WO2022152299A1 - 一种用于汽车的制动系统、制动装置及制动方法 - Google Patents

一种用于汽车的制动系统、制动装置及制动方法 Download PDF

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Publication number
WO2022152299A1
WO2022152299A1 PCT/CN2022/072335 CN2022072335W WO2022152299A1 WO 2022152299 A1 WO2022152299 A1 WO 2022152299A1 CN 2022072335 W CN2022072335 W CN 2022072335W WO 2022152299 A1 WO2022152299 A1 WO 2022152299A1
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Prior art keywords
vehicle
braking
electromagnet
push rod
electric push
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PCT/CN2022/072335
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English (en)
French (fr)
Inventor
史亮
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北京九曜智能科技有限公司
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Publication of WO2022152299A1 publication Critical patent/WO2022152299A1/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
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/06—Disposition of pedal
    • 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
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger

Definitions

  • the present disclosure relates to a braking device, and more particularly, to a braking system, braking device and braking method for automobiles.
  • Self-piloting vehicles also known as driverless vehicles, computer-driven vehicles, or wheeled mobile robots
  • Driverless vehicles also known as driverless vehicles
  • computer-driven vehicles or wheeled mobile robots
  • Google's self-driving car obtained the first self-driving vehicle license in the United States in May 2012, and is expected to be in 2015. To enter the market in 2017.
  • Self-driving cars rely on artificial intelligence, visual computing, radar, surveillance devices, and global positioning systems to work together to allow computers to operate motor vehicles autonomously and safely without any human intervention.
  • Braking also known as braking, refers to the action of stopping or reducing the speed of running locomotives, vehicles and other means of transport or machinery.
  • the general principle of braking is to fix a wheel or disc on the high-speed shaft of the machine, and install a suitable brake shoe, belt or disc on the machine base to generate braking torque under the action of external force.
  • the brake device is also a mechanical braking device that can slow down the speed of the vehicle, also known as a reducer. To put it simply: the brake pedal of the car is under the steering wheel. If you press the brake pedal, the brake lever will be pressurized and the brake pads transmitted to the brake drum will jam the brake disc, causing the car to slow down or stop running.
  • the manual brake of the car is next to the gear, connected to the brake lever.
  • bicycle brakes which rely on rod brakes or disc-mounted holding brakes that are fixed on the frame to slow down. Brakes are an indispensable hardware structure for self-driving cars.
  • At least one embodiment of the present disclosure provides a braking system for an automobile, including a control device, an actuator device, and a vehicle braking device connected in sequence, wherein the control device is configured to provide control to the actuator device in response to the automobile being in an energized state signal; the actuator is configured to: control the vehicle braking device in response to the control signal, and control the vehicle braking device to realize vehicle braking in response to the vehicle being in a power-off state; the vehicle braking device is configured to operate under the control of the actuator device Apply car braking.
  • the actuator includes a fixed base plate and a drive lever arranged oppositely, the first side of the drive lever is fixedly connected to the first side of the fixed base plate through a drive spring, and the drive lever is connected to the first side of the fixed base plate.
  • the first side is connected with the vehicle braking device through the transmission device, the second side of the driving lever is provided with an electromagnet, and the second side of the fixed base plate is provided with an electric push rod facing the electromagnet.
  • the fixed base plate is installed in the body of the automobile, and the fulcrum in the middle of the driving lever is fixedly installed on the body of the automobile.
  • the vehicle braking device includes a pedal mounting frame, a brake pedal, and a vehicle brake pedal, and the first end of the brake pedal is fixedly connected to the vehicle brake pedal, The second end of the brake pedal is mounted on the pedal mount.
  • connection point is provided in the middle of the brake pedal, and the transmission device is fixedly connected to the connection point.
  • the transmission device includes a transmission cable.
  • the on-off of the electromagnet and the electric push rod is controlled by the control signal provided by the control device; in response to receiving the control signal, the electromagnet and the electric push rod are energized ; In response to no control signal being received, the electromagnet and electric actuator are de-energized.
  • the moving distance of the transmission device is controlled by the telescopic distance of the electric push rod.
  • the movement distance of the transmission device is positively correlated with the telescopic distance of the electric push rod.
