CN207449889U - A kind of unmanned commercial car electric controlled brake system - Google Patents
A kind of unmanned commercial car electric controlled brake system Download PDFInfo
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- CN207449889U CN207449889U CN201721556435.XU CN201721556435U CN207449889U CN 207449889 U CN207449889 U CN 207449889U CN 201721556435 U CN201721556435 U CN 201721556435U CN 207449889 U CN207449889 U CN 207449889U
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Abstract
The utility model is related to a kind of electric controlled brake systems with redundancy feature, a kind of unmanned commercial car electric controlled brake system is disclosed, is made of main ADV controllers, backup ADV controllers, master battery pack, reserce cell group, preceding binary channels pressure control module, rear binary channels pressure control module, brake chamber, spring brake cylinder, gear ring and wheel speed sensors and air pipe, wirning harness for connection；Two sets of ADV controllers belong to entire car controller, it powers with independent accumulator group, the relay valve and two groups of baroceptors of a controller chip module, four groups of 2/2-way normally closed solenoid valves and two groups of quickening service brake responses is integrated with inside forward and backward binary channels pressure control module.The utility model can ensure that vehicle will not all exit electric control braking in the case of any single failure by using double electric control circuit dual power supplies and double CAN communications, it ensure that the braking safety of automatic driving car, can meet the needs of L5 grades of unmanned grades are to braking system.
Description
Technical field
The utility model is related to a kind of electric controlled brake systems with redundancy feature, and double loop is used more particularly to a kind of
The unmanned commercial car electric control driving braking system of air braking system.
Background technology
With the development of automotive engineering, intelligence becomes the development strategic objective of auto vendor of various countries, and vehicle intellectualized
Ultimate aim be exactly unmanned.On the one hand the unmanned technology of commercial car can solve human cost quickly increased pressure
Power, traffic accident caused by the other hand can also avoiding personnel's fatigue driving, particularly in mine and harbour etc. relatively
The place of closing, the application prospect of unmanned commercial car are boundless.For unmanned commercial car, have a set of safety can
The braking system leaned on is particularly important.Although traditional electric controlled brake system can be implemented to brake by electric-control system, due to
As soon as electric-control system is intended only as the circuit of braking system, once failure can only trample brake pedal by driver realizes system
It is dynamic.To realize the unmanned of just sincere justice, it is necessary to use a kind of multiloop electric control braking with Safety Redundancy
System come ensure vehicle driving braking safety
The content of the invention
In view of the above-mentioned problems, the purpose of this utility model is to provide a kind of unmanned commercial car electric controlled brake system.It should
System is a kind of electric controlled brake system with redundancy feature, is communicated with dual power supply, double CAN lines, any in system
Partial single failure will not result in the entirely ineffective of electric controlled brake system.
What the technical solution of the utility model was realized in：
A kind of unmanned commercial car electric controlled brake system, including main ADV controllers 101, backup ADV controllers 102, master
Battery pack 103, battery backup 104, preceding binary channels pressure control module 105, rear binary channels pressure control module 106, preceding bridge
The left brake chamber 108 of right brake chamber 107, preceding bridge, jackshaft left spring checking cylinder 109, the right spring brake cylinder 110 of jackshaft, rear axle
The right spring brake cylinder 112 of left spring checking cylinder 111, rear axle, front left gear ring 121, front right gear ring 122, the right gear ring 113 of jackshaft, in
The left gear ring 115 of bridge, the right gear ring 114 of rear axle, the left gear ring 116 of rear axle, front right wheel speed sensors 123, front left wheel speed sensors 124,
Middle left wheel speed sensors 119, middle right wheel speed sensors 117, rear left wheel speed sensors 120, rear right wheel speed sensors 118 and use
Air pipe, wirning harness in connection；
Pass through the first CAN line loops 126 between the main ADV controllers 101 and spare ADV controllers 102
It is attached；
Between the main ADV controllers 101 and preceding binary channels pressure control module 105 by the 2nd CAN line loops 128 into
Row connection；
Pass through the 3rd CAN line loops 129 between the spare ADV controllers 102 and rear binary channels pressure control module 106
It is attached；
Pass through the 4th CAN lines between the preceding binary channels pressure control module 105 and rear binary channels pressure control module 106
Circuit 130 is connected；
The front left gear ring 121 rotates together with wheel, and front left wheel speed sensors 124 sense the movement of front left gear ring 121,
Binary channels pressure control module 105 before front left wheel speed information is passed to by rigid line, front right wheel speed sensors 123 sense front right
