WO2021253367A1 - 制动系统和车辆 - Google Patents

制动系统和车辆 Download PDF

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Publication number
WO2021253367A1
WO2021253367A1 PCT/CN2020/096966 CN2020096966W WO2021253367A1 WO 2021253367 A1 WO2021253367 A1 WO 2021253367A1 CN 2020096966 W CN2020096966 W CN 2020096966W WO 2021253367 A1 WO2021253367 A1 WO 2021253367A1
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Prior art keywords
brake
pipe joint
vehicle
subunit
braking
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PCT/CN2020/096966
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English (en)
French (fr)
Inventor
卢刚
陶佳宇
黄致富
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舍弗勒技术股份两合公司
卢刚
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Application filed by 舍弗勒技术股份两合公司, 卢刚 filed Critical 舍弗勒技术股份两合公司
Priority to PCT/CN2020/096966 priority Critical patent/WO2021253367A1/zh
Priority to CN202080100560.8A priority patent/CN115551752A/zh
Publication of WO2021253367A1 publication Critical patent/WO2021253367A1/zh

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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
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/02—Arrangements of pumps or compressors, or control devices therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system

Definitions

  • the present invention relates to the field of vehicles, and particularly to a braking system of a vehicle and a vehicle.
  • EHB electronic hydraulic braking system
  • Figure 1 shows a schematic diagram of an electronic hydraulic brake system.
  • the electronic brake pedal 1 is connected to the brake stroke sensor 2.
  • the measurement signal of the brake stroke sensor 2 is used to transmit to the control unit 5 (also known as the electronic control unit of EHB), and the control unit 5 controls the pump 4 to pump hydraulic oil, Furthermore, the brakes B1, B2, B3, and B4 of the four wheels of the vehicle are collectively controlled.
  • the backup valve 3 will be fully opened, and the electronic brake pedal 1 will participate in braking in a traditional hydraulic control mode.
  • the purpose of the present invention is to overcome or at least alleviate the above-mentioned shortcomings of the prior art, and provide a brake system with a simple structure and good braking effect and a vehicle including the brake system.
  • a braking system for braking a vehicle which includes a plurality of braking subunits, one of the braking subunits is used for braking one wheel, and the braking system Mobility unit includes:
  • the controller is used to output the signal to control the pumping of the brake fluid
  • the pump unit is used to pump the brake fluid according to the signal sent by the controller,
  • the brake pipeline is used to circulate the brake fluid and is used to connect to a brake that applies braking to the wheel.
  • the brake subunit further includes a pressure sensor for measuring the pressure of the brake fluid in the brake system, and the measured value of the pressure is used for the control
  • the device provides the basis for feedback control.
  • the brake subunit is a modular hydraulic actuator.
  • a vehicle which includes a brake pedal, an ECU of the entire vehicle, a brake, and wheels, wherein:
  • the vehicle further includes a brake system according to the present invention, and the number of the brake subunits of the brake system is the same as the number of the wheels,
  • the brake pedal can generate electrical signals when braking
  • the ECU receives and processes the electric signal, and communicates with the controller of each brake subunit of the brake system based on the processing result.
  • the vehicle further includes connecting base blocks, the number of which is the same as the number of brake subunits, and each of the connecting base blocks connects one brake subunit To the frame of the vehicle.
  • an inner passage is formed in the connecting base block, and the brake pipeline of the brake subunit and the brake fluid circulation pipeline of the brake are connected to each other via the inner passage.
  • the brake pipeline of the brake subunit includes a first brake pipe joint
  • the brake fluid circulation pipeline of the brake includes a second brake pipe joint.
  • the first brake pipe joint and the second brake pipe joint respectively extend into the inner passage from both ends of the inner passage.
  • the outer circumference of the second brake pipe joint is sleeved with a threaded sleeve with an external thread, and the inner peripheral wall of the inner channel is partially formed with an internal thread,
