WO2021248824A1 - Braking system applied to autonomous vehicle - Google Patents

Braking system applied to autonomous vehicle Download PDF

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Publication number
WO2021248824A1
WO2021248824A1 PCT/CN2020/129589 CN2020129589W WO2021248824A1 WO 2021248824 A1 WO2021248824 A1 WO 2021248824A1 CN 2020129589 W CN2020129589 W CN 2020129589W WO 2021248824 A1 WO2021248824 A1 WO 2021248824A1
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Prior art keywords
brake actuator
brake
braking
communication line
braking system
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PCT/CN2020/129589
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French (fr)
Chinese (zh)
Inventor
巴洛赫·莱文特
麻伟杰
刘佰申
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浙江力邦合信智能制动系统股份有限公司
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Publication of WO2021248824A1 publication Critical patent/WO2021248824A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • 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
    • B60T13/74—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 electrical assistance or drive

Definitions

  • the invention relates to a braking system, in particular to a braking system applied to an unmanned vehicle.
  • the braking system is the basis for achieving vehicle safety. Therefore, there will be multiple backup mechanisms in the braking system. However, when all safety mechanisms fail to operate, the driver as the ultimate backup can perform emergency braking. Therefore, all traditional The operations on the vehicle that need to be performed by the driver should be taken over by the second fully redundant system on the unmanned vehicle. Compared with the dual redundant system structure commonly used in the aviation industry, vehicles need more cost-effective solutions.
  • CN108367744A discloses a brake system that uses a vehicle controller to control the operation of the brake solenoid valve, so that the brake solenoid valve controls the brake to brake the car to achieve automatic braking of the car; in addition, Then, the vehicle controller realizes the control of the parking solenoid valve, so that the parking solenoid valve controls the parking brake to realize the parking of the car, so that the car can be effectively and accurately parked under the dual action.
  • this solution is only effective when the data used for fault judgment is reliable. In many fault situations, damaged or erroneous data may also cause fault judgment errors.
  • this technical method does not provide a solution to the situation where the data is insufficient to determine the fault.
  • US2015019101 discloses a method for detecting the operation of the parking brake when the braking torque of the service brake system is insufficient to reduce the failure loss, but this method involves a large amount of sensor information, especially in the event of a failure. When driving a vehicle without electricity, it is difficult to ensure safety.
  • US2015266457 (A1) discloses a backup braking system that provides braking energy in the event of a failure of the main braking system.
  • this method involves a large number of parts and components, resulting in additional costs, and it is still unable to handle such failures. Electricity or control fault light situation occurs.
  • the technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a braking system applied to an unmanned vehicle.
  • a braking system applied to an unmanned vehicle which is characterized in that it includes: a vehicle controller;
  • the first brake actuator is used to receive the first control signal sent by the vehicle controller and apply braking;
  • the second brake actuator connected to the vehicle controller through the second communication line is used to receive the vehicle control The second control signal sent by the actuator and brake;
  • the third communication line is used to connect the first brake actuator and the second brake actuator.
  • the first brake actuator is an electronic brake booster or an electronic stability control system or an electronic brake booster-electronic stability control system integration.
  • the second brake actuator is an electronic stability control system or an electronic parking brake system or an electronic stability control system-electronic parking brake system integration.
  • the first brake actuator and the second brake actuator are both electromechanical brake calipers.
  • the first communication line and the second communication line communicate using a bus.
  • the first brake actuator is connected with a first power source
  • the second brake actuator is connected with a second power source.
  • the vehicle controller and the first brake actuator share the first power source.
  • the vehicle controller and the second brake actuator share a second power source.
  • the beneficial effect of the present invention is that when the first brake actuator or the second brake actuator cannot receive the braking request of the vehicle controller due to a failure, the communication can be carried out through the third communication line, and the first brake actuator or the second brake actuator The brake actuator and the second brake actuator can exchange vehicle dynamics-related data through the third communication line in order to perform operations that minimize risks.
  • Figure 1 is a schematic diagram of the structure of the first embodiment
  • Figure 2 is a schematic diagram of a structure equipped with an independent power supply
