can control the lower layer of double backup systems or components, for example, a whole vehicle main controller of the whole vehicle control system can control a main execution controller and a redundant execution controller, the main execution controller can control a main voltage building unit and a redundant voltage building unit of the redundant brake-by-wire system, and the functions of the whole vehicle redundant controller are the same as those of the whole vehicle. When any component of the brake system fails, the system diagnosis and reconfiguration controller can reconfigure the failed system at will to form a complete brake-by-wire control system, so that the robustness of the automatic driving brake-by-wire redundancy integrated control system is improved.
The brake-by-wire system provided by the application is not only redundant in hardware, but also redundant in software control algorithm. The software algorithm not only considers the failure of redundant components, but also considers the vehicle control when a single component fails. For example, when a certain brake wheel cylinder fails, the braking condition of the change of the reference model can be responded by adjusting the multi-degree-of-freedom model of the whole vehicle, and the safety and the reliability of the automatic driving brake-by-wire redundancy integrated control system are further improved.
The application of the brake-by-wire system meets the requirements of high-grade automatic driving facing L3 grade and above on the brake-by-wire control system, and meanwhile, a fault diagnosis and reconstruction module of the brake-by-wire system is designed to provide technical support for brake safety under the fault working condition of the automatic driving system.
Drawings
FIG. 1 is a schematic illustration of a brake-by-wire system of the present application;
FIG. 2 is a schematic diagram of the fault diagnosis and reconstruction unit of the present application;
FIG. 3 is a schematic diagram of a vehicle control unit of the present application;
FIG. 4 is a schematic diagram of the execution control unit of the present application;
fig. 5 is a schematic view of the brake-by-wire unit of the present application.
Detailed Description
Hereinafter, specific embodiments of the present application will be described in detail with reference to the accompanying drawings, and it will be apparent to those skilled in the art from this detailed description that the present application can be practiced. Features from different embodiments may be combined to yield new embodiments, or certain features may be substituted for certain embodiments to yield yet further preferred embodiments, without departing from the principles of the present application.
Referring to fig. 1 ~ 5, the application provides a line control braking system, line control braking system is dual redundant backup line control braking system, dual redundant backup line control braking system is including the power subsystem, integrated subsystem and the communication subsystem that connect gradually, integrated subsystem is including the sensing unit, state estimation unit, failure diagnosis and reconstruction unit, whole car the control unit, execution the control unit and the line control braking unit that connect gradually, the sensing unit with failure diagnosis and reconstruction unit are connected, the sensing unit with line control braking unit connects, the parameter information of sensing unit monitoring autopilot vehicle, the state estimation unit is right autopilot vehicle carries out parameter state estimation.
The brake-by-wire system comprises a whole vehicle control unit with a redundancy function, an execution control unit with the redundancy function, a fault diagnosis and reconstruction unit with the redundancy function, a sensing unit with the redundancy function, a state estimation unit with the redundancy function, a power subsystem with the redundancy function, a communication subsystem with the redundancy function and a redundancy brake-by-wire unit with a plurality of voltage build-up units.
The sensing unit with the redundancy function is responsible for monitoring various parameter information of the automatic driving vehicle, including a brake pedal displacement signal, a brake motor current signal, a brake motor rotating speed signal, a wheel cylinder brake pressure signal, a vehicle speed signal and a wheel rotation angle signal, and sending the received signals to modules such as a fault diagnosis and reconstruction unit, a whole vehicle control unit, an execution control unit, an automatic driving vehicle upper layer system and the like.
The whole vehicle control unit with the redundancy function receives automatic driving upper-layer signals, including an automatic driving target vehicle speed and an automatic driving target corner, and outputs target brake pressure to the execution control unit through the stability controller and the optimized distribution strategy.
And the execution control unit with the redundant function receives the output signal of the whole vehicle controller, adjusts the rotation of the pressure building module motor of the redundant wire control brake unit, the opening and closing of the electromagnetic valve and the opening and closing of the liquid inlet valve and the liquid outlet valve of the pressure regulating module according to the target brake pressure and the actual brake pressure, and realizes the pressure control of the wheel cylinder.
And the fault diagnosis and reconstruction unit with the redundancy function receives signals of the sensing unit and the state estimation unit and carries out real-time fault diagnosis on the linear control unit. If the physical component or software of the brake-by-wire unit fails, the failure diagnosis and reconstruction unit analyzes and classifies the physical component or software according to a preset algorithm, reconstructs the redundant brake-by-wire unit, and guarantees the safety and controllability of the braking efficiency and the braking function of the brake-by-wire unit.