  • the second brake pipe joint is fixed to the connecting base block.
  • the second brake pipe joint passes through the screw sleeve and is formed with a protruding end having an outer diameter larger than the inner diameter of the screw sleeve,
  • the inner passage includes a cavity at least partially accommodating the second brake pipe joint, the inner wall of the cavity at the deepest part forms a tapered surface, and the protruding end is pressed by the screw sleeve to abut against The tapered surface.
  • the braking system according to the present invention has simple structure, reasonable layout and good braking effect.
  • the vehicle according to the present invention has the same advantages.
  • Figure 1 is a schematic diagram of a possible electronic hydraulic brake system.
  • Fig. 2 is a schematic diagram of the arrangement of a braking system on a vehicle according to an embodiment of the present invention.
  • Fig. 3 is a schematic structural diagram corresponding to Fig. 2.
  • Fig. 4 is a schematic diagram of an installation manner of a brake subunit of a brake system according to an embodiment of the present invention.
  • Fig. 5 is a schematic diagram of the structure corresponding to Fig. 4.
  • Fig. 6 is a schematic configuration diagram of a brake subunit of a brake system according to an embodiment of the present invention.
  • Fig. 7 is a schematic diagram of the connection between the brake subunit and the connecting base block of the brake system according to an embodiment of the present invention.
  • Fig. 8 is a partially enlarged schematic diagram of Fig. 7.
  • Fig. 9 is a schematic diagram of a cross-section of an inner channel of a connecting base block according to an embodiment of the present invention.
  • Ba second brake pipe joint H protruding end; H0 sealing surface; Bt screw sleeve.
  • the braking system according to the present invention includes four braking subunits 10, and each braking subunit 10 is used to control the braking of one wheel W.
  • the brake subunit 10 is installed on the frame F and close to the wheel W controlled by the brake subunit 10.
  • FIGS. 4 and 5 show schematic diagrams of the connection relationship between a single brake subunit 10 and a brake B mounted on a wheel W.
  • the brake subunit 10 is installed to the frame F (refer to FIGS. 2 and 3 at the same time) through a connection base block 20 (described further below).
  • the brake subunit 10 can control the pressure of the brake fluid flowing to the brake B, and the brake B in turn generates or stops braking according to changes in the brake fluid pressure.
  • the structure of the brake subunit 10 is further described with reference to FIG. 6.
  • the brake subunit 10 includes a controller 11, a pump unit 12, a brake pipeline 13 and a pressure sensor 14.
  • the controller 11 is used to communicate with the ECU (Electronic Control Unit) of the entire vehicle, and the two communicate using, for example, the CAN (Controller Area Network) communication protocol.
  • ECU Electronic Control Unit
  • CAN Controller Area Network
  • the controller 11 further outputs a signal for controlling the pumping of the brake fluid to control the action of the pump unit 12.
  • the pump unit 12 includes a motor 121 and an actuator 122.
  • the execution device 122 is in liquid communication with the liquid storage device 30.
  • the motor 121 is used as a driving device to drive the actuator 122 to further pump the brake fluid in the liquid storage device 30 downstream, or to make the downstream brake fluid flow back to the liquid storage device 30. It should be understood that the liquid storage device 30 may also be used as a part of the pump unit 12.
  • the brake pipeline 13 connects the pump unit 12 and the downstream brake B, and provides a flow path for the brake fluid.
  • the brake line 13 is also connected to a pressure sensor 14.
  • the pressure sensor 14 is used to measure the pressure of the brake fluid in the brake pipe 13, and the pressure measurement value is used to provide a feedback control basis for the controller 11.
  • the brake subunit 10 is a modular hydraulic actuator (also called HCA).
  • HCA is usually used to control the action of the clutch, which has the advantages of precise pressure control, small size and small driving force.
  • HCA is used for braking control, so that the entire braking subunit 10 is responsive, precise in control, simple in structure, and highly integrated.