  • the automobile includes an autonomous driving automobile.
  • At least one embodiment of the present disclosure provides a braking device for an automobile, comprising a fixed base plate and a drive lever arranged oppositely, wherein a first side of the drive lever is fixedly connected with the first side of the fixed base plate through a drive spring, and a first side of the drive lever is fixedly connected to the first side of the fixed base plate.
  • One side is connected with the vehicle braking device through the transmission device, the second side of the driving lever is provided with an electromagnet, and the second side of the fixed base plate is provided with an electric push rod facing the electromagnet.
  • At least one embodiment of the present disclosure provides a braking method using a braking system for an automobile, wherein the braking system includes a control device, an actuator device, and a vehicle braking device that are connected in sequence, and the actuator device includes an electromagnet and an electric pusher.
  • a lever, a vehicle braking device including a brake pedal the method comprising: utilizing a control device to transmit a control signal to an actuator to energize an electromagnet and an electric pushrod to cause the actuator to release the brake pedal; in response to the vehicle In the power-off state, the connection between the electromagnet and the electric push rod is disconnected, so that the actuator pulls back the brake pedal to realize the braking of the car.
  • FIG. 1A is a block diagram of a braking system for an automobile provided by at least one embodiment of the present disclosure
  • FIG. 1B is a schematic structural diagram of an emergency braking system for an automobile provided by at least one embodiment of the present disclosure
  • 1C is a schematic diagram showing that the movement distance of the transmission device provided by at least one embodiment of the present disclosure is positively correlated with the telescopic distance of the electric push rod;
  • FIG. 2 is a schematic flowchart of a braking method using a braking system provided by at least one embodiment of the present disclosure.
  • the braking system of autonomous vehicles is usually implemented by electronic auxiliary systems such as the brake master cylinder and ABS pump, but there is no emergency braking system to handle the system power failure. When a power outage occurs, the vehicle's braking system will fail.
  • At least one embodiment of the present disclosure provides a braking system for an automobile, including a control device, an actuator device, and a vehicle braking device connected in sequence, wherein the control device is configured to provide control to the actuator device in response to the automobile being in an energized state signal; the actuator is configured to: control the vehicle braking device in response to the control signal, and control the vehicle braking device to realize vehicle braking in response to the vehicle being in a power-off state; the vehicle braking device is configured to operate under the control of the actuator device Apply car braking.
  • Embodiments of the present disclosure provide a braking system for an automobile, which is used to solve the problems that the vehicle does not have a redundant braking system and the power-off braking fails.
  • the braking system can realize braking to prevent accidents when the vehicle is powered off, and can also complete braking processing under the operation of the control device, which is safe and reliable, has a simple structure and is easy to implement.
  • FIG. 1A is a schematic block diagram of a braking system 100 for an automobile provided by at least one embodiment of the present disclosure.
  • the braking system 100 includes a control device 101 , an actuator device 102 and a vehicle braking device 103 which are connected in sequence.
  • the control device 101 is configured to provide a control signal to the actuating device in response to the vehicle being in an energized state.
  • the actuating device 102 is configured to operate the vehicle braking device in response to the control signal, and to operate the vehicle braking device to achieve vehicle braking in response to the vehicle being in a power-off state.
  • the vehicle braking device 103 is configured to brake the vehicle under the control of the actuating device.
  • Fig. 1B How the braking system 100, the actuator 102 and the vehicle braking device 103 cooperate to realize the braking of the vehicle in a power-off state is illustrated in Fig. 1B.
  • FIG. 1B is a schematic structural diagram of a braking system for an automobile provided by at least one embodiment of the present disclosure.
  • a car can be a self-driving car.
  • the present disclosure does not limit the type of automobile.
  • the braking system (such as an emergency braking system) of the autonomous vehicle includes a control device 1 , an execution device 2 and a vehicle braking device 3 , and the control device 1 can control the vehicle through the execution device 2
  • the braking device 3 realizes braking, and the execution device 2 can control the vehicle braking device 3 to realize braking when the automatic driving vehicle is powered off.
  • the control device 1 is connected to the automatic driving system of the automatic driving vehicle, and its control signal can be sent by the automatic driving system, and the control device 1 can adopt a single chip microcomputer.
