CN116767165A - Commercial vehicle line-control pneumatic brake redundancy system and control method - Google Patents

Commercial vehicle line-control pneumatic brake redundancy system and control method Download PDF

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Publication number
CN116767165A
CN116767165A CN202310915468.2A CN202310915468A CN116767165A CN 116767165 A CN116767165 A CN 116767165A CN 202310915468 A CN202310915468 A CN 202310915468A CN 116767165 A CN116767165 A CN 116767165A
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CN
China
Prior art keywords
module
control
redundancy
brake
pressure
Prior art date
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Pending
Application number
CN202310915468.2A
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Chinese (zh)
Inventor
龙元香
冯小明
龙志能
黄万义
白东
彭嘉煌
黄文涵
罗茂林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kormee Automotive Electronic Control Technology Co ltd
South China Agricultural University
Original Assignee
Kormee Automotive Electronic Control Technology Co ltd
South China Agricultural University
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Application filed by Kormee Automotive Electronic Control Technology Co ltd, South China Agricultural University filed Critical Kormee Automotive Electronic Control Technology Co ltd
Priority to CN202310915468.2A priority Critical patent/CN116767165A/en
Publication of CN116767165A publication Critical patent/CN116767165A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • 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
    • B60T13/24—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 the fluid being gaseous
    • B60T13/26—Compressed-air systems
    • B60T13/40—Compressed-air systems indirect, i.e. compressed air booster units indirect systems
    • 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
    • B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
    • B60T13/683—Electrical control in fluid-pressure brake systems by electrically-controlled valves in pneumatic systems or parts thereof
    • 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
    • B60T15/00—Construction arrangement, or operation of valves incorporated in power brake systems and not covered by groups B60T11/00 or B60T13/00
    • B60T15/02—Application and release valves
    • B60T15/18—Triple or other relay valves which allow step-wise application or release and which are actuated by brake-pipe pressure variation to connect brake cylinders or equivalent to compressed air or vacuum source or atmosphere
    • 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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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention provides a commercial vehicle wire control air brake redundancy system and a method, wherein the system comprises a redundant power supply, a front redundancy module and a rear redundancy module which are mutually independent with the existing wire control air brake system on a vehicle; the front redundancy module and the rear redundancy module are mutually independent, and an air outlet of the front redundancy module outputs control air with set pressure to a control air port of the single-channel pressure control module, so that the single-channel pressure control module outputs required braking pressure to drive a brake of a front axle to realize vehicle braking; and the air outlet of the rear redundancy module outputs the control air with the set pressure to the control air outlet of the double-channel pressure control module, so that the double-channel pressure control module outputs the required braking pressure to drive a brake of the rear axle to realize vehicle braking. The system disclosed by the invention has high brake force output linearity, has an anti-lock function, is comfortable, safe and reliable in braking, and meets the functional safety requirement.

Description

Commercial vehicle line-control pneumatic brake redundancy system and control method
Technical Field
The invention relates to the technical field of vehicle control, in particular to a line-control pneumatic brake redundancy system of a commercial vehicle and a control method.
Background
In China, the number of casualties caused by traffic accidents is huge each year, wherein most casualties are related to commercial vehicles, fatigue driving and driving distraction of drivers are main reasons of traffic accidents, and the intelligent driving system of the commercial vehicles can effectively solve the problems of fatigue driving, driving distraction and the like, and simultaneously can greatly lighten the working intensity of the drivers, reduce the investment of the drivers and reduce the labor cost of transportation, so that the intelligent driving of the commercial vehicles is already a popular technology for researching the current commercial vehicle field and realizes landing application of individual special scenes successively. The brake-by-wire technology is used as a core key technology of an intelligent driving system, and the popularization and application of intelligent driving of commercial vehicles are supported by the brake-by-wire technology.
Reliability and safety are main considerations of intelligent driving systems, and a drive-by-wire system supporting intelligent driving must meet requirements of a functional safety ASILD level, and multiple levels of redundancy are required, that is, when one or more faults occur in the drive-by-wire system, the drive-by-wire system still has enough braking force to ensure the braking safety of a vehicle or ensure that the vehicle can safely stop at a safe place. The prior commercial vehicle line control braking system has lower redundancy level, usually only has one level of redundancy, and adopts mutual redundancy with the line control parking brake, namely, when the line control braking system fails, the intelligent driving system requests the line control parking system to carry out backup braking. However, since the brake mode of the air break brake is adopted in the commercial vehicle brake-by-wire system, the output linearity of the brake force is poor, the brake can be realized only in a limited pressure interval, the brake is rough and has no anti-lock function, so the brake-by-wire system is used as a redundant brake scheme, the brake comfort is poor, and a certain risk exists.
Therefore, a scheme of brake-by-wire air pressure brake redundancy of the commercial vehicle with the anti-lock function, which has high output linearity of braking force, improves the safety of a brake-by-wire system, meets the functional safety level requirement of an intelligent driving system, and provides core technical support for popularization and application of intelligent driving of the commercial vehicle in China, is needed.
Disclosure of Invention
The invention aims to provide a line-control pneumatic brake redundancy system for a commercial vehicle, which has high brake force output linearity, has an anti-lock function, is comfortable, safe and reliable in braking and meets the functional safety requirement.
Another object of the present invention is to provide a method for controlling the redundancy of a brake-by-wire for a commercial vehicle.