The movement of gear ring 122, binary channels pressure control module 105 before the wheel speed information of front right wheel is passed to by rigid line；Middle revolver
Fast sensor 119, middle right wheel speed sensors 117, rear left wheel speed sensors 120, rear right wheel speed sensors 118 are respectively induced jackshaft
The movement of the right gear ring 113 of left gear ring 115, jackshaft, the left gear ring 116 of rear axle, the right gear ring 114 of rear axle, by the wheel speed information of middle rear axle
Rear binary channels pressure control module 106 is passed to by rigid line；
The left brake chamber 108 of preceding bridge passes through 139 the same 105 gas outlet phase of binary channels pressure control module of front left gas circuit
Even；Front right brake chamber 107 is connected by 140 the same 105 gas outlet of binary channels pressure control module of front right gas circuit；The left bullet of jackshaft
The right spring brake cylinder 110 of spring checking cylinder 109, jackshaft, rear axle left spring checking cylinder 111, the right spring brake cylinder 112 of rear axle lead to respectively
Left gas circuit 141, rear left gas circuit 142, middle right gas circuit 143, rear right gas circuit 144 go out with rear binary channels pressure control module 106 in crossing
Gas port is connected, and realizes the control to speed, braking deceleration etc.；
Forward and backward binary channels pressure control module (105 described in technical solution；106) it is internal to be integrated with a controller core
Piece module 201 is provided with two-way independence CAN lines in the controller chip module 201, is respectively CANA and CANB；CANA leads to
It crosses four pin connector A203 with main ADV controllers 101 to be connected, CANB is used between forward and backward binary channels pressure control module lead to
News and power supply, are internal CAN circuits, are connected by four pin connector B206.
Be provided on controller chip module described in technical solution 201 four groups of independence two pin connector WSSA202, two
Pin connector WSSB204, two pin connector WSSC205, two pin connector WSSD207 are at best able to the wheel of four wheels of connection
Fast sensor, connection relation are demarcated by controller chip module plug-in.
Forward and backward binary channels pressure control module (105 described in technical solution；106) air inlet is each provided on, wherein
The air inlet of binary channels pressure control module 106 is connected with rear binary channels pressure control module for air circuit B afterwards, as first time
The supply part on road；The air inlet of preceding binary channels pressure control module 105 supplies air circuit A phases with preceding binary channels pressure control module
Even, the supply part as second servo loop；
It is set on the forward and backward binary channels pressure control module there are four outlet interface, by braking the same wheel of air pipe
On brake chamber or the service brake cavity of tripping spring cylinder be connected；Wherein two gas outlets of homonymy communicate, if for simultaneously
Two axis, four wheels are controlled, then two gas outlets communicated must be with two axis homonymy brake chambers or spring brake cylinder service brake
Chamber is connected by tracheae.
Forward and backward binary channels pressure control module (105 described in technical solution；106) four groups of 2/2-ways are integrated in
Normally closed solenoid valve and the relay valve and two groups of baroceptors of two groups of quickening service brake responses；
Four groups of 2/2-way normally closed solenoid valves are connected by circuit with controller chip module 201；
Four groups of 2/2-ways normally closed solenoid valve combination of two, as the pressure-regulating device of two gas circuits, by right
The pressure for responding gas circuit adjusts the anti-lock function for realizing control and realization wheel to brake force size；
The relay valve is provided with two pressure control cavities up and down, one group in epicoele and two groups of 2/2-way normally closed solenoid valves
Air inlet be connected with another group of gas outlet, the pressure control loop part as gas circuit；Cavity of resorption one end and forward and backward binary channels
Pressure control module air inlet is connected, and the other end is connected with forward and backward binary channels pressure control module gas outlet, and there are one exhausts
Mouth is connected with forward and backward binary channels pressure control module exhaust outlet, is passed through air；
When the relay valve epicoele does not have air pressure input, air inlet and the gas outlet of cavity of resorption are not communicated with, cavity of resorption gas outlet
It is communicated with exhaust outlet；When epicoele has air pressure input, cavity of resorption air inlet is communicated with gas outlet, gas outlet output atmospheric pressure value with it is upper
The atmospheric pressure value of chamber input is into special ratios relation；
The baroceptor is connected between servo valve air gate and forward and backward binary channels pressure control module gas outlet
On air pipe, it is connected by electric line with control chip module, constantly feeds back the output pressure of forward and backward binary channels pressure control module
Force value.