The state estimation unit with the redundancy function is used for carrying out parameter state estimation on the automatic driving vehicle, especially carrying out approximate estimation on missing parameter information when certain sensor assemblies fail, and ensuring that the redundancy integrated brake-by-wire unit outputs the parameter information in a normal range.
The power subsystem with the redundancy function supplies power to all electronic components and comprises a sensing unit, a state estimation unit, a fault diagnosis and reconstruction unit, a whole vehicle control unit, an execution control unit, a brake-by-wire unit and a communication subsystem.
The communication subsystem with the redundancy function is responsible for transmitting signals of the brake-by-wire redundancy integrated control system and comprises a sensing unit, a state estimation unit, a fault diagnosis and reconstruction unit, a whole vehicle control unit, an execution control unit, a brake-by-wire unit and a power subsystem.
The brake-by-wire unit with multiple pressure building modules is an actuating part of the brake-by-wire system, and drives components such as a brake motor, an electromagnetic valve and the like according to output signals of an upper-layer actuating controller, so that active rapid pressure building and accurate pressure control of the brake-by-wire system are realized, and sufficient braking efficiency and accurate pressure regulation performance of an automatically-driven vehicle are ensured.
Further, the fault diagnosis and reconstruction unit includes a main fault diagnosis and reconstruction unit 1 and a redundant fault diagnosis and reconstruction unit 2, the main fault diagnosis and reconstruction unit 1 and the redundant fault diagnosis and reconstruction unit 2 are redundant to each other, a fault diagnosis algorithm is arranged in the main fault diagnosis and reconstruction unit 1, and a fault diagnosis algorithm is arranged in the redundant fault diagnosis and reconstruction unit 2.
The fault diagnosis and reconstruction unit with the redundancy function is divided into two parts, including a main fault diagnosis and reconstruction unit 1 and a redundancy fault diagnosis and reconstruction unit 2, which are redundant with each other. The main fault diagnosis and reconstruction unit 1 receives the state information of the brake-by-wire unit, and judges whether the brake-by-wire unit has a fault in real time through a built-in brake-by-wire unit fault diagnosis algorithm. And if the brake-by-wire unit has no fault, the main fault diagnosis and reconstruction unit does not participate in system control. If the brake-by-wire unit fails, the main fault diagnosis and reconstruction unit performs fault-tolerant reconstruction and redundant main and redundant switching of the integrated control system on the brake-by-wire unit, so that the brake safety and brake efficiency of the brake-by-wire unit when the assembly fails are ensured, and the driving safety is improved. The redundant fault diagnosis and reconstruction unit 2 receives the state information of the brake-by-wire unit, and judges whether the brake-by-wire unit has a fault in real time through a built-in fault diagnosis algorithm of the brake-by-wire unit. And if the brake-by-wire unit does not have a fault, the redundant fault diagnosis and reconstruction unit does not participate in system control. If the brake-by-wire unit fails, the redundant fault diagnosis and reconstruction unit 2 performs fault-tolerant reconstruction on the brake-by-wire unit and main and redundant switching of the redundant integrated control system, so that the brake safety and brake efficiency when the brake-by-wire unit component fails are guaranteed, and the driving safety is improved.
Further, the state estimation unit includes a main state estimator and a redundant state estimator, and the main state estimator and the redundant state estimator are redundant with each other.
The state estimation unit with redundancy function is divided into two parts, including a main state estimator and a redundant state estimator, which are redundant to each other. The main state estimator receives the information of the sensing unit, estimates state parameters in the braking process of the automatic driving vehicle in real time, and particularly, when some sensor assemblies fail, carries out approximate estimation on missing parameter information to ensure that the redundant integrated brake-by-wire unit outputs the parameter information in a normal range. The redundant state estimator is used as a redundant backup of the main state estimator, receives the information of the sensing unit, estimates state parameters in the braking process of the automatic driving vehicle in real time, and when the main state estimator fails and some parameter information of the brake-by-wire unit cannot be acquired due to failure, carries out approximate estimation on missing parameter information, and ensures that the redundant integrated brake-by-wire unit outputs the parameter information in a normal range.