The aim of the invention is achieved by the following technical scheme:
a commercial vehicle wire control pneumatic brake redundant system comprises a redundant power supply, a front redundant module and a rear redundant module which are mutually independent from the existing wire control pneumatic brake system on the vehicle; wherein,,
the front redundancy module and the rear redundancy module are mutually independent and respectively comprise a control unit and an executing mechanism; the control unit comprises a brake control module, wherein the brake control module is communicated with the intelligent driving system, receives a brake command of the intelligent driving system, calculates and obtains a brake control command according to the brake command, and transmits the brake control command to the executing mechanism; the actuating mechanism is used for controlling the internal electromagnetic valve to work according to the braking control instruction to output control gas with set pressure, and the control gas is output by the air outlet;
The air inlet of the front redundancy module is connected with the air cylinder, and the air outlet is connected with a control air port of a relay valve in an existing single-channel pressure control module on the vehicle; the air outlet of the front redundancy module outputs control air with the set pressure to the control air port of the relay valve in the single-channel pressure control module, so that the single-channel pressure control module outputs required braking pressure to drive a brake of the front axle to realize vehicle braking;
the air inlet of the rear redundancy module is connected with the air cylinder, and the air outlet is connected with a control air port of a relay valve in an existing double-channel pressure control module on the vehicle; the air outlet of the rear redundancy module outputs control air with the set pressure to the control air port of the relay valve in the double-channel pressure control module, so that the double-channel pressure control module outputs required braking pressure to drive a brake of a rear axle to realize vehicle braking;
the redundant power supply is used for supplying power to the front redundant module and the rear redundant module.
Preferably, the control units of the front redundancy module and the rear redundancy module further comprise a redundancy CAN module and a redundancy power supply module, wherein,
the redundant CAN module is used for communication connection between the front redundant module and the rear redundant module and the intelligent driving system and communication connection between the modules inside the front redundant module and the rear redundant module;
The redundant power supply module provides correct voltage and power supply protection for each power utilization module in the front and rear redundant modules.
Preferably, the front redundancy module and the rear redundancy module further comprise redundant wheel speed sensors, wherein the redundant wheel speed sensors of the front redundancy module are used for detecting the wheel speed of the front wheel, and the redundant wheel speed sensors of the rear redundancy module are used for detecting the wheel speed of the rear wheel; after the braking control modules in the front redundancy module and the rear redundancy module receive braking instructions of the intelligent driving system, the magnitude of the load of the whole vehicle is calculated by combining wheel speed signals acquired by the redundant wheel speed sensors, and meanwhile, the expected deceleration is converted into braking pressure required by an air chamber of a brake by combining the load of the whole vehicle; the front redundancy module and the rear redundancy module output control gas with set pressure through controlling the operation of electromagnetic valves in the actuating mechanism, and the control gas acts on a single-channel pressure control module or a control gas port of the single-channel pressure control module, so that the single-channel pressure control module or the double-channel pressure control module transmits braking gas with required braking pressure to a gas chamber of a brake.
Preferably, the actuator comprises a shut-off solenoid valve, an intake solenoid valve, an exhaust solenoid valve, a relay valve, and a pressure sensor, wherein,
The air inlet end of the air inlet electromagnetic valve is connected with the air storage cylinder, and the air outlet end of the air inlet electromagnetic valve is connected with the air inlet end of the air outlet electromagnetic valve and the control port of the relay valve;
the air inlet end of the air outlet electromagnetic valve is connected with the air outlet end of the air inlet electromagnetic valve and the control port of the relay valve, and the air outlet end is connected with the air outlet;
the air inlet of the relay valve is connected with the air storage cylinder, the control port is connected with the air outlet end of the air inlet electromagnetic valve, the air inlet end of the air outlet electromagnetic valve and the air inlet end of the stop electromagnetic valve, and the air outlet of the relay valve is connected with the control air ports of the single-channel pressure control module and the double-channel pressure control module;
the air inlet end of the cut-off electromagnetic valve is connected with the control port of the relay valve, and the air outlet end of the cut-off electromagnetic valve is connected with the air outlet;
the pressure sensor is arranged at the air outlet of the relay valve and is connected with the brake control module;
the cut-off electromagnetic valve is used for cut-off control, power-off opening and power-on cut-off, when in electric control, the cavity is isolated from the outside, and the residual pressure in the cavity after electric control or unexpected air pressure caused by poor sealing of the air inlet electromagnetic valve can be emptied;
the pressure sensor is used for monitoring the pressure of the air outlet of the relay valve in real time and returning the pressure to the brake control module;
The air inlet electromagnetic valve is used for pressurization control, the power is cut off, and the pressure is increased when the power is on;
the exhaust electromagnetic valve is used for pressure reduction control, and is powered off and cut off, and the pressure is reduced when the power is on;
the relay valve is used for outputting control gas with set pressure.
A method for controlling the line-control pneumatic brake redundancy of a commercial vehicle comprises the following steps:
s100: when the existing brake-by-wire system on the vehicle has no fault, the brake-by-wire system brakes the vehicle, and the front redundancy module and the rear redundancy module do not work;
s200: when the existing wire control dynamic system on the vehicle fails, the front redundancy module or/and the rear redundancy module work;
s300: when the front redundancy module or the rear redundancy module works, the brake control module receives a brake command of the intelligent driving system, calculates and obtains the brake control command according to the brake command, and transmits the brake control command to the execution mechanism; the actuating mechanism is used for controlling the internal electromagnetic valve to work according to the braking control instruction to output control gas with set pressure, and the control gas is output by the air outlet; the air outlet of the front redundancy module outputs control air with the set pressure to the control air port of a relay valve in the existing single-channel pressure control module on the vehicle, so that the single-channel pressure control module outputs the required braking pressure to drive a brake of a front axle to realize vehicle braking; and the air outlet of the rear redundancy module outputs the control air with the set pressure to the control air port of a relay valve in the existing double-channel pressure control module on the vehicle, so that the double-channel pressure control module outputs the required braking pressure to drive a brake of a rear axle to realize vehicle braking.