  • Figure 3 is a schematic diagram of the second structure with an independent power supply
  • Fig. 4 is a schematic diagram of the structure of the second embodiment.
  • Embodiment 1 As shown in Fig. 1, a braking system applied to an unmanned vehicle includes a vehicle controller 10; a first brake actuator 1 connected to the vehicle controller 10 through a first communication line 11, Used to receive the first control signal sent by the vehicle controller and implement braking; the second brake actuator 2 connected to the vehicle controller 10 through the second communication line 21 is used to receive the first control signal sent by the vehicle controller Two control signals and implement braking; the third communication line 3 is used to connect the first brake actuator 1 and the second brake actuator 2.
  • the first brake actuator 1 Under normal circumstances, after the first brake actuator 1 receives the braking command and status information sent by the vehicle controller 10 through the first communication line 11, the first brake actuator 1 generates at least one wheel of the vehicle. Braking torque; after the second brake actuator 2 receives the braking command and status information sent by the vehicle controller 10 through the second communication line 21, the second brake actuator 2 generates at least one wheel of the vehicle Braking torque.
  • the first brake actuator 1 can be an electronic brake booster or an electronic stability control system or an electronic brake booster-electronic stability control system integration.
  • the first brake actuator 1 will target the four wheels 4a of the vehicle, 4b, 4c, 4d generate braking torque.
  • the second brake actuator 2 can be selected as an electronic stability control system or an electronic parking brake system or an electronic stability control system-electronic parking brake system integration, and the second brake actuator 2 will act on the rear wheels 4c of the vehicle. , 4d produces braking torque.
  • first brake actuator and the second brake actuator may both be electromechanical brake calipers.
  • the first brake actuator 1 can receive the braking command from the vehicle controller 10 through the third communication line 3 to perform braking. If the actuator 1 fails, the second brake actuator 2 will take over for braking; if the second communication line 21 is interrupted but the second brake actuator 2 is normal, the second brake actuator 2 can pass through the third communication line 3 Receive the brake command from the vehicle controller 10 to perform braking. If the second brake actuator 2 fails, the first brake actuator 1 will take over for braking, and the first brake actuator 1 and the second brake actuator 1 The brake actuator 2 can exchange vehicle dynamics-related data through the third communication line 3 in order to safely perform operations that minimize risks. If the vehicle controller 10 fails, the first brake actuator 1 and the second brake actuator 2 will automatically brake.
  • the first brake actuator 1 is connected to a first power source 5a
  • the second brake actuator 2 is connected to a second power source 5b.
  • the vehicle controller 10 can share the first power supply 5a with the first brake actuator 1, or the second power supply 5b with the second brake actuator 2, so as to ensure that one of the power supplies cannot be the corresponding brake actuator
  • the other brake actuator is not affected because it is equipped with an independent power supply, so as to realize the power redundancy of the brake system.
  • Embodiment 2 As shown in Fig. 4, the first communication line 11 and the second communication line 21 in the above-mentioned embodiment 1 are communicated using a bus 31, such as CAN, Ethernet, etc., the first brake actuator 1 and the second The brake actuator 2 can exchange vehicle dynamics related data through the third communication line 3. If the first brake actuator 1 fails, the second brake actuator 2 will take over for braking; if the second brake actuator 2 In the event of a failure, the first brake actuator 1 will take over for braking. If the bus 31 is interrupted, the first brake actuator 1 and the second brake actuator 2 will automatically brake.
  • a bus 31 such as CAN, Ethernet, etc.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)
  • Braking Systems And Boosters (AREA)

Abstract

A braking system applied to an autonomous vehicle. The braking system comprises: a vehicle control unit (10); a first brake actuator (1), which is connected to the vehicle control unit (10) by means of a first communication line (11) and is used for receiving a first control signal sent by the vehicle control unit (10) and implementing braking; a second brake actuator (2), which is connected to the vehicle control unit (10) by means of a second communication line (21) and is used for receiving a second control signal sent by the vehicle control unit (10) and implementing braking; and a third communication line (3), which is used for connecting the first brake actuator (1) to the second brake actuator (2). The first brake actuator (1) or the second brake actuator (2) can carry out communication by means of the third communication line (3) when a braking request of the vehicle control unit (10) cannot be received due to a fault. In addition, the first brake actuator (1) and the second brake actuator (2) can exchange dynamic related data of a vehicle by means of the third communication line (3), so as to perform operation with the minimum risk.