Further, the whole vehicle control unit receives an automatic driving target vehicle speed and an automatic driving target corner, and outputs target brake pressure to the execution control unit through the stability controller and the optimized distribution strategy; the whole vehicle control unit comprises a whole vehicle main controller 3 and a whole vehicle redundancy controller 4, wherein the whole vehicle main controller 3 and the whole vehicle redundancy controller 4 are mutually redundant.
The vehicle control unit with redundancy function is divided into two parts, including a vehicle main controller 3 and a vehicle redundancy controller 4, which are redundant with each other. The whole vehicle main controller 3 is responsible for the whole vehicle stability control of the automatic driving vehicle, receives a braking signal of an upper automatic driving system or a driver, inputs an automatic driving target vehicle speed and an automatic driving target corner into a vehicle dynamic reference model, calculates an expected mass center yaw angle, an expected yaw rate and an expected vehicle speed, compares the actual mass center yaw angle, the actual yaw rate and the actual vehicle speed with expected values respectively to obtain a yaw rate deviation value, a mass center yaw angle deviation value and a vehicle speed deviation value of the automatic driving vehicle, inputs the mass center yaw angle deviation value and the vehicle speed deviation value into the automatic driving vehicle control stability controller, calculates an additional yaw moment, optimally distributes wheel cylinder braking force, and sends a target braking pressure signal to an execution control unit. The whole vehicle redundancy controller 4 is also responsible for the whole vehicle stability control of the automatic driving vehicle, receives a brake signal of an upper automatic driving system or a driver, inputs an automatic driving target vehicle speed and an automatic driving target corner into a vehicle dynamics limping reference model, calculates an expected mass center slip angle, an expected yaw angular velocity and an expected vehicle speed, compares the actual mass center slip angle, the actual yaw angular velocity and the actual vehicle speed with the expected values respectively to obtain a yaw angular velocity deviation value, a mass center slip angle deviation value and a vehicle speed deviation value of the automatic driving vehicle, inputs the deviation values into the limping control stability controller of the automatic driving vehicle, calculates an additional yaw moment, optimally distributes wheel cylinder brake force, and sends a target brake pressure signal to an execution control unit.
Further, the execution control unit adjusts the brake-by-wire unit according to the target brake pressure and the actual brake pressure to realize the control of the wheel cylinder pressure; the execution control unit comprises a main execution controller 5 and a redundant execution controller 6, and the main execution controller 5 and the redundant execution controller 6 are mutually redundant.
The execution control unit with the redundancy function is divided into two parts, including a main execution controller 5 and a redundancy execution controller 6, which are redundant to each other. The main execution controller 5 receives a target brake pressure signal and an actual brake wheel cylinder pressure signal from a vehicle control unit, and sends deviation values of the target brake pressure signal and the actual brake wheel cylinder pressure signal to the main pressure building controller and the main pressure regulating controller, the main pressure building controller controls the main pressure building module, and the main pressure regulating controller controls the main pressure regulating module. The main pressure building module is preset with a motor control algorithm, the main pressure regulating module is preset with an electromagnetic liquid inlet valve and an electromagnetic liquid outlet valve control algorithm, and the main pressure building module and the electromagnetic liquid outlet valve cooperate to control the wire control brake unit. The redundancy execution controller receives a target brake pressure signal and an actual brake wheel cylinder pressure signal from a vehicle control unit, and sends deviation values of the target brake pressure signal and the actual brake wheel cylinder pressure signal to the redundancy pressure building controller and the redundancy pressure regulating controller, the redundancy pressure building controller controls the redundancy pressure building module, and the redundancy pressure regulating controller controls the redundancy pressure regulating module. The redundant pressure building module is preset with a motor control algorithm, the redundant pressure regulating module is preset with an electromagnetic liquid inlet valve and an electromagnetic liquid outlet valve control algorithm, and under the cooperation of the motor control algorithm and the electromagnetic liquid inlet valve control algorithm, the redundant pressure regulating module cooperatively controls the limp wire control brake unit.
Further, the drive-by-wire brake unit includes interconnect's pressure building module 7 and pressure regulating module 8, pressure building module 7 builds pressure submodule 9, main pressure building submodule 10 and redundant pressure building submodule 11 including the manpower that connects gradually, the manpower build pressure submodule 9 with pressure regulating module 8 connects, main pressure building submodule 10 with pressure regulating module 8 connects, redundant pressure building submodule 11 with pressure regulating module 8 connects.