Preferably, the brake-by-wire system, the front redundancy module and the rear redundancy module are all designed with a self-diagnosis function, the system and the module send own fault information to the intelligent driving system in real time, and the intelligent driving system adjusts and switches the braking scheme according to the fault information.
Preferably, the front redundancy module and the rear redundancy module operate when a main controller or/and a main power supply in the brake-by-wire system fails.
Preferably, when the single-channel pressure control module of the linear control dynamic system fails, the double-channel pressure control module of the linear control dynamic system works normally, the front redundancy module works, and the rear redundancy module does not work; when the double-channel pressure control module of the linear control system fails, the single-channel pressure control module of the linear control system works normally, the rear redundancy module works, and the front redundancy module does not work; when the single-channel pressure control module and the double-channel pressure control module of the linear control system simultaneously fail, the front redundancy module and the rear redundancy module work.
Preferably, the rear redundancy module operates when a main controller or/and a main power supply in the brake-by-wire system fails and the front redundancy module also fails.
Preferably, the front redundancy module operates when a main controller or/and a main power supply in the brake-by-wire system fails and the rear redundancy module also fails.
Compared with the prior art, the invention has the following beneficial effects:
1. when the existing brake-by-wire system of the commercial vehicle fails, the redundant system brakes through the relay valves in the single-channel pressure control module and the double-channel pressure control module on the control vehicle, and the braking effect of the redundant system is close to that of the existing brake-by-wire system on the control vehicle when the brake-by-wire system works normally.
2. The line-control pneumatic brake redundancy system for the commercial vehicle has high integration level, is simple and convenient to arrange under the chassis, can lighten the weight of the vehicle, has higher safety level, and can completely meet the functional safety level requirement of an intelligent driving system. In addition, the integration level of the wire control module is high, and the wire control module can be quickly maintained and replaced after faults occur.
3. The line-control pneumatic brake redundant system of the commercial vehicle is provided with a redundant power supply, a front redundant module and a rear redundant module, and when the main power supply fails, the redundant power supply is utilized to ensure that the redundant system works normally; and when the existing brake-by-wire system on the vehicle fails, one of the front redundancy module and the rear redundancy module also fails, the other redundancy module can also work to brake the vehicle, so that the speed of the whole vehicle can be controlled, a parking spot can be found to realize safe parking, and the driving safety of the vehicle is ensured to the greatest extent.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a block diagram of a commercial vehicle brake-by-wire redundancy system of the present invention.
FIG. 2 is a schematic diagram of the front and rear redundancy modules of the present invention.
FIG. 3 is a block diagram illustrating the operation mode control of the brake-by-wire redundancy control method for a commercial vehicle of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
First, technical terms related to the present invention will be described. Wherein:
wire control is moved: the automobile brake-by-wire system is one of the brake-by-wire technologies, and refers to the integration of a series of intelligent brake control systems, which can provide the functions of the existing brake systems such as ABS, vehicle stability control, auxiliary braking, traction control and the like, and organically combine the systems into a complete functional body through an on-board network. The original brake pedal is replaced by a simulation generator for receiving the braking intention of a driver, generating and transmitting a braking signal to a controller and an executing machine, and simulating and feeding back to the driver according to a certain algorithm. The electric signal replaces the traditional mechanical structure to drive the braking to be implemented, and the electric signal can be sent by an intelligent auxiliary driving system or can be generated by manual operation.
ESC: an electronic stability control system, ESC, collectively referred to as an electronic stability control System, is a comprehensive strategy for vehicle body stability control that includes an Antilock Brake System (ABS) and a drive wheel anti-skid system (ASR), which can be said to be a functional extension based on both systems, rather than being present as a stand-alone configuration. The control method aims at improving the operability of the vehicle and preventing the vehicle from losing control when reaching the dynamic limit, such as the situation of oversteering or understeering of the vehicle.
EBS: the electronic control brake system EBS is called an electronic brake System, is developed on the basis of an anti-lock brake system and is mainly used for improving the braking performance of a commercial vehicle. The active safety device has the advantages of quick braking response time, shorter braking distance compared with ABS, and covering all functions of ABS.
ABS: the ABS is called Anti-lock brake system, and is an active safety device for automobile with the advantages of preventing wheel locking, shortening automobile braking distance, reducing tire wear, preventing automobile from deviating and drifting.
ESC Electronic Control Unit (ECU): is the core controller of the ESC system. The ESC Electric Control Unit (ECU) is used for calculating, processing and judging the information input by the sensor according to the program and data stored in the ESC electric control unit, and then outputting an instruction to provide certain control information for the AEBS relay valve and the ABS electromagnetic valve. The ESC Electric Control Unit (ECU) is composed of microcomputer, input, output and control circuits.
Brake-by-wire: the pneumatic electromagnetic valve inside the brake actuating mechanism is driven to open and close through the transmission of a brake control signal by an electric wire, so that the output control of the brake pressure is realized.
XBR instruction: the external braking request instruction refers to a braking request instruction sent by the intelligent driving system to the brake-by-wire system.
Redundant power supply: other backup power sources on the vehicle in addition to the primary power source.
Redundancy CAN: a backup communication bus on the vehicle, and other CAN buses on the vehicle besides the main CAN.
Example 1
Referring to fig. 1, the present embodiment provides a brake-by-wire redundancy system for a commercial vehicle, which includes a redundancy power supply, a front redundancy module, and a rear redundancy module that are independent of an existing brake-by-wire system on the vehicle.
Referring to fig. 1, an existing brake-by-wire system on a vehicle comprises a main controller, a main power supply, a main CAN, a single-channel pressure control module, a double-channel pressure control module, an ABS solenoid valve, a wheel speed sensor and the like, and when the brake-by-wire system is not in fault, each part of the brake-by-wire system normally works under the control of an intelligent driving system to brake the vehicle.