Description

应用于无人驾驶车辆的制动系统Braking system applied to unmanned vehicles 技术领域Technical field
本发明涉及制动系统，特别涉及应用于无人驾驶车辆的制动系统。The invention relates to a braking system, in particular to a braking system applied to an unmanned vehicle.
背景技术Background technique
制动系统是实现车辆安全的基础，因此制动系统中会设置多个备份机制，但是，当所有的安全机制都无法运作时，作为终极备份的驾驶员能够进行紧急制动，因此，所有传统车辆上需要驾驶员进行的操作在无人驾驶车辆上都应该由第二个完全冗余的系统接管。相比于航空业普遍使用的双冗余系统结构，车辆需要更具性价比的解决方案。The braking system is the basis for achieving vehicle safety. Therefore, there will be multiple backup mechanisms in the braking system. However, when all safety mechanisms fail to operate, the driver as the ultimate backup can perform emergency braking. Therefore, all traditional The operations on the vehicle that need to be performed by the driver should be taken over by the second fully redundant system on the unmanned vehicle. Compared with the dual redundant system structure commonly used in the aviation industry, vehicles need more cost-effective solutions.
现有技术中，CN108367744A公开的是一种制动系统，通过使用整车控制器控制制动电磁阀运作，以使所述制动电磁阀控制制动器制动汽车实现汽车的自动制动；另外，再通过所述整车控制器实现控制驻车电磁阀，以使驻车电磁阀控制驻车制动器实现汽车的驻车，双重作用下使汽车能够有效地准确地驻车。但是该种方案仅在用于故障判断的数据可靠时才有效，在许多故障情况下，被损坏的或错误的数据也有可能导致故障判断错误。而且，对于数据不足以确定故障的情况，该种技术方法并没有提供解决办法。In the prior art, CN108367744A discloses a brake system that uses a vehicle controller to control the operation of the brake solenoid valve, so that the brake solenoid valve controls the brake to brake the car to achieve automatic braking of the car; in addition, Then, the vehicle controller realizes the control of the parking solenoid valve, so that the parking solenoid valve controls the parking brake to realize the parking of the car, so that the car can be effectively and accurately parked under the dual action. However, this solution is only effective when the data used for fault judgment is reliable. In many fault situations, damaged or erroneous data may also cause fault judgment errors. Moreover, this technical method does not provide a solution to the situation where the data is insufficient to determine the fault.
US2015019101(A1)公开的是一种检测行车制动系统制动力矩不足时操作驻车制动器以降低故障损失的方法，但是该种方法涉及大量传感器信息，在发生故障的情况下，尤其是无人驾驶车辆没电时，难以确保安全。US2015019101 (A1) discloses a method for detecting the operation of the parking brake when the braking torque of the service brake system is insufficient to reduce the failure loss, but this method involves a large amount of sensor information, especially in the event of a failure. When driving a vehicle without electricity, it is difficult to ensure safety.
US2015266457(A1)公开的是一种在主制动系统发生故障的情况下提供制动能量的备份制动系统，但是该种方法涉及大量的零部件，导致额外的成本，而且仍然无法处理如断电或控制故障灯情况发生。US2015266457 (A1) discloses a backup braking system that provides braking energy in the event of a failure of the main braking system. However, this method involves a large number of parts and components, resulting in additional costs, and it is still unable to handle such failures. Electricity or control fault light situation occurs.
技术问题technical problem
本发明所要解决的技术问题是克服现有技术的不足，提供一种应用于无人驾驶车辆的制动系统。The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a braking system applied to an unmanned vehicle.
技术解决方案Technical solutions
为了解决上述技术问题，本发明采用如下技术方案来实现的：应用于无人驾驶车辆的制动系统，其特征在于，包括：整车控制器；通过第一通信线路与整车控制器连接的第一制动执行器，用于接收整车控制器发出的第一控制信号并实施制动；通过第二通信线路与整车控制器连接的第二制动执行器，用于接收整车控制器发出的第二控制信号并实施制动；第三通信线路，用于连接第一制动执行器和第二制动执行器。In order to solve the above technical problems, the present invention adopts the following technical solutions to achieve: a braking system applied to an unmanned vehicle, which is characterized in that it includes: a vehicle controller; The first brake actuator is used to receive the first control signal sent by the vehicle controller and apply braking; the second brake actuator connected to the vehicle controller through the second communication line is used to receive the vehicle control The second control signal sent by the actuator and brake; the third communication line is used to connect the first brake actuator and the second brake actuator.
