CN219706951U

CN219706951U - Redundant drive-by-wire hydraulic braking system of automatic driving vehicle and automatic driving vehicle

Info

Publication number: CN219706951U
Application number: CN202321226624.6U
Authority: CN
Inventors: 黄国兴; 郭立书; 何瑞; 周贤勇; 寿沣; 周晓雪
Original assignee: Zhejiang Geely Holding Group Co Ltd; Zhejiang Remote Commercial Vehicle R&D Co Ltd; Zhejiang Geely Remote New Energy Commercial Vehicle Group Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Zhejiang Remote Commercial Vehicle R&D Co Ltd; Zhejiang Geely Remote New Energy Commercial Vehicle Group Co Ltd
Priority date: 2023-05-16
Filing date: 2023-05-16
Publication date: 2023-09-19
Anticipated expiration: 2033-05-16

Abstract

The utility model provides an automatic driving vehicle redundant drive-by-wire hydraulic braking system and an automatic driving vehicle, wherein the automatic driving vehicle redundant drive-by-wire hydraulic braking system comprises: the device comprises a brake fluid storage module, a pressure supply module, a pressure selection module, a pressure adjustment module and a brake execution module; the brake fluid storage module is respectively connected with the pressure adjusting module and the pressure supply module, and the pressure adjusting module is respectively connected with the brake executing module and the pressure selecting module; the pressure selecting module is connected with the pressure supplying module, wherein a main motor and an auxiliary motor are arranged in the pressure supplying module. The redundant drive-by-wire hydraulic braking system for the automatic driving vehicle can enable the integration level of the braking system of the vehicle to be higher, the size to be smaller, the cost to be saved, the hydraulic system and the pedal force to be decoupled, the driving experience of a user to be improved, the auxiliary motor to be used for emergency braking when the main motor of the vehicle fails to work, and the safety of the braking system of the vehicle to be improved.

Description

Redundant drive-by-wire hydraulic braking system of automatic driving vehicle and automatic driving vehicle

Technical Field

The utility model relates to the technical field of automobile braking, in particular to a redundant drive-by-wire hydraulic braking system of an automatic driving vehicle and the automatic driving vehicle.

Background

Nowadays, with the development of automobile technology, vehicles gradually develop to automation and intellectualization, and automatic driving is also becoming a growing research direction in the automobile field.

For an automatic driving vehicle, a adopted Brake-by-wire system is mainly a Hydraulic Brake-by-wire (EHB) system, and compared with the traditional braking system, the EHB Brake-by-wire system can greatly improve the response speed of the vehicle during braking, shorten the vehicle braking distance, improve the braking efficiency and improve the response sensitivity of passengers and drivers. In terms of vehicle active safety functions, the EHB optimization improves vehicle active safety functions such as an Anti-lock braking function (Anti-lock Brake System, ABS), a vehicle stabilizing function (Electronic Stability Controller, ESC), an automatic Anti-collision function (Advanced Emergency Braking System, AEBS), an automatic cruising function (Adaptive Cruise Control, ACC), advanced auxiliary driving (Automatic Data Acquisition System, ADAS), unmanned intelligent driving and the like of a traditional vehicle, so that the vehicle safety is greatly improved.

The main flow technical scheme of the EHB at present is divided into Two technical schemes of Two-box and One-box according to the high and low integration level, the Two technical schemes are low in integration level and high in cost, pedal force and a hydraulic system cannot be decoupled, a brake pedal can be affected during emergency braking, so that driving experience of a user is affected, the Two technical schemes are high in integration level and low in cost, and the Two technical schemes are main flow technical schemes of an automatic driving vehicle at present, and still have the problems of poor redundancy and reduction of safety of a braking system.

Disclosure of Invention

The utility model mainly aims to provide an automatic driving vehicle redundant drive-by-wire hydraulic braking system and an automatic driving vehicle, and aims to solve the technical problems of poor redundancy and insufficient safety of the braking system of the automatic driving vehicle.