Referring to fig. 2, the front redundancy module and the rear redundancy module are independent from each other, and each of them includes a control unit 4 and an executing mechanism, where the control unit 4 includes a brake control module 11, the brake control module 11 communicates with the intelligent driving system, receives a brake command of the intelligent driving system, calculates and obtains the brake control command according to the brake command, and transmits the brake control command to the executing mechanism; the actuating mechanism is used for controlling the internal electromagnetic valve to work according to the braking control instruction to output control gas with set pressure, and the control gas is output by the air outlet. The control unit 4 is provided with a first harness connector 7 and a second harness connector 8 for communication.
Referring to fig. 1, an air inlet of the front redundancy module is connected with an air reservoir, and an air outlet is connected with a control air port of an existing single-channel pressure control module on the vehicle; the air outlet of the front redundancy module outputs the control air with the set pressure to the control air port of the single-channel pressure control module, so that the single-channel pressure control module outputs the required braking pressure to drive the brake of the front axle to realize vehicle braking.
Referring to fig. 1, an air inlet of the rear redundancy module is connected with an air reservoir, and an air outlet is connected with a control air port of an existing dual-channel pressure control module on the vehicle; and the air outlet of the rear redundancy module outputs the control air with the set pressure to the control air outlet of the double-channel pressure control module, so that the double-channel pressure control module outputs the required braking pressure to drive a brake of the rear axle to realize vehicle braking.
Referring to fig. 1, the redundant power supply is completely independent from the main power supply, the main power supply supplies power to the brake-by-wire system, and the redundant power supply is used for supplying power to the front and rear redundant modules.
Referring to fig. 2, the control units 4 of the front redundancy module and the rear redundancy module further comprise a redundancy CAN module 10 and a redundancy power module 9, wherein the redundancy CAN module 10 is used for communication connection between the front redundancy module and the rear redundancy module and communication connection between the modules inside the front redundancy module and the rear redundancy module. The redundant power supply module 9 provides correct voltage and power protection for each power module inside the front and rear redundant modules.
Referring to fig. 1, the front redundancy module and the rear redundancy module further each include a redundancy wheel speed sensor, wherein the redundancy wheel speed sensor of the front redundancy module is used for detecting the wheel speed of the front wheel, and the redundancy wheel speed sensor of the rear redundancy module is used for detecting the wheel speed of the rear wheel; after the braking control modules in the front redundancy module and the rear redundancy module receive braking instructions of the intelligent driving system, the magnitude of the whole vehicle load is calculated by combining wheel speed signals acquired by the redundant wheel speed sensors, and meanwhile, the expected deceleration is converted into braking pressure required by an air chamber of a brake by combining the whole vehicle load. The front redundancy module and the rear redundancy module output control gas with set pressure through controlling the operation of electromagnetic valves in the actuating mechanism, and the control gas acts on a single-channel pressure control module or a control gas port of the single-channel pressure control module, so that the single-channel pressure control module or the double-channel pressure control module transmits braking gas with required braking pressure to a gas chamber of a brake.
Referring to fig. 2, the actuating mechanism comprises a cut-off electromagnetic valve 3, an air inlet electromagnetic valve 2, an air outlet electromagnetic valve 5, a relay valve 1 and a pressure sensor 6, wherein the air inlet end of the air inlet electromagnetic valve 2 is connected with the air reservoir, and the air outlet end is connected with the air inlet end of the air outlet electromagnetic valve 5 and a control port D of the relay valve 1. The air inlet end of the air exhaust electromagnetic valve 5 is connected with the air outlet end of the air inlet electromagnetic valve 2 and the control port D of the relay valve 1, and the air outlet end is connected with the air outlet. The air inlet A of the relay valve 1 is connected with the air storage cylinder, the control port D is connected with the air outlet end of the air inlet electromagnetic valve 2, the air inlet end of the air outlet electromagnetic valve 5 and the air inlet end of the cut-off electromagnetic valve 3, the air outlets B1 and B2 of the relay valve 1 are connected with the control air ports of the single-channel pressure control module and the double-channel pressure control module (the air outlet of the relay valve 1 of the front redundancy module is connected with the control air port of the single-channel pressure control module, and the air outlet of the relay valve 1 of the rear redundancy module is connected with the control air port of the double-channel pressure control module). The air inlet end of the cut-off electromagnetic valve 3 is connected with the control port D of the relay valve 1, and the air outlet end is connected with the air outlet C. The pressure sensor 6 is arranged at the air outlet of the relay valve 1 and is connected with the brake control module 11. The cut-off electromagnetic valve 3 is used for cut-off control, power-off opening, power-on cut-off, and when in electric control, the cavity is isolated from the outside, and the residual pressure in the cavity after electric control or unexpected air pressure caused by poor sealing of the air inlet electromagnetic valve 2 can be emptied. The pressure sensor 6 is used for monitoring the pressures of the air outlets B1 and B2 of the relay valve 1 in real time and returning the pressures to the brake control module 11. The air inlet electromagnetic valve 2 is used for pressurization control, and is powered off and powered on, and the pressure is increased. The exhaust electromagnetic valve 5 is used for decompression control, and is powered off and cut off, and the pressure is reduced when the power is on. The relay valve 1 is used for outputting control gas with set pressure.