The redundant brake-by-wire unit with multiple voltage building modules consists of two parts, namely a voltage building module 7 and a voltage regulating module 8. The pressure building module 7 receives the output signal of the execution control unit, and the brake motor responds to build pressure quickly. The pressure regulating module 8 receives the control signal of the execution control unit, and the electromagnetic valve is opened and closed rapidly at high frequency to generate high-precision brake wheel cylinder pressure.
The redundant brake-by-wire unit pressure building module comprises a main pressure building sub-module 10, a redundant pressure building sub-module 11 and a manual pressure building sub-module 9, wherein the main pressure building sub-module 10 comprises a liquid storage pot 12, a brake main cylinder 13, a brake main motor and first transmission mechanism 14, a first rotating speed signal sensor 15, a second rotating speed signal sensor 16, a first current signal sensor 17, a second current signal sensor 18, a first isolating valve 19 and a second isolating valve 20; the redundant pressure building unit comprises a liquid storage pot 12, a brake auxiliary main cylinder 21, a brake redundant motor and second transmission mechanism 22, a third rotating speed signal sensor 23, a fourth rotating speed signal sensor 24, a third current signal sensor 25, a fourth current signal sensor 26, a third isolating valve 27 and a fourth isolating valve 28; the manual pressure building sub-module 9 comprises a brake pedal 29, a first displacement signal sensor 30, a second displacement signal sensor 31, a manual brake master cylinder 32, a fifth isolation valve 33, a normally closed solenoid valve 34, a one-way valve 35 and a pedal feeling simulator 36. The brake main cylinder 13, the brake auxiliary main cylinder 21 and the manual brake main cylinder 32 in the three pressure building units are all double-cavity main cylinders; the first isolation valve 19, the second isolation valve 20, the third isolation valve 27, the fourth isolation valve 28, and the fifth isolation valve 33 are all normally closed high speed on-off solenoid valves. The main pressure building sub-module 10 is a main brake pressure source in a normal working mode of the brake-by-wire unit, the redundant pressure building sub-module 11 is a redundant brake pressure source when the main pressure building sub-module 10 of the brake-by-wire unit fails, and the manual pressure building sub-module 9 is a redundant backup pressure source when an electric control brake system of the brake-by-wire unit fails. Meanwhile, the manual brake submodule 9 is also provided with a check valve 35 and a normally closed solenoid valve 34 which are connected in parallel and in series with a pedal feel simulator 36 to provide a pedal feel to the driver. The pressure source of the brake system has the functions of realizing the active rapid pressure build-up of the brake-by-wire unit and ensuring the rapid response of the pressure of the brake-by-wire system.
The pressure regulating module comprises a first liquid inlet valve 37, a first liquid outlet valve 38, a second liquid inlet valve 39, a second liquid outlet valve 40, a third liquid inlet valve 41, a third liquid outlet valve 42, a fourth liquid inlet valve 43, a fourth liquid outlet valve 44, a right front brake wheel cylinder, a right front brake clamping mechanism, a right front brake disc 45, a left rear brake wheel cylinder, a left rear brake clamping mechanism, a left rear brake disc 46, a left front brake wheel cylinder, a left front brake clamping mechanism, a left front brake disc 47, a right rear brake wheel cylinder, a right rear brake clamping mechanism, a right rear brake disc 48, a first pressure signal sensor 49 and a second pressure signal sensor 50, a third pressure signal sensor, a fourth pressure signal sensor, a fifth pressure signal sensor, a sixth pressure signal sensor, a seventh pressure signal sensor, an eighth pressure signal sensor, a ninth pressure signal sensor and a tenth pressure signal sensor (wherein two pressure sensors are installed on each brake wheel cylinder). The first liquid inlet valve 37, the second liquid inlet valve 39, the third liquid inlet valve 41 and the fourth liquid inlet valve 43 are all normally open high-speed switch electromagnetic valves, and the first liquid outlet valve 38, the second liquid outlet valve 40, the third liquid outlet valve 42 and the fourth liquid outlet valve 44 are all normally closed high-speed switch electromagnetic valves. The pressure regulating module 8 is used for regulating the opening and closing of the high-speed switch valve according to a preset control algorithm under the control of the execution control unit, so that the braking pressure of the brake wheel cylinder changes along with the target pressure, the accurate control of the braking pressure of the brake wheel cylinder is realized, and the requirement of the braking force control accuracy of the brake-by-wire system is met.