In order to achieve the above object, the present utility model provides an automatic driving vehicle redundant line-controlled hydraulic brake system, characterized in that the automatic driving vehicle redundant line-controlled hydraulic brake system includes: the device comprises a brake fluid storage module, a pressure supply module, a pressure selection module, a pressure adjustment module and a brake execution module;

the brake fluid storage module is respectively connected with the pressure regulating module and the pressure supply module;

the pressure adjusting module is respectively connected with the brake executing module and the pressure selecting module;

the pressure selecting module is connected with the pressure supplying module, wherein a main motor and an auxiliary motor are arranged in the pressure supplying module.

Optionally, the brake fluid storage module includes: the device comprises a liquid storage tank, a liquid supplementing oil way and a pressure relief oil way;

the liquid storage tank is connected with the pressure supply module through the liquid supplementing oil way and is connected with the pressure regulating module through the pressure relief oil way.

Optionally, the pressure supply module further includes: an auxiliary pressure cylinder and an emergency brake control solenoid valve;

the auxiliary pressure cylinder is respectively connected with the auxiliary motor and the pressure selection module and is connected with the liquid storage tank through the liquid supplementing oil circuit;

the emergency braking control electromagnetic valve is arranged at an oil port of the auxiliary pressure cylinder.

Optionally, the pressure supply module further includes: a pressure cylinder, a pressure sensor and a fluid supplementing electric control valve;

the pressure cylinder is respectively connected with the main motor and the pressure selection module and is connected with the liquid storage tank through the liquid supplementing oil circuit;

the liquid supplementing electric control valve is arranged on the liquid supplementing oil path connected with the pressure cylinder and the liquid storage tank;

the pressure sensor is arranged on an oil way between the emergency braking control electromagnetic valve and the fluid supplementing electric control valve.

Optionally, the pressure selecting module includes: the device comprises a front pressure supply electromagnetic valve, a rear pressure supply electromagnetic valve, a front pressure supply oil circuit and a rear pressure supply oil circuit;

the front pressure supply electromagnetic valve is connected with an oil port of the pressure cylinder and is connected with the pressure regulating module through the front pressure supply oil circuit;

the rear pressure supply electromagnetic valve is connected with the emergency braking control electromagnetic valve and is connected with the pressure regulating module through the rear pressure supply oil circuit;

the front pressure supply oil way and the rear pressure supply oil way are connected with the liquid storage tank through the pressure relief oil way.

Optionally, the pressure adjustment module includes: a left front pressure-increasing valve, a right rear pressure-increasing valve, a left rear pressure-increasing valve, a right front pressure-increasing valve, a left front pressure-reducing valve, a right rear pressure-reducing valve, a left rear pressure-reducing valve and a right front pressure-reducing valve;

the left front pressure increasing valve and the right front pressure increasing valve are both arranged on the front pressure supply oil way;

the left rear pressure increasing valve and the right rear pressure increasing valve are both arranged on the rear pressure supply oil way;

the left front pressure reducing valve, the right rear pressure reducing valve, the left rear pressure reducing valve and the right front pressure reducing valve are all arranged on the pressure release oil path.

Optionally, the brake execution module includes: a left front brake, a right rear brake, a left rear brake and a right front brake;

the left front brake and the right front brake are both connected with an outlet of the front pressure supply oil path, and the left rear brake and the right rear brake are both connected with an outlet of the rear pressure supply oil path.

Optionally, the redundant brake-by-wire system for an autonomous vehicle further includes: the intelligent driving system comprises a brake control module, a CAN bus and an intelligent driving ECU;

the brake control module and the intelligent driving ECU are connected with the CAN bus, and the brake control module and the intelligent driving ECU are communicated through the CAN bus.

Optionally, the brake control module includes: and the brake ECU is connected with the intelligent driving ECU through the CAN bus.

In addition, to achieve the above object, the present utility model also provides an autonomous vehicle comprising an autonomous vehicle redundant brake-by-wire system as described above.

The utility model provides an automatic driving vehicle redundant drive-by-wire hydraulic braking system and an automatic driving vehicle, wherein the automatic driving vehicle redundant drive-by-wire hydraulic braking system comprises: the device comprises a brake fluid storage module, a pressure supply module, a pressure selection module, a pressure adjustment module and a brake execution module; the brake fluid storage module is respectively connected with the pressure adjusting module and the pressure supply module, and the pressure adjusting module is respectively connected with the brake executing module and the pressure selecting module; the pressure selecting module is connected with the pressure supplying module, wherein a main motor and an auxiliary motor are arranged in the pressure supplying module.