When the single-channel pressure control module or the double-channel pressure control module works normally, the pressure of a control port of the internal relay valve is controlled by controlling the internal electromagnetic valve, so that the brake gas with required brake pressure is conveyed to a gas chamber of the brake. When the single-channel pressure control module or the double-channel pressure control module fails, the corresponding front redundancy module or the corresponding rear redundancy module participates in working, and control gas with set pressure is finally output through controlling an actuating mechanism inside an electromagnetic valve in the redundancy module, and the control gas acts on a control port of a relay valve inside the single-channel pressure control module or the double-channel pressure control module, so that the single-channel pressure control module or the double-channel pressure control module conveys braking gas with required braking pressure to an air chamber of a brake, namely when the single-channel pressure control module or the double-channel pressure control module fails, the control port of the relay valve inside the single-channel pressure control module or the double-channel pressure control module is controlled by the front redundancy module or the rear redundancy module, and redundant braking is realized.
Referring to fig. 1 and 2, in this embodiment, a main controller, a front redundancy module, a rear redundancy module, a single-channel pressure control module, a dual-channel pressure control module, an ABS solenoid valve, a main power supply, and a redundancy power supply are connected by cables. The front axle 2 wheel speed sensors are connected with the single-channel EBS valve through cables, and the rear axle 2 wheel speed sensors are connected with the double-channel EBS valve through cables. The front axle 2 redundant wheel speed sensors are connected with the front redundant module through cables, the rear axle 2 redundant wheel speed sensors are connected with the rear redundant module through cables, and meanwhile, the front redundant module is connected with the rear redundant module through cables for data exchange. The main controller communicates with the intelligent driving system through the CAN, and the front redundancy module and the rear redundancy module communicate with the intelligent driving system through the redundancy CAN to realize the transmission of instruction information. The redundant power supply is connected with the front redundant module and the rear redundant module through cables. The air outlet of the front redundancy module is connected with the control air port of the single-channel pressure control module, the air outlet of the rear redundancy module is connected with the control air port of the double-channel pressure control module, and the air inlets of the front redundancy module and the rear redundancy module are respectively connected with the air cylinder. The air inlets of the single-channel pressure control module and the double-channel pressure control module are respectively connected with the air cylinders, the air outlets of the single-channel pressure control module are respectively connected with the air inlets of the two ABS electromagnetic valves, and the air outlets of the double-channel pressure control module are respectively connected with the brake air chambers of the rear axle wheels. The air outlets of the two ABS electromagnetic valves are respectively connected with the brake air chambers of the two front axle wheels.
Example 2
The embodiment provides a method for controlling the line-controlled pneumatic brake redundancy of a commercial vehicle, which comprises the following steps:
s100: when the existing brake-by-wire system on the vehicle has no fault, the brake-by-wire system brakes the vehicle, and the front redundancy module and the rear redundancy module do not work;
s200: when the existing wire control dynamic system on the vehicle fails, the front redundancy module or/and the rear redundancy module work;
s300: when the front redundancy module or the rear redundancy module works, the brake control module receives a brake command of the intelligent driving system, calculates and obtains the brake control command according to the brake command, and transmits the brake control command to the execution mechanism; the actuating mechanism is used for controlling the internal electromagnetic valve to work according to the braking control instruction to output control gas with set pressure, and the control gas is output by the air outlet; the air outlet of the front redundancy module outputs control air with the set pressure to the control air outlet of the existing single-channel pressure control module on the vehicle, so that the single-channel pressure control module outputs required braking pressure to drive a brake of the front axle to realize vehicle braking; and the air outlet of the rear redundancy module outputs the control air with the set pressure to the control air outlet of the existing double-channel pressure control module on the vehicle, so that the double-channel pressure control module outputs the required braking pressure to drive the brake of the rear axle to realize vehicle braking.
Further, the brake-by-wire system, the front redundancy module and the rear redundancy module are all designed with a self-diagnosis function, the system and the module send self-fault information to the intelligent driving system in real time, and the intelligent driving system adjusts and switches the braking scheme according to the fault information.
Referring to fig. 3, the method for controlling the brake-by-wire redundancy of the commercial vehicle according to the present embodiment adopts different braking strategies according to different fault conditions when braking, including but not limited to the following control strategies.
1) When the brake-by-wire system has no fault, the front redundancy module and the rear redundancy module are not operated; at this time, the intelligent driving system combines all the radars on the vehicle to acquire information, calculates the expected deceleration, sends a deceleration control request to the main controller through a cable wire, requests to implement the required deceleration to the vehicle, and after receiving the braking deceleration request, the main controller carries out internal program logic operation, calculates the load of the whole vehicle, simultaneously converts the expected deceleration into the required air chamber braking pressure by combining the load of the whole vehicle, then sends an expected braking pressure value instruction to the single-channel and double-channel pressure control module controller through the CAN wire, after receiving the expected braking pressure value, the internal controllers of the single-channel and double-channel pressure control module send control instructions to all the electromagnetic valves in the single-channel and double-channel pressure control module, realizes pressure output, and meanwhile, the air pressure sensors in the single-channel and double-channel pressure control module monitor the output braking pressure value in real time and return to the main controller, and when deviation exists, the action of the electromagnetic valves is controlled in a combined control mode, so that the internal closed-loop control of the single-channel and double-channel pressure control module is realized, and the output pressure reaches the pressure required by the main controller, thereby realizing the corresponding deceleration control. Meanwhile, closed-loop control is formed among the main controller, the single-channel pressure control module, the double-channel pressure control module and the wheel speed sensor, so that the accuracy of braking control is ensured; 2) When a main controller of the line control system fails, the intelligent driving