The advantageous effects of the utility model compared with prior art：Existing electric controlled brake system is in many cases
Electric control braking will be exited, can not continue to receive control for brake instruction or even when some failures occur will not upload fault message,
These situations can all cause vehicle to lose stopping power, will be breakneck for automatic driving vehicle.The utility model is special
Profit can ensure vehicle in the case of any single failure all by using double electric control circuit dual power supplies and double CAN communications
Electric control braking will not be exited, while classification can be carried out according to fault severity level and is reported, automatic driving car has been effectively ensured
Braking safety so that vehicle braking performances can meet the needs of L5 grades of unmanned grades are to braking system.
Description of the drawings
Fig. 1 is unmanned commercial car electric controlled brake system schematic diagram described in the utility model；
Fig. 2 is the forward and backward binary channels pressure control mould of unmanned commercial car electric controlled brake system described in the utility model
Schematic diagram inside block；
In figure：
3rd, exhaust outlet；
21st, gas outlet A；22nd, gas outlet B；23rd, gas outlet C；24th, gas outlet D；
101st, main ADV controllers；102nd, spare ADV controllers；103rd, master battery pack；104th, battery backup；105th, it is preceding
Binary channels pressure control module；106th, rear binary channels pressure control module；107th, the right brake chamber of preceding bridge；108th, the left braking of preceding bridge
Gas chamber；109th, jackshaft left spring checking cylinder；110th, the right spring brake cylinder of jackshaft；111st, rear axle left spring checking cylinder；112nd, rear axle
Right spring brake cylinder；113rd, the right gear ring of jackshaft；114th, the right gear ring of rear axle；115th, the left gear ring of jackshaft；116th, the left gear ring of rear axle；117、
Middle right wheel speed sensors；118th, rear right wheel speed sensors；119th, middle left wheel speed sensors；120th, rear left wheel speed sensors；121、
Front left gear ring；122nd, front right gear ring；123rd, front right wheel speed sensors；124th, front left wheel speed sensors；125th, harness A；126th,
One CAN line loops；127th, harness B；128th, the 2nd CAN line loops；129th, the 3rd CAN line loops；130th, the 4th CAN line loops；
131st, rigid line B；132nd, rigid line D；133rd, rigid line F；134th, preceding binary channels pressure control module supplies air circuit A；135th, rear binary channels
Pressure control module supplies air circuit B.136th, rigid line A；137th, rigid line C；138th, rigid line E；139th, front left gas circuit；140th, front right gas
Road；141st, middle left gas circuit；142nd, rear left gas circuit；143rd, middle right gas circuit；144th, rear right gas circuit；
201st, controller chip module；202nd, two pin connector WSSA；203rd, four pin connector A；204th, two pin connector
WSSB；205th, two pin connector WSSC；206th, four pin connector B；207th, two pin connector WSSD；208th, the normally closed electricity of 2/2-way
Magnet valve MV1 exhaust solenoid valves；209th, 2/2-way normally closed solenoid valve MV2 air inlet electromagnetic valves；210th, baroceptor A；211st, after
Dynamic valve A；212nd, 2/2-way normally closed solenoid valve MV3 air inlet electromagnetic valves；213rd, 2/2-way normally closed solenoid valve MV4 is vented electromagnetism
Valve；214th, relay valve B；215th, baroceptor B；216th, inner air path B；217th, inner air path C；218th, inner air path A；
219th, inner air path D；220th, air pipe B；221st, air pipe A；222nd, inner air path E.