Furthermore, the sensing unit is arranged on the brake-by-wire unit and comprises a brake motor current signal sensor, a brake motor rotating speed signal sensor, a vehicle speed signal sensor, a wheel corner signal sensor, a wheel cylinder brake pressure signal sensor, a brake pedal displacement signal sensor and a yaw rate signal sensor.
The sensing system with the redundancy function specifically comprises a redundancy yaw angular speed signal sensor, a redundancy brake pedal displacement signal sensor, a redundancy brake motor current signal sensor, a redundancy brake motor rotating speed signal sensor, a redundancy wheel cylinder brake pressure signal sensor, a redundancy vehicle speed signal sensor and a redundancy wheel corner signal sensor. The double-pedal displacement signal sensor is mounted near a brake pedal and is responsible for monitoring the braking intention of a driver, sending a braking signal to the control system in time and quickly responding to the braking force demand of the driver. The main brake motor and the redundant brake motor are respectively provided with a double-brake motor current signal sensor and a double-brake motor rotating speed signal sensor which are respectively arranged near the brake motor, and the working current and the working rotating speed of the brake motor are respectively monitored. And the motor working current signal and the motor working rotating speed signal are sent to the execution controller, and the requirements of the brake-by-wire system on the maximum voltage building capacity and the rapid voltage building capacity are met through closed-loop control of the execution controller. The wheel cylinder brake pressure signal sensor is used for monitoring the brake pressures of the four wheel cylinders, and provides necessary conditions for the execution controller to accurately control the brake pressures by monitoring the brake wheel cylinder pressure signals in real time and feeding the signals back to the upper-layer execution controller. The double-vehicle-speed signal sensor and the double-wheel-corner signal sensor are respectively responsible for monitoring longitudinal speed information and front wheel corner information of the automatic driving vehicle and feeding back the information to the whole vehicle control unit, the control stability controller and the optimized distribution strategy are preset through the whole vehicle control unit, parameter information required for guaranteeing the stability of the automatic driving vehicle is calculated, control stability control of the automatic driving vehicle is achieved, and braking safety of the automatic driving vehicle is guaranteed.
Furthermore, the power subsystem comprises a main power module and a redundant power module, the main power module and the redundant power module are redundant, the communication subsystem comprises a main communication module and a redundant communication module, and the main communication module and the redundant communication module are redundant.
The power supply system with the redundancy function comprises a main power supply module and a redundancy power supply module, wherein a power supply subsystem is responsible for supplying power to all electronic components of the brake-by-wire redundancy integrated control system and comprises a sensing unit, a state estimation unit, a fault diagnosis and reconstruction unit, a whole vehicle control unit, an execution control unit, a brake-by-wire unit and a communication subsystem. Particularly, when the main power supply module fails to provide a stable power supply for the brake-by-wire system due to failure, the fault diagnosis and reconstruction unit is actively switched to the redundant power supply module, so that the power supply stability of the brake-by-wire system is guaranteed.
The communication subsystem with the redundancy function comprises a main communication module and a redundancy communication module, has the function of being responsible for all signal transmission in the brake-by-wire system, and comprises a sensing unit, a state estimation unit, a fault diagnosis and reconstruction unit, a whole vehicle control unit, an execution control unit, a brake-by-wire unit and a power subsystem. Especially, when the main communication module fails to stably transmit the parameter information for the brake-by-wire system due to failure, the fault diagnosis and reconstruction unit actively switches the main communication module to the redundant communication module, so that the communication stability of the brake-by-wire system is guaranteed.
The application also provides an application of the brake-by-wire system to high-grade automatic driving vehicles of L3 grade and above.
Examples
The control of the high-grade automatic driving brake-by-wire redundant integrated control system comprises the following steps: a fault-free braking mode, a fault braking mode.
1. Failure free mode
Systematic monitoring
When the high-grade automatic driving brake-by-wire redundancy integrated control system is in a power-on state, the fault diagnosis and reconstruction unit is always in a monitoring state, a monitoring object comprises physical components and software of the whole brake-by-wire redundancy integrated control system, and if a failure working condition does not occur, the next stage is started.