Compared with the traditional vehicle braking technical scheme, the redundant wire control hydraulic braking system for the automatic driving vehicle adopts the brake execution module to acquire information through the CAN bus and control each module to brake, the brake fluid storage module is used for providing brake fluid for the pressure supply module, the brake fluid returns to the liquid storage tank through the pressure release oil way when the pressure regulation module is depressurized, the pressure supply module comprises a main motor and an auxiliary motor which are used for supplying pressure, the pressure selection module is used for providing braking force for front and rear brakes, and the pressure regulation module is used for regulating pressure, so that braking instructions are executed for the automatic driving vehicle.

Therefore, compared with the traditional two-box brake technical scheme, the redundant wire control hydraulic brake system for the automatic driving vehicle adopts the one-box brake technical scheme, has high integration level, smaller volume and more cost saving, can decouple the hydraulic system from pedal force, and improves the driving experience of a user; compared with the traditional one-box technical scheme, the redundant drive-by-wire hydraulic braking system of the automatic driving vehicle is added with the auxiliary motor, so that the vehicle can adopt the auxiliary motor to carry out emergency braking when the main motor fails, the safety of the vehicle braking system is improved, the main motor and the auxiliary motor can work simultaneously when the vehicle is in emergency braking, the pressure building speed is accelerated, and the braking time is shortened.

Therefore, the redundant drive-by-wire hydraulic brake system for the automatic driving vehicle can improve the redundancy of the vehicle at low cost, thereby improving the safety of the vehicle.

Drawings

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

In order to more clearly illustrate the embodiments of the utility model 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 schematic structural diagram of an automatic driving vehicle redundant brake-by-wire system in an embodiment of the automatic driving vehicle redundant brake-by-wire system according to the present utility model.

Reference numerals illustrate:

the achievement of the objects, functional features and advantages of the present utility model will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.

It should be noted that 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 implying an indication of the number of technical features being 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 utility model.

In embodiments of the present utility model, unless explicitly specified and limited otherwise, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be either fixedly attached, detachably attached, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the embodiments of the present utility model will be understood by those of ordinary skill in the art according to specific circumstances.

The following description of the embodiments of the present utility model 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 utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In a first embodiment of the redundant brake-by-wire system for an autonomous vehicle, referring to fig. 1, fig. 1 is a schematic structural diagram of the redundant brake-by-wire system for an autonomous vehicle in an embodiment of the redundant brake-by-wire system for an autonomous vehicle, the redundant brake-by-wire system for an autonomous vehicle includes: a brake fluid storage module A, a pressure supply module B, a pressure selection module C, a pressure adjustment module D and a brake execution module E; the brake fluid storage module is respectively connected with the pressure adjusting module and the pressure supply module, and the pressure adjusting module is respectively connected with the brake executing module and the pressure selecting module; the pressure selecting module is connected with the pressure supplying module, wherein a main motor and an auxiliary motor are arranged in the pressure supplying module.

In the embodiment, the automobile safety line control hydraulic braking system adopts an one-box integrated mode, so that the integration level of the braking system is improved, the volume of the braking system can be reduced, meanwhile, the pedal force of a brake pedal can be decoupled from the hydraulic system, the use experience of a user cannot be affected in the braking process, an auxiliary motor is added to carry out auxiliary pressure building, emergency braking can be carried out when a main motor fails, and the redundancy of the braking system is improved.

Further, in a possible embodiment, the brake fluid storage module includes: the device comprises a liquid storage tank, a liquid supplementing oil way and a pressure relief oil way;

the liquid storage tank is connected with the pressure supply module through a liquid supplementing oil way and is connected with the pressure regulating module through a pressure relief oil way.

In this embodiment, the reservoir is used for storing brake fluid, and provides brake fluid to the pressure supply module through the fluid make-up oil circuit, and then when the pressure adjustment module is depressurized, brake fluid returns to the reservoir through the pressure release oil circuit.