system requests the front redundancy module and the rear redundancy module to work through the redundancy CAN, and the front redundancy module and the rear redundancy module work simultaneously; at the moment, the intelligent driving system combines all radar acquisition information on the vehicle to calculate the expected deceleration, sends a deceleration control request to the front and rear redundancy modules through cables to request the vehicle to implement the required deceleration, and after the front and rear redundancy modules receive the braking deceleration request, carries out internal program logic operation, combines the front and rear wheel speed signals input by the front and rear axle redundancy wheel speed sensors to calculate the load of the whole vehicle, simultaneously converts the expected deceleration into the required air chamber braking pressure by combining the load of the whole vehicle, then sends control instructions to all electromagnetic valves in the front and rear redundancy modules to realize pressure output, simultaneously monitors the output braking pressure values in real time by the air pressure sensors in the front and rear redundancy modules and returns the braking pressure values to the front and rear redundancy modules, and when deviation exists, combines and controls the actions of the electromagnetic valves to regulate, thus realizing the internal closed-loop control of the front and rear redundancy modules to ensure that the output pressure reaches the required pressure of the front and rear redundancy modules, thereby realizing the corresponding deceleration control. Meanwhile, closed-loop control is formed among the front and rear redundant modules and the front and rear axle redundant wheel speed sensors, so that the accuracy of braking control is ensured; 3) When a single-channel pressure control module of the linear control braking system fails and the double-channel pressure control module is normal, the intelligent driving system requests the front redundancy module to carry out backup braking through the redundancy CAN, and the rear redundancy module is not operated at the moment; at this time, the rear brake is still controlled according to the failure-free brake-by-wire system. The front redundancy module is started for braking, at the moment, the intelligent driving system combines all radar acquisition information on the vehicle, calculates expected deceleration, sends a deceleration control request to the front redundancy module through a cable, requests to implement required deceleration to the vehicle, carries out internal program logic operation after receiving the braking deceleration request, and then combines a front wheel speed signal input by a front axle redundancy wheel speed sensor to calculate the load of the whole vehicle, simultaneously converts the expected deceleration into required air chamber braking pressure by combining the load of the whole vehicle, then sends control instructions to all electromagnetic valves in the front redundancy module, realizes pressure output, simultaneously monitors the output braking pressure value in real time by an air pressure sensor in the front redundancy module and returns the braking pressure value to the front redundancy module, and when deviation exists, combines and controls the action of the electromagnetic valve to regulate, so that the internal closed-loop control of the front redundancy module is realized, the output pressure reaches the pressure required by the front redundancy module, thus realizing corresponding deceleration control, and ensuring the accuracy of braking control; 4) When the double-channel pressure control module of the on-line control braking system fails and the single-channel pressure control module is normal, the intelligent driving system requests the rear redundancy module to carry out backup braking through the redundancy CAN, and the front redundancy module is not working at the moment. At this time, the front braking is still controlled according to the condition that the brake-by-wire system is fault-free, then the brake is started, at this time, the intelligent driving system combines all radar acquisition information on the vehicle, calculates the expected deceleration, and sends a deceleration control request to the rear redundancy module through a cable, the request is applied to the vehicle for implementing the required deceleration, after the rear redundancy module receives the braking deceleration request, internal program logic operation is carried out, and then the rear wheel speed signal input by the rear axle redundant wheel speed sensor is combined, the size of the load of the whole vehicle is calculated, meanwhile, the expected deceleration is converted into the required air chamber braking pressure by combining the load of the whole vehicle, then, a control command is sent to all electromagnetic valves in the rear redundancy module, so that the pressure output is realized, meanwhile, the air pressure sensor in the rear redundancy module monitors the output braking pressure value in real time and returns to the rear redundancy module, and when deviation exists, the action of the electromagnetic valve is combined and controlled, the closed-loop control in the rear redundancy module is realized, so that the output pressure reaches the pressure required by the rear redundancy module, the corresponding deceleration control is realized, and the braking control is ensured; 5) When the single-channel pressure control module and the double-channel pressure control module of the linear control braking system simultaneously fail, the intelligent driving system simultaneously requests the front redundancy module and the rear redundancy module to carry out backup braking through the redundancy CAN, and the front redundancy module and the rear redundancy module work simultaneously at the moment. At the moment, the intelligent driving system combines all radar acquisition information on the vehicle to calculate the expected deceleration, sends a deceleration control request to the front and rear redundancy modules through cables to request the vehicle to implement the required deceleration, and after the front and rear redundancy modules receive the braking deceleration request, carries out internal program logic operation, combines the front and rear wheel speed signals input by the front and rear axle redundancy wheel speed sensors to calculate the load of the whole vehicle, simultaneously converts the expected deceleration into the required air chamber braking pressure by combining the load of the whole vehicle, then sends control instructions to all electromagnetic valves in the front and rear redundancy modules to realize pressure output, simultaneously monitors the output braking pressure values in real time by the air pressure sensors in the front and rear redundancy modules and returns the braking pressure values to the front and rear redundancy modules, and when deviation exists, combines and controls the actions of the electromagnetic valves to regulate, thus realizing the closed-loop control in the front and rear redundancy modules to ensure the output pressure to reach the required pressure of the front and rear redundancy modules, thereby realizing the corresponding deceleration control and ensuring the accuracy of the braking control; 6) When the main power supply of the line control system fails, the intelligent driving system requests the front redundancy module and the rear redundancy module to work through the redundancy CAN, and the front redundancy module and the rear redundancy module work simultaneously. At the moment, the intelligent driving system combines all radar acquisition information on the vehicle to calculate the expected deceleration, sends a deceleration control request to the front and rear redundancy modules through cables to request the vehicle to implement the required deceleration, and