  • a connecting base block 20 is provided.
  • the brake subunit 10 is fixed to the connecting base block 20, and the connecting base block 20 is fixed to the frame F (also refer to FIG. 3).
  • the connecting base block 20 is a metal block.
  • a penetrating inner channel 21 is formed inside the connecting base block 20.
  • the brake pipe 13 of the brake subunit 10 includes a first brake pipe joint 13a at the end, and the brake pipe for the brake fluid of the brake B includes a second brake pipe joint Ba.
  • the pipe joint 13a and the second brake pipe joint Ba respectively extend from both ends of the inner passage 21 into the inner passage 21, so that the brake pipe 13 of the brake subunit 10 and the brake pipe of the brake B are well connected Together.
  • the inner passage 21 includes a first cavity 211 for accommodating the first brake pipe joint 13a and a second cavity 212 for accommodating the second brake pipe joint Ba.
  • the first cavity 211 and the second cavity 212 are connected to each other through the constriction 213, and the inner diameter of the constriction 213 is smaller than the inner diameter of the first cavity 211 and the second cavity 212.
  • the inner wall of the bottom of the second cavity 212 connected to the constricted portion 213 is tapered to form a tapered surface 212c.
  • the more to the opening of the second cavity 212 that is, the farther away from the constricted portion 213), the larger the inner diameter of the tapered surface 212c ( That is, the further to the first cavity 211, the smaller the inner diameter of the tapered surface 212c).
  • the tapered surface 212c is used for a good fit with the protruding end H of the second brake pipe joint Ba described below.
  • the inner peripheral wall of the second cavity 212 has internal threads to form a threaded portion 212t, and the threaded portion 212t is used to cooperate with the external thread of the threaded sleeve Bt described below.
  • the openings of the first cavity 211 and the second cavity 212 are chamfered, which means that the more the first cavity 211/the second cavity 212 goes to the outside, the larger the inner diameter of the first cavity 211/the second cavity 212 is .
  • the opening of the first cavity 211 faces upward, and the opening of the second cavity 212 faces downward.
  • the outer circumference of the first brake pipe joint 13a is sleeved with a sealing ring Sr.
  • the sealing ring Sr is connected to the first brake pipe joint 13a and the first brake pipe joint 13a.
  • the cavities 211 have an interference fit.
  • a threaded sleeve Bt is sleeved on the outer periphery of the second brake pipe joint Ba, and the threaded sleeve Bt has an external thread screwed with the threaded portion 212t.
  • the end of the second brake pipe joint Ba can be shaped (the second brake pipe joint Ba is made of steel, for example, and the end can be deformed by extrusion.
  • the shape of the second brake pipe joint Ba is changed to form a protruding end H with an outer diameter larger than the inner diameter of the threaded sleeve Bt.
  • the protruding end H has a sealing surface H0 that abuts on the tapered surface 212c of the second cavity 212, the sealing surface H0 is partially inscribed with the tapered surface 212c, and the further to the first cavity 211, the smaller the outer diameter of the sealing surface H0 . Therefore, the sealing surface H0 can be closely attached to the tapered surface 212c to prevent the brake fluid from leaking.
  • the threaded sleeve Bt and the second brake pipe joint Ba are fixed to the connecting base block 20.
  • the protruding end H exposed to the threaded sleeve Bt is applied with an axial force by the threaded sleeve Bt to tightly abut the tapered surface 212c.
  • the second brake pipe joint Ba is in clearance fit with the inner peripheral wall of the threaded sleeve Bt.
  • the brake system according to the present invention has a simple structure, the braking force of each brake subunit 10 can be independently and accurately controlled, and the brake pipelines of each brake subunit 10 are independent of each other, so that the brake system High redundancy and high reliability.
  • the brake system according to the present invention is compactly arranged and occupies a small space.
  • the brake subunit 10 composed of HCA is small in size, consumes less energy, and is sensitive and quick in response.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)
  • Regulating Braking Force (AREA)