  • the execution device 2 includes a fixed base plate 4, a driving spring 5, a driving lever 6, a transmission device (eg, a transmission wire) 8, an electromagnet 9 and an electric push rod 10. It should be noted that the type of transmission device is not affected by the present disclosure. Do limit, as long as it can play the role of transmission.
  • the fixed base plate 4 is installed in the body of the self-driving car, and the two sides (for example, the left and right sides) of the fixed base plate 4 are respectively fixed with a drive spring 5 and an electric push rod 10, and the fixed base plate 4 is opposite to the drive lever 6.
  • a driving lever 6 is provided directly above the fixed bottom plate 4, the fulcrum 7 in the middle of the driving lever 6 is fixedly installed on the body of the autonomous vehicle, and the first end (for example, the left end) of the driving lever 6 passes through
  • the driving spring 5 is fixedly connected with the first end (for example, the left end) of the fixed base plate 4, and the first end (for example, the upper end) of the driving spring 5 is fixedly connected with the first end (for example, the left end) of the driving lever 6, so
  • the first end (for example, the left end) of the driving lever 6 is fixedly connected with one end of the transmission wire 8, and the second end (for example, the right end) of the driving lever 6 is fixedly installed with an electromagnet 9, and the electromagnet 9 and
  • the electric push rods 10 are arranged opposite (eg, facing up and down).
  • the other end of the transmission wire 8 is connected to the vehicle braking device 3 .
  • the vehicle braking device 3 includes a pedal mounting frame 11, a brake pedal 12 and a vehicle brake pedal 14.
  • the first end (for example, the lower end) of the brake pedal 12 is fixedly connected to the vehicle brake pedal 14, and the first end (eg, the lower end) of the brake pedal 12 is fixedly connected to the vehicle brake pedal 14.
  • the two ends (for example, the upper end) are mounted on the pedal mounting frame 11, and the brake pedal 14 of the vehicle is depressed to drive the brake pedal 12 to move, so that the brake pads of the autonomous vehicle brake the wheels to realize braking.
  • the middle of the brake pedal 12 is provided with a connection point 13 , and the transmission wire 8 is fixedly connected with the connection point 13 .
  • the working principle of the present disclosure is that: the transmission wire 8 is connected with the brake pedal 12 to drive the brake pedal 12 to move to realize vehicle braking.
  • the actuator 2 controls the vehicle braking device 3 through the pull-in and disconnection of the electromagnet 9 and the electric push rod 10 . control.
  • the on-off of the electromagnet 9 and the electric push rod 10 is controlled by the control signal provided by the control device 1; in response to receiving the control signal, the electromagnet 9 and the electric push rod 10 are energized; in response to not receiving the control signal, The electromagnet 9 and the electric push rod 10 are powered off.
  • the electric push rod 10 is extended, so that the electromagnet 9 can be pulled in, the electromagnet 9 is energized to make the drive lever 6 rigidly connected with the electric push rod 10, and the electric push rod 10 is retracted to drive the drive lever 6 to rotate clockwise, driving the drive
  • the spring 5 is stretched until the electric push rod 10 reaches the maximum retracted position and stops.
  • the driving spring 5 is connected with the transmission wire 8. After the driving spring 5 is stretched, the transmission wire 8 releases the brake pedal 12, and the vehicle can run normally.
  • the transmission wire 8 will generate a movement distance, and the movement distance is controlled by the telescopic distance of the electric push rod 10 .
  • the moving distance of the transmission device is positively correlated with the telescopic distance of the electric push rod.
  • FIG. 1C is a schematic diagram illustrating that the movement distance of the transmission device provided by at least one embodiment of the present disclosure is positively correlated with the telescopic distance of the electric push rod.
  • the various components in the braking system are marked with numbers 1 to 13, which are the same as those in FIG. 1B and will not be repeated here.
  • the telescopic distance of the electric push rod is represented by the letter A, and the movement distance of the transmission device is represented by the letter B.
  • the electric push rod 10 extends a certain distance (for example, the telescopic distance is A), so that the electromagnet 9 can be pulled in, and the electromagnet 9 is energized to rigidly connect the driving lever 6 and the electric push rod 10 .