Specific embodiment
The specific embodiment of the utility model patent is described in detail below in conjunction with the accompanying drawings.
A kind of unmanned commercial car electric controlled brake system is by main ADV controllers, backup ADV controllers, main battery
Group, reserce cell group, preceding binary channels pressure control module, rear binary channels pressure control module, brake chamber, spring brake cylinder,
The compositions such as gear ring and wheel speed sensors and air pipe, wirning harness for connection.
Two sets of ADV controllers in the utility model belong to entire car controller, are responsible for being transferred according to context aware systems
Car status information ruling whether braked, if release braking, the size of severity of braking, and pass through CAN lines to forward and backward
Binary channels pressure control module sends deceleration instruction.Two sets of ADV controllers backup each other, and with independent accumulator group to it
Power supply, while as double CAN lines communications and a part for dual power supply, they are independently to forward and backward binary channels pressure control
Molding block sends control instruction and power supply.
A controller chip module is integrated with inside forward and backward binary channels pressure control module in the utility model, it should
Two group of four pin connector is integrated in controller chip module, wherein one group of four pin connector of preceding binary channels pressure control module
It is connected by CAN lines with main ADV controllers, forms main electric control circuit；One group of four pin of binary channels pressure control module is inserted afterwards
It connects device by CAN lines with backup ADV controllers to be connected, forms backup electric control circuit.On front and rear binary channels pressure control module
Four pin connector of another set then forward and backward binary channels pressure control module is connected by CAN lines.
Four group of two pin connector is also integrated on the controller chip, respectively with the wheel speed on four wheels of most two axis
Sensor is connected.
Be provided with an air inlet on forward and backward binary channels pressure control module, wherein after binary channels pressure control module into
Gas port is connected with rear binary channels pressure control module for air circuit, the supply part as the first circuit；Preceding binary channels pressure control
The air inlet of molding block is connected with preceding binary channels pressure control module for air circuit, the supply part as second servo loop.It is forward and backward
It is set on binary channels pressure control module there are four outlet interface, by braking air pipe with the brake chamber or system on wheel
The service brake cavity of dynamic spring cylinder is connected；Wherein two gas outlets of homonymy communicate, if for controlling two axis, four wheels simultaneously,
Two gas outlets communicated must be connected with two axis homonymy brake chambers or spring brake cylinder service brake cavity by tracheae.
Four groups of 2/2-way normally closed solenoid valves are integrated in forward and backward binary channels pressure control module in the utility model
With the relay valve and two groups of baroceptors of two groups of quickening service brake responses.
Four groups of 2/2-way normally closed solenoid valves are connected with integrated control chip module by electric wire.Four groups two two
Logical normally closed solenoid valve combination of two as the pressure-regulating device of two gas circuits, is adjusted by the pressure to corresponding gas circuit and realized
The anti-lock function of control and realization wheel to brake force size.
The relay valve is provided with two pressure control cavities up and down, one group in epicoele and two groups of 2/2-way normally closed solenoid valves
Air inlet be connected with another group of gas outlet, the pressure control loop part as gas circuit；Cavity of resorption one end and forward and backward binary channels
Pressure control module air inlet is connected, and the other end is connected with forward and backward binary channels pressure control module gas outlet, and there are one exhausts
Mouth is connected with forward and backward binary channels pressure control module exhaust outlet, is passed through air.When epicoele does not have air pressure input, cavity of resorption into
Gas port is not communicated with gas outlet, and cavity of resorption gas outlet is communicated with exhaust outlet；When epicoele has air pressure input, cavity of resorption air inlet and outlet
Mouth communicates, the atmospheric pressure value of gas outlet output and the atmospheric pressure value proportion relation of epicoele input.
The baroceptor is connected between servo valve air gate and forward and backward binary channels pressure control module gas outlet
On air pipe, it is connected by electric line with control chip module, constantly feeds back the output pressure of forward and backward binary channels pressure control module
Force value.
Gear ring and wheel speed sensors in the utility model are installed on brake wheel, by electric wire with forward and backward binary channels
Pressure control module is connected, for calculating speed, wheel speed, vehicle deceleration and the deceleration of each wheel.