所述第一制动执行器为电子制动助力器或电子稳定控制系统或电子制动助力器-电子稳定控制系统集成。The first brake actuator is an electronic brake booster or an electronic stability control system or an electronic brake booster-electronic stability control system integration.
所述第二制动执行器为电子稳定控制系统或电子驻车制动系统或电子稳定控制系统-电子驻车制动系统集成。The second brake actuator is an electronic stability control system or an electronic parking brake system or an electronic stability control system-electronic parking brake system integration.
所述第一制动执行器和第二制动执行器均为机电制动卡钳。The first brake actuator and the second brake actuator are both electromechanical brake calipers.
所述第一通信线路和第二通信线路使用总线通信。The first communication line and the second communication line communicate using a bus.
所述第一制动执行器连接有第一电源，所述第二制动执行器连接有第二电源。The first brake actuator is connected with a first power source, and the second brake actuator is connected with a second power source.
所述整车控制器与第一制动执行器共用第一电源。The vehicle controller and the first brake actuator share the first power source.
所述整车控制器与第二制动执行器共用第二电源。The vehicle controller and the second brake actuator share a second power source.
有益效果Beneficial effect
本发明的有益效果是：所述第一制动执行器或第二制动执行器因故障无法接收整车控制器制动请求的情况下，可以通过第三通信线路进行通信，而且，第一制动执行器和第二制动执行器能够通过第三通信线路进行交换车辆动态相关数据，以便执行风险最小化的操作。The beneficial effect of the present invention is that when the first brake actuator or the second brake actuator cannot receive the braking request of the vehicle controller due to a failure, the communication can be carried out through the third communication line, and the first brake actuator or the second brake actuator The brake actuator and the second brake actuator can exchange vehicle dynamics-related data through the third communication line in order to perform operations that minimize risks.
附图说明Description of the drawings
图1为实施例一的结构示意图；Figure 1 is a schematic diagram of the structure of the first embodiment;
图2为配备独立电源结构示意图一；Figure 2 is a schematic diagram of a structure equipped with an independent power supply;
图3为配备独立电源结构示意图二；Figure 3 is a schematic diagram of the second structure with an independent power supply;
图4为实施例二的结构示意图。Fig. 4 is a schematic diagram of the structure of the second embodiment.
本发明的实施方式Embodiments of the present invention
实施例一：如图1所示，应用于无人驾驶车辆的制动系统，包括整车控制器10；通过第一通信线路11与整车控制器10连接的第一制动执行器1，用于接收整车控制器发出的第一控制信号并实施制动；通过第二通信线路21与整车控制器10连接的第二制动执行器2，用于接收整车控制器发出的第二控制信号并实施制动；第三通信线路3，用于连接第一制动执行器1和第二制动执行器2。Embodiment 1: As shown in Fig. 1, a braking system applied to an unmanned vehicle includes a vehicle controller 10; a first brake actuator 1 connected to the vehicle controller 10 through a first communication line 11, Used to receive the first control signal sent by the vehicle controller and implement braking; the second brake actuator 2 connected to the vehicle controller 10 through the second communication line 21 is used to receive the first control signal sent by the vehicle controller Two control signals and implement braking; the third communication line 3 is used to connect the first brake actuator 1 and the second brake actuator 2.
正常情况下，所述第一制动执行器1通过第一通信线路11接收整车控制器10发出的制动命令和状态信息后，第一制动执行器1会对车辆的至少一个车轮产生制动扭矩；所述第二制动执行器2通过第二通信线路21接收整车控制器10发出的制动命令和状态信息后，第二制动执行器2会对车辆的至少一个车轮产生制动扭矩。Under normal circumstances, after the first brake actuator 1 receives the braking command and status information sent by the vehicle controller 10 through the first communication line 11, the first brake actuator 1 generates at least one wheel of the vehicle. Braking torque; after the second brake actuator 2 receives the braking command and status information sent by the vehicle controller 10 through the second communication line 21, the second brake actuator 2 generates at least one wheel of the vehicle Braking torque.