after the front and rear redundancy modules receive the braking deceleration request, carries out internal program logic operation, combines the front and rear wheel speed signals input by the front and rear axle redundancy wheel speed sensors to calculate the load of the whole vehicle, simultaneously converts the expected deceleration into the required air chamber braking pressure by combining the load of the whole vehicle, then sends control instructions to all electromagnetic valves in the front and rear redundancy modules to realize pressure output, simultaneously monitors the output braking pressure values in real time by the air pressure sensors in the front and rear redundancy modules and returns the braking pressure values to the front and rear redundancy modules, and when deviation exists, combines and controls the actions of the electromagnetic valves to regulate, thus realizing the closed-loop control in the front and rear redundancy modules to ensure the output pressure to reach the required pressure of the front and rear redundancy modules, thereby realizing the corresponding deceleration control and ensuring the accuracy of the braking control; 7) When the main controller or the main power supply of the brake-by-wire system and the front redundancy module are simultaneously in fault, the intelligent driving system requests the rear redundancy module to work through the redundancy CAN, and the output braking force is only half of the braking force output when the brake-by-wire system is in fault. At the moment, the intelligent driving system combines all radar acquisition information on the vehicle, calculates expected deceleration, sends a deceleration control request to a rear redundancy module through a cable, requests to implement required deceleration to the vehicle, and after the rear redundancy module receives a braking deceleration request, carries out internal program logic operation, combines rear wheel speed signals input by a rear axle redundancy wheel speed sensor to calculate the load of the whole vehicle, converts the expected deceleration into required air chamber braking pressure by combining the load of the whole vehicle, then sends a control instruction to all electromagnetic valves in the rear redundancy module to realize pressure output, and simultaneously, an air pressure sensor in the rear redundancy module monitors the output braking pressure value in real time and returns the braking pressure value to the rear redundancy module, and when deviation exists, the action of the electromagnetic valve is combined and controlled to be regulated, so that the internal closed-loop control of the rear redundancy module is realized, the output pressure reaches the pressure required by the rear redundancy module, the corresponding deceleration control is realized, and the accuracy of the braking control is ensured; 8) When the main controller or the main power supply of the linear control motor system and the rear redundancy module are simultaneously failed, the intelligent driving system requests the front redundancy module to work through the redundancy CAN. At the moment, the intelligent driving system combines all radar acquisition information on the vehicle to calculate the expected deceleration, sends a deceleration control request to the front redundancy module through a cable, requests to implement the required deceleration to the vehicle, and after the front redundancy module receives the braking deceleration request, carries out internal program logic operation, combines front wheel speed signals input by front wheel speeds input by front and rear axle redundancy wheel speed sensors to calculate the load of the whole vehicle, simultaneously converts the expected deceleration into the required air chamber braking pressure by combining the load of the whole vehicle, then sends a control command to all electromagnetic valves in the front redundancy module to realize pressure output, and simultaneously, the air pressure sensor in the front redundancy module monitors the output braking pressure value in real time and returns the braking pressure value to the front redundancy module to realize the regulation of the action of the electromagnetic valves in combination when deviation exists, so that the internal closed-loop control of the front redundancy module is realized, the output pressure reaches the required pressure of the rear redundancy module, thereby realizing corresponding deceleration control and ensuring the accuracy of braking control. The front 6 modes still have complete braking force, but the system can report fault information and carry out maintenance reminding; the 7 th and 8 th schemes only have front braking or rear braking, braking force can be halved, and large driving risks exist, and at the moment, the intelligent driving system can control the whole vehicle to decelerate and find a parking spot to realize safe parking.
The foregoing is only a specific embodiment of the invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The utility model provides a commercial car drive-by-wire pneumatic brake redundancy system which is characterized in that the system comprises a redundant power supply, a front redundant module and a rear redundant module which are mutually independent with the existing drive-by-wire pneumatic brake system on the car; wherein,,
the front redundancy module and the rear redundancy module are mutually independent and respectively comprise a control unit and an executing mechanism; the control unit comprises a brake control module, wherein the brake control module is communicated with the intelligent driving system, receives a brake command of the intelligent driving system, calculates and obtains a brake control command according to the brake command, and transmits the brake control command to the executing mechanism; the actuating mechanism is used for controlling the internal electromagnetic valve to work according to the braking control instruction to output control gas with set pressure, and the control gas is output by the air outlet;
The air inlet of the front redundancy module is connected with the air cylinder, and the air outlet is connected with a control air port of a relay valve in an existing single-channel pressure control module on the vehicle; the air outlet of the front redundancy module outputs control air with the set pressure to the control air port of the relay valve in the single-channel pressure control module, so that the single-channel pressure control module outputs required braking pressure to drive a brake of the front axle to realize vehicle braking;
the air inlet of the rear redundancy module is connected with the air cylinder, and the air outlet is connected with a control air port of a relay valve in an existing double-channel pressure control module on the vehicle; the air outlet of the rear redundancy module outputs control air with the set pressure to the control air port of the relay valve in the double-channel pressure control module, so that the double-channel pressure control module outputs required braking pressure to drive a brake of a rear axle to realize vehicle braking;
the redundant power supply is used for supplying power to the front redundant module and the rear redundant module.
2. The brake-by-wire redundancy system for a commercial vehicle of claim 1, wherein the control units of the front and rear redundancy modules each further comprise a redundancy CAN module and a redundancy power supply module, wherein,
The redundant CAN module is used for communication connection between the front redundant module and the rear redundant module and the intelligent driving system and communication connection between the modules inside the front redundant module and the rear redundant module;
the redundant power supply module provides correct voltage and power supply protection for each power utilization module in the front and rear redundant modules.