Control stage (ii)
And the reference model receives the target vehicle speed of the automatic driving system and the corner control signal of the automatic driving target and outputs an expected longitudinal vehicle speed, an expected yaw angular velocity and an expected centroid side slip angle. The whole vehicle control unit correspondingly calculates deviation values of expected parameters and actual parameters according to the expected longitudinal vehicle speed, the actual longitudinal vehicle speed measured by the vehicle speed signal sensor, the expected yaw rate measured by the expected yaw rate signal sensor, the actual yaw rate measured by the expected mass center yaw angle and the actual mass center yaw angle estimated value output by the state estimation unit, inputs the deviation values into the control stability controller, the control stability controller calculates and outputs an additional yaw moment, then the optimization allocation strategy performs optimization allocation on the additional yaw moment, and outputs a target braking force value of each tire to the execution mechanism control unit.
The main execution controller 5 receives a target brake pressure signal and an actual brake wheel cylinder pressure signal from a vehicle control unit, and sends deviation values of the target brake pressure signal and the actual brake wheel cylinder pressure signal to the main pressure building controller and the main pressure regulating controller, the main pressure building controller controls the main pressure building module, and the main pressure regulating controller controls the main pressure regulating module. The main pressure regulating module is preset with a motor control algorithm, the main pressure regulating module is preset with an electromagnetic liquid inlet valve and an electromagnetic liquid outlet valve control algorithm, and under the cooperation of the two, the redundant line control brake system is cooperatively controlled.
Executing stage
And the pressure building module 7 receives the output signal of the execution control unit, and the brake motor responds to build pressure quickly. The pressure regulating module 8 receives control signals of the execution control unit, and the electromagnetic liquid inlet valve and the electromagnetic liquid outlet valve are opened and closed rapidly at high frequency to generate high-precision brake wheel cylinder pressure. Taking the pressure control of the main pressure building sub-module 10 as an example, when the main brake motor receives a driving signal, the motor rotates and drives the input end of the first transmission mechanism connected with the output shaft of the main brake motor to transmit the rotating speed and the torque to the first transmission mechanism, and the first transmission mechanism converts the rotating speed and the torque into displacement and thrust and transmits the displacement and the thrust to the main brake cylinder 13. The push rod at the input end of the brake master cylinder 13 moves under the action of external force, the piston inside the brake master cylinder 13 is connected with the push rod at the input end into a whole, then the piston compresses brake fluid in the double cavities, the brake fluid is compressed, and pressure is transmitted through a hydraulic pipeline. In the transmission process, the execution control unit opens the first isolation valve 19, the second isolation valve 20, the first liquid inlet valve 37, the second liquid inlet valve 39, the third liquid inlet valve 41 and the fourth liquid inlet valve 43, and the brake fluid passes through the internal flow channel of the electromagnetic valve and reaches the brake wheel cylinder of the brake. The brake wheel cylinder generates displacement under the action of brake hydraulic pressure and pushes the push rod to move, so that the brake clamping mechanism clamps the brake disc to generate friction force, and the brake disc generates braking force under the action of friction. Meanwhile, the execution control unit judges whether the brake pressure signal of the brake wheel cylinder fed back by the sensing unit reaches the target pressure. If the pressure of the brake wheel cylinder does not reach the target value, the brake motor continuously rotates and pressurizes; and when the brake pressure reaches the target pressure, the liquid inlet valve is closed, and the pressure is maintained. If the brake pressure exceeds the target value, the brake main motor and the liquid inlet valve are closed, the liquid outlet valve is opened until the pressure of the brake wheel cylinder is reduced to the target value, and finally the control stage is returned, and the next brake control process is continued.
2. Failure braking mode
Systematic monitoring
When the high-grade automatic driving brake-by-wire redundant integrated control system is in a power-on state, the fault diagnosis and reconstruction unit is always in a monitoring state, a monitored object comprises physical components and software of the whole brake-by-wire redundant integrated control system, and if a main module fails, the main module is immediately switched to a corresponding redundant module. The main module and the redundant module are redundant and equal in position. Because the brake-by-wire redundant integrated control system has a plurality of failure conditions, all the main modules are assumed to fail and are the worst condition.
And (3) receiving the target vehicle speed and the target turning angle control signal of the automatic driving system by the limp reference model and outputting the expected longitudinal vehicle speed, the expected yaw rate and the expected mass center side slip angle as the main controller 3 of the whole vehicle fails. The whole vehicle control unit correspondingly calculates deviation values of expected parameters and actual parameters according to the expected longitudinal vehicle speed, the actual longitudinal vehicle speed measured by the vehicle speed signal sensor, the expected yaw rate measured by the expected yaw rate signal sensor, the actual yaw rate measured by the expected mass center yaw angle and the actual mass center yaw angle estimated value output by the state estimation unit, inputs the deviation values into the limp operation and control stability controller, calculates and outputs an additional yaw moment through the operation and control stability controller, then optimally allocates the additional yaw moment through an optimal allocation strategy, and outputs the target braking force of each tire to the execution controller.