所述第一制动执行器1可以选用电子制动助力器或电子稳定控制系统或电子制动助力器-电子稳定控制系统集成，第一制动执行器1会对车辆的四个车轮4a，4b，4c，4d产生制动扭矩。The first brake actuator 1 can be an electronic brake booster or an electronic stability control system or an electronic brake booster-electronic stability control system integration. The first brake actuator 1 will target the four wheels 4a of the vehicle, 4b, 4c, 4d generate braking torque.
所述第二制动执行器2可以选用电子稳定控制系统或电子驻车制动系统或电子稳定控制系统-电子驻车制动系统集成，第二制动执行器2会对车辆的后轮4c，4d产生制动扭矩。The second brake actuator 2 can be selected as an electronic stability control system or an electronic parking brake system or an electronic stability control system-electronic parking brake system integration, and the second brake actuator 2 will act on the rear wheels 4c of the vehicle. , 4d produces braking torque.
除此之外，所述第一制动执行器和第二制动执行器可以均为机电制动卡钳。In addition, the first brake actuator and the second brake actuator may both be electromechanical brake calipers.
如果第一通信线路11中断但是第一制动执行器1正常，第一制动执行器1能够通过第三通信线路3接收整车控制器10的制动命令进行制动，如果第一制动执行器1出现故障，第二制动执行器2将接管进行制动；如果第二通信线路21中断但是第二制动执行器2正常时，第二制动执行器2能够通过第三通信线路3接收整车控制器10的制动命令进行制动，如果第二制动执行器2出现故障，第一制动执行器1将接管进行制动，而且第一制动执行器1和第二制动执行器2可以通过第三通信线路3交换车辆动态相关数据，以便安全地执行风险最小化的操作。如果是整车控制器10发生故障，第一制动执行器1和第二制动执行器2会进行自动制动。If the first communication line 11 is interrupted but the first brake actuator 1 is normal, the first brake actuator 1 can receive the braking command from the vehicle controller 10 through the third communication line 3 to perform braking. If the actuator 1 fails, the second brake actuator 2 will take over for braking; if the second communication line 21 is interrupted but the second brake actuator 2 is normal, the second brake actuator 2 can pass through the third communication line 3 Receive the brake command from the vehicle controller 10 to perform braking. If the second brake actuator 2 fails, the first brake actuator 1 will take over for braking, and the first brake actuator 1 and the second brake actuator 1 The brake actuator 2 can exchange vehicle dynamics-related data through the third communication line 3 in order to safely perform operations that minimize risks. If the vehicle controller 10 fails, the first brake actuator 1 and the second brake actuator 2 will automatically brake.
在本实施例中，如图2和图3所示，所述第一制动执行器1连接有第一电源5a，所述第二制动执行器2连接有第二电源5b，所述整车控制器10可以与第一制动执行器1共用第一电源5a，也可以与第二制动执行器2共用第二电源5b，这样能够确保其中一个电源无法为其对应的制动执行器供能的情况下，另一个制动执行器因配备独立电源而不受影响，从而实现制动系统的电源冗余。In this embodiment, as shown in Figures 2 and 3, the first brake actuator 1 is connected to a first power source 5a, and the second brake actuator 2 is connected to a second power source 5b. The vehicle controller 10 can share the first power supply 5a with the first brake actuator 1, or the second power supply 5b with the second brake actuator 2, so as to ensure that one of the power supplies cannot be the corresponding brake actuator In the case of energy supply, the other brake actuator is not affected because it is equipped with an independent power supply, so as to realize the power redundancy of the brake system.
实施例二：如图4所示，将上述实施例1中的第一通信线路11和第二通信线路21使用总线31通信，例如CAN、以太网等，第一制动执行器1和第二制动执行器2可以通过第三通信线路3交换车辆动态相关数据，如果第一制动执行器1出现故障，第二制动执行器2将接管进行制动；如果第二制动执行器2出现故障，第一制动执行器1将接管进行制动，如果总线31中断，第一制动执行器1和第二制动执行器2会进行自动制动。Embodiment 2: As shown in Fig. 4, the first communication line 11 and the second communication line 21 in the above-mentioned embodiment 1 are communicated using a bus 31, such as CAN, Ethernet, etc., the first brake actuator 1 and the second The brake actuator 2 can exchange vehicle dynamics related data through the third communication line 3. If the first brake actuator 1 fails, the second brake actuator 2 will take over for braking; if the second brake actuator 2 In the event of a failure, the first brake actuator 1 will take over for braking. If the bus 31 is interrupted, the first brake actuator 1 and the second brake actuator 2 will automatically brake.