Further, in a possible embodiment, the pressure supply module further comprises: an auxiliary pressure cylinder and an emergency brake control solenoid valve;

the auxiliary pressure cylinder is respectively connected with the auxiliary motor and the pressure selection module and is connected with the liquid storage tank through a liquid supplementing oil way;

The pressure supply module further includes: a pressure cylinder, a pressure sensor and a fluid supplementing electric control valve;

the liquid supplementing electric control valve is arranged on a liquid supplementing oil path connected with the pressure cylinder and the liquid storage tank, and the pressure sensor is arranged on an oil path between the emergency braking control electromagnetic valve and the liquid supplementing electric control valve.

It should be noted that, in this embodiment, the auxiliary motor may be a small motor or an energy accumulator (the energy capacity can meet the requirement of emergency braking), so as to save cost and reduce the volume of the braking system.

In this embodiment, the pressure supply module may perform fluid infusion operation, and may also supply pressure to the pressure selection module, and provide braking pressure to the brake execution module via the pressure adjustment module, when the vehicle is braked emergently, the main motor and the auxiliary motor operate simultaneously, after the pressure reaches a certain value, the auxiliary motor exits, and the main motor continues to provide power for the brake system, so as to increase the build-up speed, shorten the braking time, and achieve the effect of rapid emergency braking.

Specifically, when the pressure supply module is used for supplementing liquid, the liquid supplementing electric control valve is electrically communicated, the auxiliary motor drives the auxiliary pressure cylinder piston to move rightwards, the main motor drives the pressure cylinder piston to move rightwards, and the brake liquid is supplemented to the pressure supply module from the liquid storage tank through the liquid supplementing oil circuit.

When the pressure supply module supplies pressure to the pressure selection module, the front pressure supply electromagnetic valve and/or the rear pressure supply electromagnetic valve of the pressure selection module are/is electrified simultaneously or independently according to the instruction sent by the brake control module, the auxiliary motor drives the auxiliary pressure cylinder piston to move left (the auxiliary motor only works during emergency braking and emergency braking), the main motor drives the pressure cylinder piston to move left to generate pressure, and the brake pressure is provided for the brake execution module through the pressure adjustment module by the front pressure supply electromagnetic valve and/or the rear pressure supply electromagnetic valve which are/is conducted simultaneously or independently.

Further, in a possible embodiment, the pressure selection module includes: the device comprises a front pressure supply electromagnetic valve, a rear pressure supply electromagnetic valve, a front pressure supply oil circuit and a rear pressure supply oil circuit;

the front pressure supply electromagnetic valve is connected with an oil port of the pressure cylinder and is connected with the pressure regulating module through a front pressure supply oil way;

the rear pressure supply electromagnetic valve is connected with the emergency braking control electromagnetic valve and is connected with the pressure regulating module through a rear pressure supply oil way;

In this embodiment, the front supply solenoid valve and the rear supply solenoid valve are normally closed solenoid valves.

In this embodiment, the front pressure supply solenoid valve and/or the rear pressure supply solenoid valve may be turned on simultaneously or individually to supply brake fluid to the brake execution module through the front pressure supply oil passage and/or the rear pressure supply oil passage to supply brake pressure.

Further, in a possible embodiment, the pressure adjustment module comprises: a left front pressure-increasing valve, a right rear pressure-increasing valve, a left rear pressure-increasing valve, a right front pressure-increasing valve, a left front pressure-reducing valve, a right rear pressure-reducing valve, a left rear pressure-reducing valve and a right front pressure-reducing valve;

the left rear pressure increasing valve and the right rear pressure increasing valve are arranged on the rear pressure supply oil way;

In this embodiment, the front left pressure increasing valve, the rear right pressure increasing valve, the rear left pressure increasing valve, and the front right pressure increasing valve are all normally open solenoid valves, and the front left pressure reducing valve, the rear right pressure reducing valve, the rear left pressure reducing valve, and the front right pressure reducing valve are all normally closed solenoid valves.