  • the electric push rod 10 will drive the driving lever 6 to rotate clockwise, thereby releasing the transmission wire 8 , reducing the movement distance (eg, movement distance B) of the transmission wire 8 , thereby releasing the brake pedal 12 .
  • the movement distance of the transmission device is positively related to the telescopic distance of the electric push rod.
  • the telescopic distance refers to the distance that the electric push rod 10 extends
  • the moving distance refers to the distance that the transmission wire 8 drives the brake pedal 12 to move.
  • the moving distance B of the transmission device and the telescopic distance A of the electric push rod in the figure are just an example, and the actual moving distance and telescopic distance are determined by the actual device.
  • the emergency braking system of the self-driving car can realize braking when the car is powered off to prevent accidents, and can also complete the braking process under the operation of the control device, which is safe and reliable, has a simple structure and is easy to implement.
  • At least one embodiment of the present disclosure provides a braking device for an automobile, comprising a fixed base plate and a driving lever arranged oppositely, wherein a first side of the driving lever is fixedly connected with the first side of the fixed base plate through a driving spring, and a first side of the driving lever is fixedly connected to the first side of the fixed base plate.
  • One side is connected with the vehicle braking device through the transmission device, the second side of the driving lever is provided with an electromagnet, and the second side of the fixed base plate is provided with an electric push rod facing the electromagnet.
  • FIG. 2 is a schematic flowchart of a braking method using a braking system provided by at least one embodiment of the present disclosure.
  • the braking method is applied to the braking system for an automobile provided by at least one embodiment of the present disclosure.