Abstract

一种制动系统，用于对车辆进行制动，其包括若干制动子单元(10)，一个制动子单元(10)用于对一个车轮(W)进行制动，制动子单元(10)包括：控制器(11)，用于输出控制制动液泵送的信号，泵单元(12)，用于根据控制器(11)发出的信号泵送制动液，制动管路(13)，用于供制动液流通，且用于连接到对车轮(W)实施制动的制动器(B)。还提供了一种车辆。

Description

制动系统和车辆 技术领域
本发明涉及车辆领域，且特别地涉及车辆的制动系统和车辆。
背景技术
随着技术的发展，车辆的制动在传统的液压制动系统的基础上，发展出电子液压制动系统(EHB)。在该系统中，操纵机构用一个电子式制动踏板替代了传统的液压制动踏板，取消了体积庞大的真空助力器。
图1示出了一种电子液压制动系统的示意性简图。电子制动踏板1与制动行程传感器2相连，制动行程传感器2的测量信号用于传递给控制单元5(也称为EHB的电控单元)，控制单元5控制泵4泵送液压油，进而统一控制车辆的四个车轮的制动器B1、B2、B3、B4。在制动系统的电控制失灵的情况下，备用阀3会完全打开，电子制动踏板1以传统的液压控制方式参与制动。
然而，电子液压制动系统的电子元器件和机械部件的结构复杂，成本较高。
发明内容
本发明的目的在于克服或至少减轻上述现有技术存在的不足，提供一种结构简单且制动效果好的制动系统以及包括该制动系统的车辆。
根据本发明的第一方面，提供一种制动系统，用于对车辆进行制动，其包括若干制动子单元，一个所述制动子单元用于对一个车轮进行制动，所述制动子单元包括：
控制器，用于输出控制制动液泵送的信号，
泵单元，用于根据所述控制器发出的所述信号泵送所述制动液，
制动管路，用于供所述制动液流通，且用于连接到对所述车轮实施制动的制动器。
在至少一个实施方式中，所述制动子单元还包括压力传感器，所述压力传感器用于测量所述制动系统内的制动液的压力，所述压力的测量值用于给所述控制器提供反馈控制依据。
在至少一个实施方式中，所述制动子单元有4个，4个所述制动子单元的制动液彼此隔离。
在至少一个实施方式中，所述制动子单元为模块化的液压式执行器。
根据本发明的第二方面，提供一种车辆，其包括制动踏板、整车的ECU、制动器和车轮，其中，
所述车辆还包括根据本发明的制动系统，所述制动系统的所述制动子单元的数量与所述车轮的数量相同，
所述制动踏板能在制动时产生电信号，
所述ECU接收并处理所述电信号，并基于处理结果与所述制动系统的每个所述制动子单元的所述控制器通信。
在至少一个实施方式中，所述车辆还包括连接基块，所述连接基块的数量与所述制动子单元的数量相同，每个所述连接基块将一个所述制动子单元连接到所述车辆的车架。
在至少一个实施方式中，所述连接基块内形成有内通道，所述制动子单元的所述制动管路和所述制动器的制动液流通管路经由所述内通道彼此连接。
在至少一个实施方式中，所述制动子单元的所述制动管路包括第一制动管接头，所述制动器的所述制动液流通管路包括第二制动管接头，所述第一制动管接头和所述第二制动管接头分别从所述内通道的两端伸入所述内通 道。
在至少一个实施方式中，所述第二制动管接头的外周套设有具有外螺纹的螺套，所述内通道的内周壁部分地形成有内螺纹，
通过所述外螺纹与所述内螺纹的螺合，所述第二制动管接头被固定于所述连接基块。
在至少一个实施方式中，所述第二制动管接头穿过所述螺套并形成有外径大于所述螺套的内径的凸出端，
所述内通道包括至少部分地容纳所述第二制动管接头的腔体，所述腔体的最深处的内壁形成锥面，所述凸出端被所述螺套抵压而贴靠到所述锥面。
根据本发明的制动系统结构简单、布置合理、制动效果好。根据本发明的车辆具有同样的优点。
附图说明
图1是一种可能的电子液压制动系统的示意性简图。
图2是根据本发明的一个实施方式的制动系统在车辆上的布置方式的示意性简图。
图3是图2所对应的结构简图。
图4是根据本发明的一个实施方式的制动系统的制动子单元的安装方式的示意性简图。
图5是图4所对应的结构简图。
图6是根据本发明的一个实施方式的制动系统的制动子单元的构成简图。
图7是根据本发明的一个实施方式的制动系统的制动子单元与连接基块的连接示意图。
图8是图7的局部放大的示意图。
图9是根据本发明的一个实施方式的连接基块的内通道的剖面的示意图。
附图标记说明：
1电子制动踏板；2制动行程传感器；3备用阀；4泵；5控制单元；
10制动子单元；11控制器；12泵单元；121电机；122执行装置；
13制动管路；13a第一制动管接头；14压力传感器；
20连接基块；21内通道；211第一腔；212第二腔；212c锥面；212t螺纹部；213收缩部；
30储液装置；F车架；W车轮；B制动器；
Ba第二制动管接头；H凸出端；H0密封面；Bt螺套。
具体实施方式
下面参照附图描述本发明的示例性实施方式。应当理解，这些具体的说明仅用于示教本领域技术人员如何实施本发明，而不用于穷举本发明的所有可行的方式，也不用于限制本发明的范围。