The systematic schematic diagram of the utility model is as shown in Figure 1：
Master battery pack 103 is powered by harness A125 for main ADV controllers 101, and battery backup 104 passes through harness B127
It powers for spare ADV controllers 102.
It is attached between main ADV controllers 101 and spare ADV controllers 102 by the first CAN line loops 126.
Connected between main 101 the same binary channels pressure control module 105 of ADV controllers by the 2nd CAN line loops 128
It connects.
Spare ADV controllers 102 are carried out between rear binary channels pressure control module 106 by the 3rd CAN line loops 129
Connection.
Pass through the 4th CAN line loops between preceding binary channels pressure control module 105 and rear binary channels pressure control module 106
130 are connected.
Front left gear ring 121 rotates together with wheel, and front left wheel speed sensors 124 sense the movement of front left gear ring 121, will take turns
Binary channels pressure control module 105 before fast information is passed to by rigid line A136, similarly front right wheel speed sensors 123 are by off-front wheel
Wheel speed information passed to by rigid line B131 before binary channels pressure control module 105；Middle left wheel speed sensors 119, middle right wheel
The wheel speed information of middle rear axle is passed through rigid line by fast sensor 117, rear left wheel speed sensors 120, rear right wheel speed sensors 118 respectively
C137, rigid line D132, rigid line E138, rigid line F133 pass to rear binary channels pressure control module 106.
Rigid line is connected to two on preceding binary channels pressure control module 105 and rear binary channels pressure control module 106
Pin connector WSSA202, two pin connector WSSB204, two pin connector WSSC205, on two pin connector WSSD206, pass through
It demarcates to confirm the connection relation of each rigid line.
Forward and backward binary channels pressure control module judges the deceleration of vehicle and each wheel according to the wheel speed information that receives
State, the control for brake instruction then sent according to ADV controllers adjust the brake pressure of output, and control action is in each wheel
On brake force.And prevent wheel lock up, it is allowed to be in optimal slip state.
Schematic diagram is as shown in Figure 2 inside forward and backward binary channels pressure control module in the utility model：201 devices in order to control
Chip module.
Two-way independence CAN lines are provided on the control chip module：CANA and CANB.CANA passes through four pin connectors
A203 is connected with ADV controllers, the inside CAN that CANB communicates and powered between front and rear binary channels pressure control module, leads to
Four pin connector B206 are crossed to be connected.
Two pin connector WSSA, WSSB, WSSC, WSSD of four groups of independence are additionally provided on the control chip module, most
The wheel speed sensors of four wheels can mostly be connected.
When connecting four wheels, WSSA needs to be connected with the wheel speed sensors of two wheels of homonymy with WSSB, WSSC, WSSD
It needs to be connected with the wheel speed sensors of two wheels of homonymy.
Four groups of 2/2-way normally closed solenoid valve MV1 exhausts are also integrated with inside the forward and backward binary channels pressure control module
Solenoid valve 208, MV2 air inlet electromagnetic valves 209, MV3 air inlet electromagnetic valves 212, MV4 exhaust solenoid valves 213, they pass through circuit
Be connected with control chip module, four groups of solenoid valves are internally provided with the air flue of specific latus rectum, therefore in the unit interval by tolerance
It is constant.