In the present embodiment, the front left pressure increasing valve, the rear right pressure increasing valve, the rear left pressure increasing valve, the front right pressure increasing valve, the front left pressure reducing valve, the rear right pressure reducing valve, the rear left pressure reducing valve, and the front right pressure reducing valve are all used to control the pressure state of the brake of the four wheels of the vehicle.

Specifically, when the left front pressure increasing valve, the right rear pressure increasing valve, the left rear pressure increasing valve, the right front pressure increasing valve, the left front pressure reducing valve, the right rear pressure reducing valve, the left rear pressure reducing valve and the right front pressure reducing valve are all in the power-down state, the pressure adjusting module is in the pressure increasing state, and can provide braking pressure for the braking executing module.

When one or more of the left front pressure increasing valve, the right rear pressure increasing valve, the left rear pressure increasing valve and/or the right front pressure increasing valve are/is in a power-on state, and the valves, the left front pressure reducing valve, the right rear pressure reducing valve, the left rear pressure reducing valve and the right front pressure reducing valve are all in a down-point state, the pressure increasing valves in the power-on state are in pressure maintaining states corresponding to the wheels controlled by the pressure increasing valves, and other wheels are in pressure increasing states.

When the left front pressure increasing valve, the right rear pressure increasing valve, the left rear pressure increasing valve and the right front pressure increasing valve are all in the power-on state, and one or more of the left front pressure reducing valve, the right rear pressure reducing valve, the left rear pressure reducing valve and/or the right front pressure reducing valve are/is in the power-on state, the pressure reducing valve in the power-on state is in the pressure reducing state corresponding to the controlled wheel, and the rest wheels are in the pressure maintaining state.

Further, in a possible embodiment, the brake execution module includes: a left front brake, a right rear brake, a left rear brake and a right front brake;

the left front brake and the right front brake are both connected with an outlet of the front pressure supply oil way;

the left rear brake and the right rear brake are both connected with the outlet of the rear pressure supply oil way.

In this embodiment, the front left brake, the rear right brake, the rear left brake, and the front right brake are used to provide braking torque to the corresponding wheels according to the magnitude of the brake fluid pressure.

Further, in a possible embodiment, the redundant brake-by-wire system for an autonomous vehicle further includes: the intelligent driving system comprises a brake control module, a CAN bus and an intelligent driving ECU;

Wherein, the braking control module includes: and the brake ECU is connected with the intelligent driving ECU through the CAN bus.

In this embodiment, the brake control module further includes CAN bus information and sensor information thereof, and the brake ECU communicates with the intelligent driving ECU through the CAN bus, analyzes, determines and makes a decision on the CAN bus information and the sensor information thereof, and controls the operation of each component in the redundant brake-by-wire system of the autonomous driving vehicle.

In the actual working process of the redundant drive-by-wire hydraulic brake system of the automatic driving vehicle, the brake mode of the automatic driving vehicle mainly comprises the following steps: the working principle of each braking mode of the redundant wire control hydraulic braking system of the automatic driving vehicle is as follows:

under the condition that an automatic driving vehicle brakes normally, when a brake ECU receives an intelligent driving ECU braking request instruction through a CAN bus, each wheel generates a certain braking moment according to the braking intensity of the request, at the moment, a main motor drives a piston of a pressure cylinder to move left to generate pressure, a front pressure supply electromagnetic valve and a rear pressure supply electromagnetic valve of a pressure selection module are electrically connected, and the pressure generated by the pressure cylinder acts on each brake of a braking execution module after being regulated by the pressure selection module and a pressure regulation module, so that the vehicle is decelerated or stopped; then, when the brake ECU receives an intelligent driving ECU braking request releasing instruction through the CAN bus, the main motor drives the piston of the pressure cylinder to move rightwards, the front pressure supply electromagnetic valve and the rear pressure supply electromagnetic valve are continuously conducted, and the brake fluid acting on each brake of the brake execution module is returned to the pressure cylinder through the pressure adjusting module and the pressure selecting module, so that the vehicle is braked.