参照图2至图9，以具有4个轮子的机动车辆为例，介绍根据本发明的制动系统和包括该制动系统的车辆。
参照图2和图3，根据本发明的制动系统包括4个制动子单元10，每个制动子单元10用于控制一个车轮W的制动。优选地，制动子单元10安装在车架F上并靠近该制动子单元10所控制的车轮W。
图4和图5示出了单个制动子单元10与安装于车轮W的制动器B的连接关系的示意图。制动子单元10通过连接基块20(下文进一步介绍)安装到车架F(同时参照图2和图3)。制动子单元10能控制流通至制动器B的制动液的压力，制动器B进而根据制动液压力的变化而产生或停止制动。
参照图6进一步介绍制动子单元10的构成方式。制动子单元10包括控制器11、泵单元12、制动管路13和压力传感器14。
控制器11用于与整车的ECU(电子控制单元)进行通信，二者例如使用CAN(控制器局域网络)通信协议进行通信。在驾驶员踩放制动踏板的过程中，将产生制动信号，制动信号经整车的ECU处理后，传递至控制器11。控制器11进一步输出用于控制制动液泵送的信号，以控制泵单元12的动作。
泵单元12包括电机121和执行装置122。执行装置122与储液装置30液体连通。电机121作为驱动装置，用于驱动执行装置122将储液装置30内的制动液进一步向下游泵送，或是使下游的制动液向储液装置30回流。应当理解，储液装置30也可以作为泵单元12的一部分。
制动管路13连接泵单元12和下游的制动器B，为制动液提供流通路径。
制动管路13还与压力传感器14相连。压力传感器14用于测量制动管路13内的制动液的压力，该压力测量值用于为控制器11提供反馈控制依据。
优选地，制动子单元10为模块化的液压式执行器(也称HCA)。HCA通常被用于控制离合器的动作，其具有压力控制精准、体积小和驱动力小的优点。本发明将HCA用于制动控制，使得整个制动子单元10反应灵敏、控制精准、结构简单、集成度高。
参照图7和图8，为方便制动子单元10的安装，设置连接基块20。制动子单元10固定于连接基块20，连接基块20固定于车架F(同时参照图3)。优选地，连接基块20为金属块。
连接基块20的内部形成贯通的内通道21。制动子单元10的制动管路13包括位于端部的第一制动管接头13a，制动器B的供制动液流通的制动管路包括第二制动管接头Ba，第一制动管接头13a和第二制动管接头Ba分别从内通道21的两端伸入到内通道21中，使得制动子单元10的制动管路13和制动器B的 制动管路良好地连接在一起。
参照图9，内通道21包括用于容纳第一制动管接头13a的第一腔211和用于容纳第二制动管接头Ba的第二腔212。第一腔211和第二腔212通过收缩部213彼此导通，收缩部213的内径小于第一腔211和第二腔212的内径。
第二腔212的与收缩部213相连的底部的内壁呈锥形而形成锥面212c，越往第二腔212的开口去(即，越远离收缩部213)、锥面212c的内径越大(即越往第一腔211去、锥面212c的内径越小)。锥面212c用于与下文介绍的第二制动管接头Ba的凸出端H良好贴合。
第二腔212的内周壁具有内螺纹而形成螺纹部212t，螺纹部212t用于与下文介绍的螺套Bt的外螺纹相配合。
优选地，第一腔211和第二腔212的开口处均形成倒角，表现为越往第一腔211/第二腔212的外部去，第一腔211/第二腔212的内径越大。
优选地，第一腔211的开口朝上，第二腔212的开口朝下。
回到图8，第一制动管接头13a的外周套设有密封圈Sr，当第一制动管接头13a插入第一腔211后，密封圈Sr与第一制动管接头13a和第一腔211均过盈配合。
第二制动管接头Ba的外周套设有螺套Bt，螺套Bt具有与螺纹部212t相螺合的外螺纹。第二制动管接头Ba穿过螺套Bt后，可以对第二制动管接头Ba的端部定型(第二制动管接头Ba例如为钢制，通过例如挤压变型的方式使其端部改变形状)，使第二制动管接头Ba的端部形成外径大于螺套Bt的内径的凸出端H。
凸出端H具有贴靠到第二腔212的锥面212c的密封面H0，密封面H0部分地与锥面212c内切，且越往第一腔211去，密封面H0的外径越小。从而密封面H0能与锥面212c紧密贴合，防止制动液泄漏。
通过将螺套Bt旋入第二腔212，螺套Bt及第二制动管接头Ba被固定于连接基块20。并且，露出于螺套Bt的凸出端H被螺套Bt施加轴向力而紧密地贴靠到锥面212c。
优选地，第二制动管接头Ba与螺套Bt的内周壁间隙配合。
应当理解，用于控制不同车轮W的不同制动子单元10的制动管路彼此不相通。
下面简单说明本发明的上述实施方式的部分有益效果。
(i)根据本发明的制动系统结构简单，各制动子单元10的制动力能被独立且精准地控制，且各制动子单元10的制动管路彼此独立，使得制动系统的冗余度高、可靠性高。
(ii)根据本发明的制动系统布置紧凑，占用空间小。
(iii)由HCA构成的制动子单元10体积小、耗能少且反应灵敏、响应快。
应当理解，上述实施方式仅是示例性的，不用于限制本发明。本领域技术人员可以在本发明的教导下对上述实施方式做出各种变型和改变，而不脱离本发明的范围。