Claims (8)

  1. 应用于无人驾驶车辆的制动系统，其特征在于，包括：The braking system applied to unmanned vehicles is characterized in that it includes:
    整车控制器；Vehicle controller;
    通过第一通信线路与整车控制器连接的第一制动执行器，用于接收整车控制器发出的第一控制信号并实施制动；The first brake actuator connected to the vehicle controller through the first communication line is used to receive the first control signal sent by the vehicle controller and implement braking;
    通过第二通信线路与整车控制器连接的第二制动执行器，用于接收整车控制器发出的第二控制信号并实施制动；The second brake actuator connected to the vehicle controller through the second communication line is used to receive the second control signal sent by the vehicle controller and implement braking;
    第三通信线路，用于连接第一制动执行器和第二制动执行器。The third communication line is used to connect the first brake actuator and the second brake actuator.
  2. 根据权利要求1所述的应用于无人驾驶车辆的制动系统，其特征在于，所述第一制动执行器为电子制动助力器或电子稳定控制系统或电子制动助力器-电子稳定控制系统集成。The braking system applied to an unmanned vehicle according to claim 1, wherein the first brake actuator is an electronic brake booster or an electronic stability control system or an electronic brake booster-electronic stability Control system integration.
  3. 根据权利要求1所述的应用于无人驾驶车辆的制动系统，其特征在于，所述第二制动执行器为电子稳定控制系统或电子驻车制动系统或电子稳定控制系统-电子驻车制动系统集成。The braking system applied to an unmanned vehicle according to claim 1, wherein the second brake actuator is an electronic stability control system or an electronic parking brake system or an electronic stability control system-electronic parking Vehicle brake system integration.
  4. 根据权利要求1所述的应用于无人驾驶车辆的制动系统，其特征在于，所述第一制动执行器和第二制动执行器均为机电制动卡钳。The braking system applied to an unmanned vehicle according to claim 1, wherein the first brake actuator and the second brake actuator are both electromechanical brake calipers.
  5. 根据权利要求1所述的应用于无人驾驶车辆的制动系统，其特征在于，所述第一通信线路和第二通信线路使用总线通信。The braking system applied to an unmanned vehicle according to claim 1, wherein the first communication line and the second communication line communicate via a bus.
  6. 根据权利要求1所述的应用于无人驾驶车辆的制动系统，其特征在于，所述第一制动执行器连接有第一电源，所述第二制动执行器连接有第二电源。The braking system applied to an unmanned vehicle according to claim 1, wherein the first brake actuator is connected to a first power source, and the second brake actuator is connected to a second power source.
  7. 根据权利要求6所述的应用于无人驾驶车辆的制动系统，其特征在于，所述整车控制器与第一制动执行器共用第一电源。The braking system applied to an unmanned vehicle according to claim 6, wherein the vehicle controller and the first brake actuator share a first power source.
  8. 根据权利要求6所述的应用于无人驾驶车辆的制动系统，其特征在于，所述整车控制器与第二制动执行器共用第二电源。The braking system applied to an unmanned vehicle according to claim 6, wherein the vehicle controller and the second brake actuator share a second power source.
PCT/CN2020/129589 2020-06-12 2020-11-18 Braking system applied to autonomous vehicle WO2021248824A1 (en)

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