  • the braking system includes a control device, an executing device and a vehicle braking device which are connected in sequence, the executing device includes an electromagnet and an electric push rod, and the vehicle braking device includes a brake pedal.
  • the braking method includes steps S201 to S202.
  • Step S201 using the control device to transmit a control signal to the execution device, so as to energize the electromagnet and the electric push rod, so that the execution device releases the brake pedal.
  • Step S202 In response to the vehicle being in a power-off state, the connection between the electromagnet and the electric push rod is disconnected, so that the actuator pulls back the brake pedal to realize the braking of the vehicle.
  • the technical effect of the braking method is the same as the technical effect of the braking system shown in FIG. 1B , and details are not repeated here.

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  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)
  • Braking Elements And Transmission Devices (AREA)

Abstract

一种用于汽车的制动系统（100）、制动装置以及制动方法。该制动系统（100）包括依次连接的控制装置（101、1）、执行装置（102、2）和车辆制动装置（103、3）。控制装置（101、1）配置为响应于汽车处于通电状态，向执行装置（102、2）提供控制信号；执行装置（102、2）配置为：响应于控制信号而对车辆制动装置（103、3）进行操控，响应于汽车处于断电状态而操控车辆制动装置（103、3）实现汽车制动；车辆制动装置（103、3）配置为在执行装置（102、2）的操控下进行汽车制动。

Description

一种用于汽车的制动系统、制动装置及制动方法
本申请要求于2021年1月18日递交的中国专利申请第202120126788.6号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。
技术领域
本公开涉及一种刹车装置，尤其是涉及一种用于汽车的制动系统、制动装置以及制动方法。
背景技术
自动驾驶汽车(Autonomous vehicles；Self-piloting automobile)又称无人驾驶汽车、电脑驾驶汽车、或轮式移动机器人，是一种通过电脑系统实现无人驾驶的智能汽车。在20世纪也已经有数十年的历史，于21世纪初呈现出接近实用化的趋势，比如，谷歌自动驾驶汽车于2012年5月获得了美国首个自动驾驶车辆许可证，预计于2015年至2017年进入市场销售。
自动驾驶汽车依靠人工智能、视觉计算、雷达、监控装置和全球定位系统协同合作，让电脑可以在没有任何人类主动的操作下，自动安全地操作机动车辆。
刹车，也称为制动，是指使运行中的机车、车辆及其他运输工具或机械等停止或减低速度的动作。制动的一般原理是在机器的高速轴上固定一个轮或盘，在机座上安装与之相适应的闸瓦、带或盘，在外力作用下使之产生制动力矩。刹车装置也就是可以减慢车速的机械制动装置，又名减速器。简单来说：汽车刹车踏板在方向盘下面，踩住刹车踏板，则使刹车杠杆联动受压并传至到刹车鼓上的刹车片卡住刹车轮盘，使汽车减速或停止运行。汽车手动刹车是在排挡旁，连于刹车杠。常见的还有自行车刹车，它是靠固定在车架上的杆状制动器或者盘装抱刹制动器等来进行减速的。刹车是自动驾驶汽车不可缺少的硬件结构。