In order to realize coordinated control of braking and steering and other travel direction correction, an autonomous vehicle needs to perform one-side braking. For example, when the brake ECU receives an intelligent driving ECU (electronic control unit) to implement a single-side braking request command through a CAN (controller area network) bus, each wheel on the left side generates a certain braking moment, a main motor drives a piston of a pressure cylinder to move left to generate pressure, a front pressure supply electromagnetic valve and a rear pressure supply electromagnetic valve of a pressure selection module are electrically connected, meanwhile, a right front pressure increasing valve and a right rear pressure increasing valve are electrically closed, the pressure generated by the pressure cylinder acts on each brake on the left side of a brake execution module through the left front pressure increasing valve and the left rear pressure increasing valve in the pressure selection module, and the left side of a vehicle implements braking; then, in order to release the left side wheel and implement braking, when the brake ECU receives an intelligent driving ECU release single side braking request command through the CAN bus, the main motor drives the pressure cylinder piston to move rightwards, the front pressure supply electromagnetic valve and the rear pressure supply electromagnetic valve of the pressure selection module are electrically connected, meanwhile, the right front pressure increasing valve and the right rear pressure increasing valve are electrically closed, brake fluid acting on each brake on the left side of the brake execution module enables the brake fluid to return to the pressure cylinder through the left front pressure increasing valve, the left rear pressure increasing valve and the front pressure supply electromagnetic valve and the rear pressure supply electromagnetic valve of the selection module, and the left side of the vehicle releases braking.

If single-wheel braking of an automatic driving vehicle is needed, for example, left front wheel braking is achieved, when a brake ECU receives an intelligent driving ECU implementing a left front wheel braking request instruction through a CAN bus, a left front wheel generates a certain braking moment, a main motor drives a pressure cylinder piston to move left to generate pressure, a front pressure supply electromagnetic valve of a pressure selection module is electrically connected, a right front pressure increasing valve is electrically closed, the pressure generated by the pressure cylinder acts on a left front brake of a brake execution module through a left front pressure increasing valve in the pressure selection module, and the left front wheel of the vehicle implements braking; then, in order to release the single wheel braking of the left front wheel, when the brake ECU receives an intelligent driving ECU braking request instruction for releasing the left front wheel through the CAN bus, the main motor drives the piston of the pressure cylinder to move rightwards, brake fluid acting on the left front brake of the brake execution module returns to the pressure cylinder through the left front booster valve and the front pressure supply electromagnetic valve, and the left front wheel of the vehicle is released.

If front wheel braking of an automatic driving vehicle is needed, when a brake ECU receives an intelligent driving ECU front wheel braking request command through a CAN bus, a certain braking moment is generated on each front wheel of the vehicle according to the braking strength of the request, at the moment, a main motor drives a pressure cylinder piston to move left to generate pressure, the pressure is conducted on a front pressure supply electromagnetic valve of a pressure selection module, the pressure generated by the pressure cylinder is regulated by the pressure selection module, after the pressure regulation module regulates, the pressure acts on each front wheel brake of a brake execution module, the vehicle decelerates or parks, and then when the brake ECU receives the intelligent driving ECU front wheel braking request command through the CAN bus, the main motor drives the pressure cylinder piston to move right, the braking fluid of each front wheel brake of the pressure selection module is conducted on the pressure cylinder through the pressure regulation module and the pressure selection module, and the vehicle brakes are released.

Similarly, if the rear wheel braking of the automatic driving vehicle is required to be realized, when the brake ECU receives an intelligent driving ECU to implement a rear wheel braking request instruction through a CAN bus, each rear wheel of the vehicle generates a certain braking moment according to the braking strength of the request, at the moment, the main motor drives a piston of a pressure cylinder to move left to generate pressure, the rear pressure supply electromagnetic valve of the pressure selection module is electrically connected, and the pressure generated by the pressure cylinder acts on each brake of the rear wheel of the braking execution module after being regulated by the pressure selection module and the pressure regulation module, so that the vehicle is decelerated or stopped; then, when the brake ECU receives an intelligent driving ECU braking request releasing instruction through the CAN bus, the main motor drives the piston of the pressure cylinder to move rightwards, the rear pressure supply electromagnetic valve of the pressure selection module is electrically connected, brake liquid of each brake of the rear wheel of the brake execution module returns to the pressure cylinder through the pressure adjustment module and the pressure selection module, and the vehicle is braked.