Because the main execution controller 5 is failed, the redundancy execution controller 6 receives a target brake pressure signal and an actual brake wheel cylinder pressure signal from the whole vehicle redundancy controller, and sends the deviation values of the target brake pressure signal and the actual brake wheel cylinder pressure signal to the redundancy pressure building controller and the redundancy pressure regulating controller, the redundancy pressure building controller controls the redundancy pressure building module, and the redundancy pressure regulating controller controls the redundancy pressure regulating module. The redundant pressure building module is preset with a motor control algorithm, the redundant pressure regulating module is preset with an electromagnetic liquid inlet valve and an electromagnetic liquid outlet valve control algorithm, and under the cooperation of the two, the redundant brake-by-wire system is cooperatively controlled.
Executing stage
Because the main voltage building sub-module 10 of the voltage building module 7 is failed, the redundant voltage building sub-module 11 receives the output signal of the redundant execution controller 6, and the redundant motor is braked to build voltage quickly. The pressure regulating module 8 receives control signals of the redundancy execution controller 6, and the electromagnetic liquid inlet valve and the electromagnetic liquid outlet valve are opened and closed rapidly at high frequency to generate high-precision brake wheel cylinder pressure. When the brake redundant motor receives the driving signal, the motor rotates, and simultaneously drives the input end of the second transmission mechanism 2 connected with the output shaft of the brake redundant motor to transmit the rotating speed and the torque to the second transmission mechanism, and the second transmission mechanism converts the rotating speed and the torque into displacement and thrust and transmits the displacement and the thrust to the brake auxiliary main cylinder 21. The push rod at the input end of the brake auxiliary main cylinder 21 moves under the action of external force, the piston in the brake auxiliary main cylinder 21 is connected with the push rod at the input end into a whole, then the piston compresses brake fluid in the double cavities, the brake fluid is compressed, and the pressure is transmitted through a hydraulic pipeline. In the transmission process, the redundant execution controller opens the third isolation valve 27 and the fourth isolation valve 28, the first liquid inlet valve 37, the second liquid inlet valve 39, the third liquid inlet valve 41 and the fourth liquid inlet valve 43, and the brake fluid passes through the internal flow channel of the electromagnetic valve and reaches the brake wheel cylinder of the brake. The brake wheel cylinder generates displacement under the action of brake hydraulic pressure and pushes the push rod to move, so that the brake clamping mechanism clamps the brake disc to generate friction force, and the brake disc generates braking force under the action of friction. Meanwhile, the redundancy execution controller 6 determines whether the target pressure is reached or not based on the brake pressure signal of the brake wheel cylinder fed back by the redundancy sensing system. If the pressure of the brake wheel cylinder does not reach the target value, the brake redundant motor continuously rotates and pressurizes; and when the brake pressure reaches the target pressure, the liquid inlet valve is closed, and the pressure is maintained. If the brake pressure exceeds the target value, the brake redundant motor and the liquid inlet valve are closed, the liquid outlet valve is opened until the pressure of the brake wheel cylinder is reduced to the target value, and finally the control stage is returned, and the next brake control process is continued.
If the pressure regulating module 8 fails, taking a brake wheel cylinder as an example, the whole vehicle redundancy controller 4 calculates an additional yaw moment according to a preset limp reference model and a limp operation stability controller, and then the stability control of the brake system is realized under the control of the redundancy execution controller 6.
The working conditions of the fault brake mode are not limited to the failure working conditions, and the high-grade automatic driving brake-by-wire redundant integrated control system architecture takes the system failure working conditions into consideration, including failure of a sensing unit, failure of a state estimation unit, failure of a fault diagnosis and reconstruction unit, failure of a vehicle control unit, failure of an execution control unit, failure of a power supply subsystem, failure of a communication subsystem and failure of a brake-by-wire unit. And aiming at the condition that the pressure building module 7 of the redundant brake-by-wire module fails and the brake wheel cylinder, the liquid inlet valve and the liquid outlet valve of the pressure regulating module 8 fail, the control algorithms under different working conditions are designed.