3. The commercial vehicle brake-by-wire redundancy system of claim 1, wherein the front redundancy module and the rear redundancy module each further comprise a redundant wheel speed sensor, wherein the redundant wheel speed sensor of the front redundancy module is configured to detect a wheel speed of a front wheel, and the redundant wheel speed sensor of the rear redundancy module is configured to detect a wheel speed of a rear wheel; after the braking control modules in the front redundancy module and the rear redundancy module receive braking instructions of the intelligent driving system, the magnitude of the load of the whole vehicle is calculated by combining wheel speed signals acquired by the redundant wheel speed sensors, and meanwhile, the expected deceleration is converted into braking pressure required by an air chamber of a brake by combining the load of the whole vehicle; the front redundancy module and the rear redundancy module output control gas with set pressure through controlling the operation of electromagnetic valves in the actuating mechanism, and the control gas acts on a control gas port of the single-channel pressure control module or the double-channel pressure control module to enable the single-channel pressure control module or the double-channel pressure control module to convey braking gas with required braking pressure to a gas chamber of a brake.
4. A commercial vehicle brake-by-wire redundancy system according to claim 1 to 3, wherein the actuator comprises a shut-off solenoid valve, an inlet solenoid valve, an exhaust solenoid valve, a relay valve and a pressure sensor, wherein,
the air inlet end of the air inlet electromagnetic valve is connected with the air storage cylinder, and the air outlet end of the air inlet electromagnetic valve is connected with the air inlet end of the air outlet electromagnetic valve and the control port of the relay valve;
the air inlet end of the air outlet electromagnetic valve is connected with the air outlet end of the air inlet electromagnetic valve and the control port of the relay valve, and the air outlet end is connected with the air outlet;
the air inlet of the relay valve is connected with the air storage cylinder, the control port is connected with the air outlet end of the air inlet electromagnetic valve, the air inlet end of the air outlet electromagnetic valve and the air inlet end of the stop electromagnetic valve, and the air outlet of the relay valve is connected with the control air ports of the single-channel pressure control module and the double-channel pressure control module;
the air inlet end of the cut-off electromagnetic valve is connected with the control port of the relay valve, and the air outlet end of the cut-off electromagnetic valve is connected with the air outlet;
the pressure sensor is arranged at the air outlet of the relay valve and is connected with the brake control module;
the cut-off electromagnetic valve is used for cut-off control, power-off opening and power-on cut-off, when in electric control, the cavity is isolated from the outside, and the residual pressure in the cavity after electric control or unexpected air pressure caused by poor sealing of the air inlet electromagnetic valve can be emptied;
The pressure sensor is used for monitoring the pressure of the air outlet of the relay valve in real time and returning the pressure to the brake control module;
the air inlet electromagnetic valve is used for pressurization control, the power is cut off, and the pressure is increased when the power is on;
the exhaust electromagnetic valve is used for pressure reduction control, and is powered off and cut off, and the pressure is reduced when the power is on;
the relay valve is used for outputting control gas with set pressure.
5. A method for controlling the line-control pneumatic brake redundancy of a commercial vehicle is characterized by comprising the following steps:
s100: when the existing brake-by-wire system on the vehicle has no fault, the brake-by-wire system brakes the vehicle, and the front redundancy module and the rear redundancy module do not work;
s200: when the existing wire control dynamic system on the vehicle fails, the front redundancy module or/and the rear redundancy module work;
s300: when the front redundancy module or the rear redundancy module works, the brake control module receives a brake command of the intelligent driving system, calculates and obtains the brake control command according to the brake command, and transmits the brake control command to the execution mechanism; the actuating mechanism is used for controlling the internal electromagnetic valve to work according to the braking control instruction to output control gas with set pressure, and the control gas is output by the air outlet; the air outlet of the front redundancy module outputs control air with the set pressure to the control air port of a relay valve in the existing single-channel pressure control module on the vehicle, so that the single-channel pressure control module outputs the required braking pressure to drive a brake of a front axle to realize vehicle braking; and the air outlet of the rear redundancy module outputs the control air with the set pressure to the control air port of a relay valve in the existing double-channel pressure control module on the vehicle, so that the double-channel pressure control module outputs the required braking pressure to drive a brake of a rear axle to realize vehicle braking.
6. The method for controlling the brake-by-wire redundancy of the commercial vehicle according to claim 5, wherein the brake-by-wire system, the front redundancy module and the rear redundancy module are all designed with a self-diagnosis function, the system and the modules send own fault information to the intelligent driving system in real time, and the intelligent driving system adjusts and switches the braking scheme according to the fault information.
7. The method of claim 5, wherein the front redundancy module and the rear redundancy module operate when a main controller or/and a main power source in the brake-by-wire system fails.
8. The method for controlling the brake-by-wire redundancy of a commercial vehicle according to claim 5, wherein when a single-channel pressure control module of the brake-by-wire system fails, the dual-channel pressure control module of the brake-by-wire system operates normally, the front redundancy module operates, and the rear redundancy module does not operate; when the double-channel pressure control module of the linear control system fails, the single-channel pressure control module of the linear control system works normally, the rear redundancy module works, and the front redundancy module does not work; when the single-channel pressure control module and the double-channel pressure control module of the linear control system simultaneously fail, the front redundancy module and the rear redundancy module work.
9. The method of claim 5, wherein the post-redundancy module operates when a main controller or/and a main power source in the brake-by-wire system fails and the pre-redundancy module also fails.
10. The method of claim 5, wherein the pre-redundancy module operates when a main controller or/and a main power source in the brake-by-wire system fails and the post-redundancy module also fails.
CN202310915468.2A 2023-07-25 2023-07-25 Commercial vehicle line-control pneumatic brake redundancy system and control method Pending CN116767165A (en)

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CN202310915468.2A CN116767165A (en) 2023-07-25 2023-07-25 Commercial vehicle line-control pneumatic brake redundancy system and control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310915468.2A CN116767165A (en) 2023-07-25 2023-07-25 Commercial vehicle line-control pneumatic brake redundancy system and control method

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