When carrying out service brake, air inlet electromagnetic valve 209 and 212 is opened in the control control of chip module 201, at this time air inlet
Gases at high pressure by inner air path A218, using inner air path B216 and inner air path C217, respectively enter relay valve
The epicoele of A211 and relay valve B214 break the pressure balance of upper and lower cavity so that relay valve exhaust close and goes out air inlet
Gas port communicates, and air inlet gases at high pressure are come forward and backward by inner air path A218 using air pipe A221 and air pipe B220
Four gas outlets of binary channels pressure control module or so, four gas outlets are gas outlet A21, gas outlet B22, gas outlet respectively
C23, gas outlet D24, subsequently into the service brake cavity of brake chamber or spring brake cylinder.In this process, air pressure transmission
The pressure value of gas outlet is fed back to controller chip module 201 by sensor A210 and baroceptor B215, works as controller chip
Module 201 judges that pressure reaches desired value, closes 2/2-way normally closed solenoid valve MV2 air inlet electromagnetic valves 209 and 2/2-way is normal
Close solenoid valve MV3 air inlet electromagnetic valves 212.When needing to reduce braking pressure, controller chip module 201 closes air inlet electromagnetism
Valve opens 2/2-way normally closed solenoid valve MV1 exhaust solenoid valves 208 and 2/2-way normally closed solenoid valve MV4 exhaust solenoid valves
213, at this moment the gas of relay valve A211 epicoeles will be logical by inner air path B216 and inner air path E222, then by exhaust outlet 3
Entering air, relay valve upper and lower cavity balance is broken, and relay valve air inlet and gas outlet disconnect, and gas outlet and exhaust outlet communicate, preceding,
Binary channels pressure control module gas outlet A21 and gas outlet B22 air pressures are passed through greatly for 3 mouthfuls by air pipe A221 from exhaust outlet afterwards
Gas.Similarly, the gas of relay valve B214 epicoeles will be logical by inner air path C 217 and inner air path D219, then by exhaust outlet 3
Entering air, relay valve upper and lower cavity balance is broken, and relay valve air inlet and gas outlet disconnect, and gas outlet and exhaust outlet communicate, preceding,
Binary channels pressure control module gas outlet C23 and gas outlet D24 air pressures are passed through greatly for 3 mouthfuls by air pipe B220 from exhaust outlet afterwards
Gas.
The realization process of redundancy feature：When the system is normal either backup ADV controllers failure or the 3rd CAN line loops
Failure, main ADV controllers 101 judge whether to be braked according to the information that environment sensing controller transfers, when need into
During row braking, by the 2nd CAN line loops 128, binary channels pressure control module 105 sends target to main ADV controllers 101 forward
Deceleration value, preceding binary channels pressure control module 105 calculate antero posterior axis according to the front and rear axle load being calculated and are respectively necessary for applying
Brake force, the target braking force of middle rear axle is then sent to rear binary channels pressure by the 4th CAN line loops 130 and controls mould
Block 106, front and rear binary channels pressure control module control brake power according to instruction.
When master battery pack 103 or harness A125 fail, reserce cell group 104 is returned by harness B127 and the first CAN lines
Road 126 powers for main ADV controllers 101.When reserce cell group 104 or harness B127 fail, master battery pack 103 passes through harness
A125 powers to main ADV controllers 101.
Backup ADV controllers pass through the 3rd CAN lines when main 101 or the 2nd CAN line loops 128 of ADV controllers fail
Target deceleration angle value is passed to rear binary channels pressure control module 106 by circuit 129, and rear binary channels pressure control module is according to meter
Obtained front and rear axle load calculates antero posterior axis and is respectively necessary for the brake force applied, and the target braking force of preceding bridge then is passed through the 4th
Binary channels pressure control module before CAN line loops 130 are sent to, front and rear binary channels pressure control module is according to instruction control row
Vehicle brake force.Under the above situation, braking system normal work.
During current binary channels pressure control module failure, the second service brake partial failure, main ADV controllers 101 pass through
Binary channels pressure control module carries out emergency brake after first CAN line loops 126, the control of the 3rd CAN line loops 129.
When rear binary channels pressure control module fails, the first driving brake circuit failure, main ADV controllers 101 pass through
Binary channels pressure control module carries out emergency brake before 2nd CAN line loops 128 control.
When single wheel speed sensors fail, the ABS of faulty channel control failure, the ABS adjustings of the passage follow identical
The wheel speed sensors information of axis opposite side is adjusted.
When single supply air line fails, failure axis brake fade, non-faulting axis normal work.
When it is single connection brake chamber or spring brake cylinder driving chamber air pipe failure, single failure axis brake fade,
Remaining non-faulting axis works normally.
The work but also standby each other in conclusion the forward and backward binary channels pressure control module in the utility model had not only cooperated with each other
Part, and faults of monitoring system can be implemented, catastrophe failure and generic failure are divided into according to system failure severity, and by failure
Information is sent to ADV controllers.If catastrophe failure, ADV control vehicles implement emergency braking；If generic failure, ADV
Controller uploads malfunction, and vehicle uses limping pattern, after completing unmanned task maintenance shop gone to carry out maintenance.It can
To ensure that any one single failure of braking system will not result in exiting completely for service brake, so as to ensure that driving peace
Entirely.