发明内容
本公开至少一实施例提供一种用于汽车的制动系统，包括依次连接的控制装置、执行装置和车辆制动装置，其中，控制装置配置为响应于汽车处于通电状态，向执行装置提供控制信号；执行装置配置为：响应于控制信号而对车辆制动装置进行操控，响应于汽车处于断电状态而操控车辆制动装置实现汽车制动；车辆制动装置配置为在执行装置的操控下进行汽车制动。
例如，在本公开至少一实施例提供的制动系统中，执行装置包括相对布置的固定底板和驱动杠杆，驱动杠杆的第一侧通过驱动弹簧与固定底板的第一侧固定连接，驱动杠杆的第一侧通过传动装置与车辆制动装置相连接，驱动杠杆的第二侧设置有电磁铁，固定底板的第二侧设置有正对电磁铁的电动推杆。
例如，在本公开至少一实施例提供的制动系统中，固定底板安装在汽车的车体内，驱动杠杆中间的支点固定安装在汽车的车体上。
例如，在本公开至少一实施例提供的制动系统中，车辆制动装置包括踏板安装架、制动踏杆和车辆制动踏板，制动踏杆的第一端固定连接车辆制动踏板，制动踏杆的第二端安装在踏板安装架上。
例如，在本公开至少一实施例提供的制动系统中，制动踏杆的中部设置有连接点，传动装置与连接点固定连接。
例如，在本公开至少一实施例提供的制动系统中，传动装置包括传动钢索。
例如，在本公开至少一实施例提供的制动系统中，电磁铁和电动推杆的通断电通过控制装置提供的控制信号进行控制；响应于接收到控制信号，电磁铁和电动推杆通电；响应于没有接收到控制信号，电磁铁和电动推杆断电。
例如，在本公开至少一实施例提供的制动系统中，传动装置的运动距离通过电动推杆的伸缩距离进行控制。
例如，在本公开至少一实施例提供的制动系统中，传动装置的运动距离与电动推杆的伸缩距离呈正相关。
例如，在本公开至少一实施例提供的制动系统中，汽车包括自动驾驶汽车。
本公开至少一实施例提供一种用于汽车的制动装置，包括相对布置的固 定底板和驱动杠杆，驱动杠杆的第一侧通过驱动弹簧与固定底板的第一侧固定连接，驱动杠杆的第一侧通过传动装置与车辆制动装置相连接，驱动杠杆的第二侧设置有电磁铁，固定底板的第二侧设置有正对电磁铁的电动推杆。
本公开至少一实施例提供一种采用制动系统的制动方法，用于汽车，其中，制动系统包括依次连接的控制装置、执行装置和车辆制动装置，执行装置包括电磁铁和电动推杆，车辆制动装置包括制动踏杆，该方法包括：利用控制装置将控制信号传输给执行装置，以使电磁铁和电动推杆通电，从而使执行装置释放制动踏杆；响应于汽车处于断电状态，电磁铁和电动推杆之间的连接断开，从而使执行装置拉回制动踏杆，以实现汽车的制动。
附图说明
为了更清楚地说明本公开实施例的技术方案，下面将对实施例的附图作简单地介绍，显而易见地，下面描述的附图仅仅涉及本公开的一些实施例，而非对本公开的限制。
图1A是本公开至少一实施例提供的用于汽车的制动系统的框图；
图1B是本公开至少一实施例提供的用于汽车的紧急制动系统的结构示意图；
图1C示出了本公开至少一实施例提供的传动装置的运动距离与电动推杆的伸缩距离呈正相关的示意图；
图2是本公开至少一实施例提供的采用制动系统的制动方法的流程示意图。
具体实施方式
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合附图，对本公开实施例的技术方案进行清楚、完整地描述。显然，所描述的实施例是本公开的一部分实施例，而不是全部的实施例。基于所描述的本公开的实施例，本领域普通技术人员在无需创造性劳动的前提下所获得的所有其他实施例，都属于本公开保护的范围。
除非另外定义，本公开使用的技术术语或者科学术语应当为本公开所属领域内具有一般技能的人士所理解的通常意义。本公开中使用的“第一”、“第 二”以及类似的词语并不表示任何顺序、数量或者重要性，而只是用来区分不同的组成部分。同样，“一个”、“一”或者“该”等类似词语也不表示数量限制，而是表示存在至少一个。“包括”或者“包含”等类似的词语意指出现该词前面的元件或者物件涵盖出现在该词后面列举的元件或者物件及其等同，而不排除其他元件或者物件。“连接”或者“相连”等类似的词语并非限定于物理的或者机械的连接，而是可以包括电性的连接，不管是直接的还是间接的。“上”、“下”、“左”、“右”等仅用于表示相对位置关系，当被描述对象的绝对位置改变后，则该相对位置关系也可能相应地改变。
自动驾驶汽车的制动系统通常是通过制动总泵、ABS泵等电子辅助系统实现的，但是还没有处理系统断电情况的紧急制动系统。当出现系统断电时，车辆的制动系统就会失效。