Claims (10)

  1. 一种制动系统，用于对车辆进行制动，其包括若干制动子单元(10)，一个所述制动子单元(10)用于对一个车轮(W)进行制动，所述制动子单元(10)包括：
    控制器(11)，用于输出控制制动液泵送的信号，
    泵单元(12)，用于根据所述控制器(11)发出的所述信号泵送所述制动液，
    制动管路(13)，用于供所述制动液流通，且用于连接到对所述车轮(W)实施制动的制动器(B)。
  2. 根据权利要求1所述的制动系统，其特征在于，所述制动子单元(10)还包括压力传感器(14)，所述压力传感器(14)用于测量所述制动系统内的制动液的压力，所述压力的测量值用于给所述控制器(11)提供反馈控制依据。
  3. 根据权利要求1所述的制动系统，其特征在于，所述制动子单元(10)有4个，4个所述制动子单元(10)的制动液彼此隔离。
  4. 根据权利要求1至3中任一项所述的制动系统，其特征在于，所述制动子单元(10)为模块化的液压式执行器。
  5. 一种车辆，其包括制动踏板、整车的ECU、制动器(B)和车轮(W)，其特征在于，
    所述车辆还包括根据权利要求1至4中任一项所述的制动系统，所述制动系统的所述制动子单元(10)的数量与所述车轮(W)的数量相同，
    所述制动踏板能在制动时产生电信号，
    所述ECU接收并处理所述电信号，并基于处理结果与所述制动系统的每个所述制动子单元(10)的所述控制器(11)通信。
  6. 根据权利要求5所述的车辆，其特征在于，所述车辆还包括连接基块 (20)，所述连接基块(20)的数量与所述制动子单元(10)的数量相同，每个所述连接基块(20)将一个所述制动子单元(10)连接到所述车辆的车架(F)。
  7. 根据权利要求6所述的车辆，其特征在于，所述连接基块(20)内形成有内通道(21)，所述制动子单元(10)的所述制动管路(13)和所述制动器(B)的制动液流通管路经由所述内通道(21)彼此连接。
  8. 根据权利要求7所述的车辆，其特征在于，所述制动子单元(10)的所述制动管路(13)包括第一制动管接头(13a)，所述制动器(B)的所述制动液流通管路包括第二制动管接头(Ba)，所述第一制动管接头(13a)和所述第二制动管接头(Ba)分别从所述内通道(21)的两端伸入所述内通道(21)。
  9. 根据权利要求8所述的车辆，其特征在于，所述第二制动管接头(Ba)的外周套设有具有外螺纹的螺套(Bt)，所述内通道(21)的内周壁部分地形成有内螺纹，
    通过所述外螺纹与所述内螺纹的螺合，所述第二制动管接头(Ba)被固定于所述连接基块(20)。
  10. 根据权利要求9所述的车辆，其特征在于，所述第二制动管接头(Ba)穿过所述螺套(Bt)并形成有外径大于所述螺套(Bt)的内径的凸出端(H)，
    所述内通道(21)包括至少部分地容纳所述第二制动管接头(Ba)的腔体，所述腔体的最深处的内壁形成锥面(212c)，所述凸出端(H)被所述螺套(Bt)抵压而贴靠到所述锥面(212c)。
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CN101941430A (zh) * 2010-07-05 2011-01-12 清华大学 一种四轮驱动电动车辆的液压制动系统
CN105916747A (zh) * 2014-01-15 2016-08-31 大陆-特韦斯贸易合伙股份公司及两合公司 制动控制装置以及用于车辆的制动系统
CN107310371A (zh) * 2017-06-13 2017-11-03 南京理工大学 一种独立轮边驱动的液驱混合动力系统
CN109094650A (zh) * 2018-07-09 2018-12-28 北京理工大学 一种可独立拼接的无人车底盘模块

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Publication number Priority date Publication date Assignee Title
CN101941430A (zh) * 2010-07-05 2011-01-12 清华大学 一种四轮驱动电动车辆的液压制动系统
CN105916747A (zh) * 2014-01-15 2016-08-31 大陆-特韦斯贸易合伙股份公司及两合公司 制动控制装置以及用于车辆的制动系统
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