Claims (5)
1. a kind of unmanned commercial car electric controlled brake system, it is characterised in that：Including main ADV controllers (101), backup ADV
Controller (102), master battery pack (103), battery backup (104), preceding binary channels pressure control module (105), rear binary channels
Pressure control module (106), the right brake chamber of preceding bridge (107), the left brake chamber of preceding bridge (108), jackshaft left spring checking cylinder
(109), the right spring brake cylinder of jackshaft (110), rear axle left spring checking cylinder (111), the right spring brake cylinder of rear axle (112), front left
Gear ring (121), front right gear ring (122), the right gear ring of jackshaft (113), the left gear ring of jackshaft (115), the right gear ring of rear axle (114), rear axle
Left gear ring (116), front right wheel speed sensors (123), front left wheel speed sensors (124), middle left wheel speed sensors (119), the middle right side
Wheel speed sensors (117), rear left wheel speed sensors (120), rear right wheel speed sensors (118) and air pipe, electricity for connection
Harness；
Connected between the main ADV controllers (101) and spare ADV controllers (102) by the first CAN line loops (126)
It connects；
Pass through the 2nd CAN line loops (128) between the main ADV controllers (101) and preceding binary channels pressure control module (105)
It is attached；
Pass through the 3rd CAN line loops between the spare ADV controllers (102) and rear binary channels pressure control module (106)
(129) it is attached；
Pass through the 4th CAN lines between the preceding binary channels pressure control module (105) and rear binary channels pressure control module (106)
Circuit (130) is connected；
The front left gear ring (121) rotates together with wheel, the fortune of front left wheel speed sensors (124) sensing front left gear ring (121)
It is dynamic, binary channels pressure control module (105) before front left wheel speed information is passed to by rigid line, front right wheel speed sensors (123)
Sense the movement of front right gear ring (122), binary channels pressure control module before the wheel speed information of front right wheel is passed to by rigid line
(105)；Middle left wheel speed sensors (119), middle right wheel speed sensors (117), rear left wheel speed sensors (120), rear right wheel speed pass
Sensor (118) is respectively induced the left gear ring of jackshaft (115), the right gear ring of jackshaft (113), the left gear ring of rear axle (116), the right gear ring of rear axle
(114) the wheel speed information of middle rear axle is passed to rear binary channels pressure control module (106) by movement by rigid line；
The left brake chamber of preceding bridge (108) passes through the same binary channels pressure control module (105) gas outlet of front left gas circuit (139)
It is connected；Front right brake chamber (107) is connected by the same binary channels pressure control module (105) gas outlet of front right gas circuit (140)；
Jackshaft left spring checking cylinder (109), the right spring brake cylinder of jackshaft (110), rear axle left spring checking cylinder (111), the right spring of rear axle
Checking cylinder (112) respectively by middle left gas circuit (141), rear left gas circuit (142), middle right gas circuit (143), rear right gas circuit (144) with
Binary channels pressure control module (106) gas outlet is connected afterwards, realizes the control to speed, braking deceleration.
2. a kind of unmanned commercial car electric controlled brake system according to claim 1, it is characterised in that：
The forward and backward binary channels pressure control module (105；106) it is internal to be integrated with a controller chip module (201), institute
It states and two-way independence CAN lines is provided in controller chip module (201), be respectively CANA and CANB；CANA passes through four pin grafting
Device A (203) is connected with main ADV controllers (101), and CANB is used for communication and confession between forward and backward binary channels pressure control module
Electricity is internal CAN circuits, is connected by four pin connector B (206).
3. a kind of unmanned commercial car electric controlled brake system according to claim 2, it is characterised in that：
Two pin connector WSSA (202), the two pin connectors of four groups of independence are provided on the controller chip module (201)
WSSB (204), two pin connector WSSC (205), two pin connector WSSD (207) are at best able to the wheel speed of four wheels of connection
Sensor, connection relation are demarcated by controller chip module plug-in.