Under the condition of emergency braking, when the brake ECU receives an intelligent driving ECU (electronic control unit) implementation emergency braking request command through a CAN (controller area network) bus, an emergency braking control electromagnetic valve, a front pressure supply electromagnetic valve and a rear pressure supply electromagnetic valve of a pressure selection module are electrically connected, an auxiliary motor and a main motor are simultaneously operated, when the pressure detected by a pressure sensor reaches a certain value, the emergency braking control electromagnetic valve is electrically closed, the pressure generated by the pressure cylinder acts on each brake of a braking execution module after being regulated by the pressure selection module and the pressure regulation module, the vehicle is rapidly decelerated or stopped, then when the brake ECU receives the intelligent driving ECU release braking request command through the CAN bus, the emergency braking control electromagnetic valve is electrically connected, the auxiliary motor drives an auxiliary pressure cylinder piston to move right at the moment, the main motor drives the pressure cylinder piston to move right at the moment, the front pressure supply electromagnetic valve and the rear pressure supply electromagnetic valve of the pressure selection module are electrically connected, brake fluid of each brake of the brake execution module returns to the auxiliary pressure cylinder and the pressure cylinder through the pressure regulation module at the moment, and the auxiliary motor returns to the rightmost position, and when the detected pressure of the pressure sensor is still larger than a certain value, or all brake fluid is electrically connected to the pressure sensor is electrically connected, and the brake is released until the brake fluid is released, and the brake fluid is completely released, and the brake fluid is released, or is completely released, and the brake fluid is completely released.

When the main motor of the automatic driving vehicle fails to conduct emergency braking, the brake ECU controls the emergency braking control electromagnetic valve, the front pressure supply electromagnetic valve and the rear pressure supply electromagnetic valve of the pressure selection module to conduct electricity, at the moment, the auxiliary motor drives the piston of the auxiliary pressure cylinder to move left, after the brake fluid pressure is regulated by the pressure selection module and the pressure regulation module, the brake fluid pressure acts on each brake of the brake execution module, the vehicle is rapidly decelerated or stopped, the requirement of the emergency braking regulation can only be met due to the limited brake fluid pressure stored by the auxiliary motor, then, when the braking is released, the main motor fails, the brake ECU controls the emergency braking control electromagnetic valve to conduct electricity, at the moment, the auxiliary motor drives the piston of the auxiliary pressure cylinder to move right, then the emergency braking control electromagnetic valve, the front pressure supply electromagnetic valve and the rear pressure supply electromagnetic valve of the pressure selection module conduct electricity under the pressure reduction valve, all or part of the pressure reduction valve conduct electricity, and all the wheel brakes are conducted until the pressure detected by the pressure sensor is smaller than a certain value, the conducted pressure reduction valve is cut off under the pressure reduction valve, and the vehicle releases the braking.

Under the condition that a front supply electromagnetic valve or a rear supply electromagnetic valve of the automatic driving vehicle fails, the front supply electromagnetic valve fails, at the moment, only the rear supply electromagnetic valve is electrified to work during braking, and only the right rear wheel and the left rear wheel are braked; otherwise, if the rear supply electromagnetic valve fails, only the front supply electromagnetic valve is electrified during braking, and only the left front wheel and the right front wheel are braked; then, when the front pressure supply electromagnetic valve fails, only the rear pressure supply electromagnetic valve is electrified to work when the braking is released, and only the right rear wheel and the left rear wheel implement the braking release; if the rear supply electromagnetic valve fails, only the front supply electromagnetic valve is electrified to release the brake, and only the left front wheel and the right front wheel are used for releasing the brake.

Under the condition that a pressure increasing or reducing electromagnetic valve of an automatic driving vehicle fails, if one or more of the pressure increasing electromagnetic valve or the pressure reducing electromagnetic valve fails, the pressure regulating module is in a power-down state and does not participate in pressure regulating work, and brake fluid with certain pressure generated by a main motor through a pressure cylinder reaches all wheel brakes through the pressure selecting module and the pressure regulating module to implement braking; then, if one or more of the pressure increasing solenoid valve or the pressure reducing solenoid valve is failed, the brake fluid of the wheel brake is returned to the pressure cylinder through the pressure adjusting module and the pressure selecting module, and the vehicle releases the brake.