When the electric control system of the brake-by-wire system fails completely, the driver can still brake by stepping on the brake pedal. The manual pressure building sub-module 9 can output a certain braking force without being controlled by an electric control unit, so that the brake-by-wire redundant integrated control system still has a certain braking efficiency when being completely failed, and the safety of a driver is improved.
Although the present application has been described above with reference to specific embodiments, those skilled in the art will recognize that many changes may be made in the configuration and details of the present application within the principles and scope of the present application. The scope of protection of the present application is determined by the appended claims, and all changes that come within the meaning and range of equivalency of the technical features of the claims are intended to be embraced therein.
Claims (10)
1. A line control actuating system, characterized by: the brake-by-wire system is a dual-redundancy backup brake-by-wire system, which comprises a power supply subsystem, an integrated subsystem and a communication subsystem which are sequentially connected, wherein the integrated subsystem comprises a sensing unit, a state estimation unit, a fault diagnosis and reconstruction unit, a whole vehicle control unit, an execution control unit and a brake-by-wire unit which are sequentially connected, the sensing unit is connected with the fault diagnosis and reconstruction unit, the sensing unit is connected with the brake-by-wire unit, the sensing unit monitors parameter information of an automatic driving vehicle, and the state estimation unit estimates the parameter state of the automatic driving vehicle.
2. The brake-by-wire system of claim 1, wherein: the fault diagnosis and reconstruction unit comprises a main fault diagnosis and reconstruction unit and a redundant fault diagnosis and reconstruction unit, the main fault diagnosis and reconstruction unit and the redundant fault diagnosis and reconstruction unit are mutually redundant, a fault diagnosis algorithm is arranged in the main fault diagnosis and reconstruction unit, and a fault diagnosis algorithm is arranged in the redundant fault diagnosis and reconstruction unit.
3. The brake-by-wire system according to claim 1, wherein: the state estimation unit comprises a main state estimator and a redundant state estimator, and the main state estimator and the redundant state estimator are redundant with each other.
4. The brake-by-wire system of claim 1, wherein: the whole vehicle control unit receives the automatic driving target speed and the automatic driving target corner, and outputs target brake pressure to the execution control unit through the stability controller and the optimized distribution strategy; the whole vehicle control unit comprises a whole vehicle main controller and a whole vehicle redundancy controller, and the whole vehicle main controller and the whole vehicle redundancy controller are mutually redundant.
5. The brake-by-wire system of claim 1, wherein: the execution control unit adjusts the brake-by-wire unit according to the target brake pressure and the actual brake pressure to realize the control of the wheel cylinder pressure; the execution control unit comprises a main execution controller and a redundant execution controller, and the main execution controller and the redundant execution controller are mutually redundant.
6. The brake-by-wire system of claim 1, wherein: the drive-by-wire brake unit includes interconnect's pressure building module and pressure regulating module, pressure building module, main pressure building submodule piece and the redundant pressure building submodule piece of building including the manpower that connects gradually, the manpower build the pressure building submodule piece with the pressure regulating module is connected, main pressure building submodule piece with the pressure regulating module is connected, the redundancy build the pressure building submodule piece with the pressure regulating module is connected.
7. The brake-by-wire system of claim 1, wherein: the sensing unit is arranged on the brake-by-wire unit and comprises a brake motor current signal sensor, a brake motor rotating speed signal sensor, a vehicle speed signal sensor, a wheel corner signal sensor, a wheel cylinder brake pressure signal sensor, a brake pedal displacement signal sensor and a yaw rate signal sensor.
8. The brake-by-wire system of claim 4, wherein: and a vehicle dynamics reference model is arranged in the whole vehicle control unit, the automatic driving target vehicle speed and the automatic driving target turning angle are input into the vehicle dynamics reference model, and an expected mass center slip angle, an expected yaw rate and an expected vehicle speed are calculated.
9. The brake-by-wire system according to any one of claims 1 to 8, wherein: the power supply subsystem comprises a main power supply module and a redundant power supply module, the main power supply module and the redundant power supply module are redundant, the communication subsystem comprises a main communication module and a redundant communication module, and the main communication module and the redundant communication module are redundant.
10. Use of a brake-by-wire system according to any one of claims 1 to 9, wherein: the brake-by-wire system is applied to high-grade autonomous vehicles of grade L3 and above.
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