4. a kind of unmanned commercial car electric controlled brake system according to claim 1, it is characterised in that：
The forward and backward binary channels pressure control module (105；106) air inlet is each provided on, wherein rear binary channels pressure control
The air inlet of molding block (106) is connected with rear binary channels pressure control module for air circuit B, the gas supply part as the first circuit
Point；The air inlet of preceding binary channels pressure control module (105) is connected with preceding binary channels pressure control module for air circuit A, as
The supply part of second servo loop；
It is set on the forward and backward binary channels pressure control module there are four outlet interface, by braking air pipe on wheel
The service brake cavity of brake chamber or tripping spring cylinder is connected；Wherein two gas outlets of homonymy communicate, if for controlling simultaneously
Two four, axis wheels, then two gas outlets communicated must lead to two axis homonymy brake chambers or spring brake cylinder service brake cavity
Tracheae is crossed to be connected.
5. a kind of unmanned commercial car electric controlled brake system according to claim 1, it is characterised in that：
The forward and backward binary channels pressure control module (105；106) four groups of 2/2-way normally closed solenoid valves and two are integrated in
Group accelerates the relay valve and two groups of baroceptors of service brake response；
Four groups of 2/2-way normally closed solenoid valves are connected by circuit with controller chip module (201)；
Four groups of 2/2-ways normally closed solenoid valve combination of two, as the pressure-regulating device of two gas circuits, by response
The pressure of gas circuit adjusts the anti-lock function for realizing control and realization wheel to brake force size；
The relay valve is provided with two pressure control cavities up and down, in epicoele and two groups of 2/2-way normally closed solenoid valves one group into
Gas port is connected with another group of gas outlet, the pressure control loop part as gas circuit；Cavity of resorption one end and forward and backward binary channels pressure
Control module air inlet is connected, and the other end is connected with forward and backward binary channels pressure control module gas outlet, there are one exhaust outlet with
Forward and backward binary channels pressure control module exhaust outlet is connected, and is passed through air；
When the relay valve epicoele does not have air pressure input, air inlet and the gas outlet of cavity of resorption are not communicated with, cavity of resorption gas outlet and row
Gas port communicates；When epicoele has air pressure input, cavity of resorption air inlet is communicated with gas outlet, and the atmospheric pressure value and epicoele of gas outlet output are defeated
The atmospheric pressure value entered is into special ratios relation；
The baroceptor is connected to the tracheae between servo valve air gate and forward and backward binary channels pressure control module gas outlet
On the road, it is connected by electric line with control chip module, constantly feeds back the output pressure of forward and backward binary channels pressure control module
Value.
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| CN201721556435.XU CN207449889U (en) | 2017-11-20 | 2017-11-20 | A kind of unmanned commercial car electric controlled brake system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826095A (en) * | 2017-11-20 | 2018-03-23 | 中国第汽车股份有限公司 | A kind of unmanned commercial car electric controlled brake system |
| CN112061096A (en) * | 2020-09-02 | 2020-12-11 | 浙江吉利新能源商用车集团有限公司 | Brake-by-wire system and vehicle |
| CN114194161A (en) * | 2021-12-24 | 2022-03-18 | 北汽重型汽车有限公司 | Electric control braking system suitable for medium-weight truck |
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2017
- 2017-11-20 CN CN201721556435.XU patent/CN207449889U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826095A (en) * | 2017-11-20 | 2018-03-23 | 中国第汽车股份有限公司 | A kind of unmanned commercial car electric controlled brake system |
| CN107826095B (en) * | 2017-11-20 | 2024-01-12 | 中国第一汽车股份有限公司 | Electronic control braking system of unmanned commercial vehicle |
| CN112061096A (en) * | 2020-09-02 | 2020-12-11 | 浙江吉利新能源商用车集团有限公司 | Brake-by-wire system and vehicle |
| CN112061096B (en) * | 2020-09-02 | 2022-02-15 | 浙江吉利新能源商用车集团有限公司 | Brake-by-wire system and vehicle |
| CN114194161A (en) * | 2021-12-24 | 2022-03-18 | 北汽重型汽车有限公司 | Electric control braking system suitable for medium-weight truck |
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