本公开至少一实施例提供一种用于汽车的制动系统，包括依次连接的控制装置、执行装置和车辆制动装置，其中，控制装置配置为响应于汽车处于通电状态，向执行装置提供控制信号；执行装置配置为：响应于控制信号而对车辆制动装置进行操控，响应于汽车处于断电状态而操控车辆制动装置实现汽车制动；车辆制动装置配置为在执行装置的操控下进行汽车制动。
本公开的实施例提供了一种用于汽车的制动系统，用于解决车辆没有冗余制动系统及断电制动失效的问题。该制动系统能够在汽车停电时，实现刹车，防止发生意外，同时也能够在控制装置的操作下，完成刹车的处理，安全可靠，结构简单，易于实现。
图1A是本公开至少一实施例提供的用于汽车的制动系统100的示意框图。
如图1A所示，制动系统100包括依次连接的控制装置101、执行装置102和车辆制动装置103。
控制装置101被配置为，响应于汽车处于通电状态，向执行装置提供控制信号。
执行装置102被配置为，响应于控制信号而对车辆制动装置进行操控，响应于汽车处于断电状态而操控车辆制动装置实现汽车制动。
车辆制动装置103被配置为，在执行装置的操控下进行汽车制动。
制动系统100、执行装置102和车辆制动装置103之间如何配合实现断 电状态下汽车的制动在图1B中具体说明。
图1B是本公开至少一实施例提供的用于汽车的制动系统的结构示意图。例如，汽车可以是自动驾驶汽车。本公开对汽车的类型不做限制。如图1B所示，所述自动驾驶汽车的制动系统(例如紧急制动系统)，包括控制装置1、执行装置2和车辆制动装置3，所述控制装置1能够通过执行装置2控制车辆制动装置3实现刹车，所述执行装置2在自动驾驶汽车断电时，能够控制车辆制动装置3实现刹车。
所述控制装置1与自动驾驶汽车的自动驾驶系统相连接，其控制信号可以由自动驾驶系统发出，所述控制装置1可以采用单片机。
所述执行装置2包括固定底板4、驱动弹簧5、驱动杠杆6、传动装置(例如，传动钢索)8、电磁铁9和电动推杆10，需要说明的是本公开对传动装置的类型不做限制，只要能够起到传动的作用即可。所述固定底板4安装在自动驾驶汽车的车体内，所述固定底板4的两侧(例如，左右两侧)分别固定安装有驱动弹簧5和电动推杆10，固定底板4与驱动杠杆6相对设置，例如，所述固定底板4的正上方设置有驱动杠杆6，所述驱动杠杆6中间的支点7固定安装在自动驾驶汽车的车体上，驱动杠杆6的第一端(例如左端)通过驱动弹簧5与固定底板4的第一端(例如，左端)固定连接，所述驱动弹簧5的第一端(例如，上端)与驱动杠杆6的第一端(例如，左端)固定连接，所述驱动杠杆6的第一端(例如，左端)与传动钢索8的一端固定连接，所述驱动杠杆6的第二端(例如，右端)固定安装有电磁铁9，所述电磁铁9和电动推杆10相对(例如，上下正对)设置。所述传动钢索8的另一端连接至车辆制动装置3。
所述车辆制动装置3包括踏板安装架11、制动踏杆12和车辆制动踏板14，所述制动踏杆12的第一端(例如，下端)固定连接车辆制动踏板14，第二端(例如，上端)安装在踏板安装架11上，通过踩下车辆制动踏板14，带动制动踏杆12运动，进而使得自动驾驶汽车的刹车片刹住车轮，实现制动。所述制动踏杆12的中部设置有连接点13，所述传动钢索8与连接点13固定连接。
本公开的工作原理在于：通过传动钢索8与制动踏杆12相连接，能够带动制动踏杆12运动，实现车辆制动。
所述执行装置2控制车辆制动装置3是通过电磁铁9和电动推杆10的吸合与断开实现的，所述电磁铁9和电动推杆10的通断电可以通过控制装置1进行控制。
例如，电磁铁9和电动推杆10的通断电通过控制装置1提供的控制信号进行控制；响应于接收到控制信号，电磁铁9和电动推杆10通电；响应于没有接收到控制信号，电磁铁9和电动推杆10断电。
释放状态：电动推杆10伸出，使电磁铁9能够吸合，电磁铁9通电使驱动杠杆6与电动推杆10刚性连接，电动推杆10缩回带动驱动杠杆6顺时针转动，带动驱动弹簧5拉伸，直到电动推杆10到达最大缩回位置停止。驱动弹簧5与传动钢索8相连，驱动弹簧5被拉伸后，传动钢索8释放制动踏杆12，车辆可以正常行驶。
制动状态：电磁铁9断电，驱动杠杆6与电动推杆10的连接断开，在驱动弹簧5的作用下，驱动杠杆6逆时针转动，带动传动钢索8拉回制动踏杆12，车辆制动，不能正常行驶。
传动钢索8在驱动杠杆6的带动下会产生运动距离，该运动距离通过电动推杆10的伸缩距离进行控制。
在本公开的一些实施例中，传动装置的运动距离与电动推杆的伸缩距离呈正相关。
图1C示出了本公开至少一实施例提供的传动装置的运动距离与电动推杆的伸缩距离呈正相关的示意图。