Compared with the traditional vehicle braking technical scheme, the redundant wire control hydraulic braking system for the automatic driving vehicle adopts the brake execution module to acquire information through the CAN bus and control each module to brake, the brake fluid storage module is used for providing brake fluid for the pressure supply module, the brake fluid returns to the liquid storage tank through the pressure release oil way when the pressure regulation module is depressurized, the pressure supply module is used for supplying pressure, the pressure selection module is used for providing braking force for front and rear brakes, and the pressure regulation module is used for regulating pressure, so that braking instructions are executed for the automatic driving vehicle.

Therefore, compared with the traditional two-box brake technical scheme, the redundant drive-by-wire hydraulic brake system for the automatic driving vehicle adopts the one-box brake technical scheme, has high integration level and smaller volume, saves more cost by adopting fewer electromagnetic valves, can decouple the hydraulic system from pedal force, and improves the driving experience of users; compared with the traditional one-box technical scheme, the redundant drive-by-wire hydraulic braking system of the automatic driving vehicle is added with the auxiliary motor, so that the vehicle can adopt the auxiliary motor to carry out emergency braking when the main motor fails, the safety of the vehicle braking system is improved, the main motor and the auxiliary motor can work simultaneously when the vehicle is in emergency braking, the pressure building speed is accelerated, and the braking time is shortened.

In addition, the utility model also provides an automatic driving vehicle, which comprises the redundant drive-by-wire hydraulic brake system of the automatic driving vehicle.

The specific implementation of the redundant brake-by-wire system of the autonomous vehicle in the present utility model is substantially the same as the embodiments of the redundant brake-by-wire system of the autonomous vehicle described above, and will not be described herein.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing embodiment numbers of the present utility model are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

The foregoing description is only of the preferred embodiments of the present utility model, and is not intended to limit the scope of the utility model, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.

Claims

1. An autonomous vehicle redundant brake-by-wire system, the autonomous vehicle redundant brake-by-wire system comprising: the device comprises a brake fluid storage module, a pressure supply module, a pressure selection module, a pressure adjustment module and a brake execution module;

2. The autonomous vehicle redundant brake-by-wire system of claim 1, wherein the brake fluid storage module comprises: the device comprises a liquid storage tank, a liquid supplementing oil way and a pressure relief oil way;

3. The autonomous vehicle redundant brake-by-wire system of claim 2, wherein the pressure supply module further comprises: an auxiliary pressure cylinder and an emergency brake control solenoid valve;

4. The autonomous vehicle redundant brake-by-wire system of claim 3, wherein the pressure supply module further comprises: a pressure cylinder, a pressure sensor and a fluid supplementing electric control valve;

5. The autonomous vehicle redundant brake-by-wire system of claim 4, wherein the pressure selection module comprises: the device comprises a front pressure supply electromagnetic valve, a rear pressure supply electromagnetic valve, a front pressure supply oil circuit and a rear pressure supply oil circuit;

6. The autonomous vehicle redundant brake-by-wire system of claim 5, wherein the pressure adjustment module comprises: a left front pressure-increasing valve, a right rear pressure-increasing valve, a left rear pressure-increasing valve, a right front pressure-increasing valve, a left front pressure-reducing valve, a right rear pressure-reducing valve, a left rear pressure-reducing valve and a right front pressure-reducing valve;

7. The autonomous vehicle redundant brake-by-wire system of claim 6, wherein the brake actuation module comprises: a left front brake, a right rear brake, a left rear brake and a right front brake;

8. The redundant brake-by-wire system for an autonomous vehicle of any of claims 1 to 7, further comprising: the intelligent driving system comprises a brake control module, a CAN bus and an intelligent driving ECU;

9. The autonomous vehicle redundant brake-by-wire system of claim 8, wherein the brake control module comprises: and the brake ECU is connected with the intelligent driving ECU through the CAN bus.

10. An autonomous vehicle comprising the autonomous vehicle redundant brake-by-wire system of any of claims 1-9.