如图1C所示，制动系统中的各个组件用数字1～13标记，标记和图1B中一样，在此不再赘述。电动推杆的伸缩距离用字母A表示，传动装置的运动距离用字母B表示。如上所述，电动推杆10伸出一定距离(例如，伸缩距离为A)，使电磁铁9能够吸合，电磁铁9通电使驱动杠杆6与电动推杆10刚性连接。电动推杆10会带动驱动杠杆6顺时针转动，从而释放传动钢索8，使传动钢索8的运动距离(例如，运动距离B)减小，从而释放制动踏杆12。电动推杆10的伸缩距离A越短，电动推杆10带动驱动杠杆6顺时针转动的角度越大，驱动杠杆6带动传动钢索8的释放程度越大，运动距离B越小。电动推杆10的伸缩距离A越长，电动推杆10带动驱动杠杆6顺时针转动的角度越小(甚至不会带动驱动杠杆6顺时针转动)，驱动杠杆6在 驱动弹簧5的拉动下逆时针转达，从而带动传动钢索8拉紧，其运动距离B变大。因此，传动装置的运动距离与电动推杆的伸缩距离呈正相关。这里，伸缩距离是指电动推杆10伸出的距离，运动距离是指传动钢索8带动制动踏杆12运动的距离。
需要说明的是，图中的传动装置的运动距离B与电动推杆的伸缩距离A仅仅是一个示例，实际的运动距离和伸缩距离由实际的装置决定。
所述自动驾驶汽车的紧急制动系统能够在汽车停电时，实现刹车，防止发生意外，同时也能够在控制装置的操作下，完成刹车的处理，安全可靠，结构简单，易于实现。
本公开至少一实施例提供一种用于汽车的制动装置，包括相对布置的固定底板和驱动杠杆，驱动杠杆的第一侧通过驱动弹簧与固定底板的第一侧固定连接，驱动杠杆的第一侧通过传动装置与车辆制动装置相连接，驱动杠杆的第二侧设置有电磁铁，固定底板的第二侧设置有正对电磁铁的电动推杆。
该用于汽车的制动装置的具体结构可以参见图1B中的执行装置2，在此不再赘述。
图2是本公开至少一实施例提供的采用制动系统的制动方法的流程示意图。该制动方法应用于本公开至少一实施例提供的用于汽车的制动系统。制动系统包括依次连接的控制装置、执行装置和车辆制动装置，执行装置包括电磁铁和电动推杆，车辆制动装置包括制动踏杆。
如图2所示，该制动方法包括步骤S201～S202。
步骤S201：利用控制装置将控制信号传输给执行装置，以使电磁铁和电动推杆通电，从而使执行装置释放制动踏杆。
步骤S202：响应于汽车处于断电状态，电磁铁和电动推杆之间的连接断开，从而使执行装置拉回制动踏杆，以实现汽车的制动。
关于采用制动系统实现汽车的紧急制动的相关内容可以参考如前所述的内容，在此不再赘述。
该制动方法的技术效果与图1B所示的制动系统的技术效果相同，在此不再赘述。
对于本公开，还有以下几点需要说明：
(1)本公开实施例附图只涉及到与本公开实施例涉及到的结构，其他结 构可参考通常设计。
(2)在不冲突的情况下，本公开的实施例及实施例中的特征可以相互组合以得到新的实施例。
以上所述仅为本公开的具体实施方式，但本公开的保护范围并不局限于此，本公开的保护范围应以所述权利要求的保护范围为准。

Claims (12)

  1. 一种用于汽车的制动系统，包括依次连接的控制装置、执行装置和车辆制动装置，其中，
    所述控制装置配置为响应于所述汽车处于通电状态，向所述执行装置提供控制信号；
    所述执行装置配置为：响应于所述控制信号而对所述车辆制动装置进行操控，响应于所述汽车处于断电状态而操控所述车辆制动装置实现汽车制动；
    所述车辆制动装置配置为在所述执行装置的操控下进行汽车制动。
  2. 根据权利要求1所述的制动系统，其中，所述执行装置包括相对布置的固定底板和驱动杠杆，所述驱动杠杆的第一侧通过驱动弹簧与所述固定底板的第一侧固定连接，所述驱动杠杆的第一侧通过传动装置与所述车辆制动装置相连接，所述驱动杠杆的第二侧设置有电磁铁，所述固定底板的第二侧设置有正对所述电磁铁的电动推杆。
  3. 根据权利要求2所述的制动系统，其中，所述固定底板安装在所述汽车的车体内，所述驱动杠杆中间的支点固定安装在所述汽车的车体上。
  4. 根据权利要求2所述的制动系统，其中，所述车辆制动装置包括踏板安装架、制动踏杆和车辆制动踏板，所述制动踏杆的第一端固定连接所述车辆制动踏板，所述制动踏杆的第二端安装在所述踏板安装架上。
  5. 根据权利要求4所述的制动系统，其中，所述制动踏杆的中部设置有连接点，所述传动装置与所述连接点固定连接。
  6. 根据权利要求5所述的制动系统，其中，所述传动装置包括传动钢索。
  7. 根据权利要求2所述的制动系统，其中，所述电磁铁和所述电动推杆的通断电通过所述控制装置提供的控制信号进行控制；
    响应于接收到所述控制信号，所述电磁铁和所述电动推杆通电；
    响应于没有接收到所述控制信号，所述电磁铁和所述电动推杆断电。
  8. 根据权利要求2所述的制动系统，其中，所述传动装置的运动距离通过所述电动推杆的伸缩距离进行控制。
  9. 根据权利要求8所述的制动系统，其中，所述传动装置的运动距离与所述电动推杆的伸缩距离呈正相关。
  10. 根据权利要求1-9中的任一项所述的制动系统，其中，所述汽车包括自动驾驶汽车。
  11. 一种用于汽车的制动装置，包括相对布置的固定底板和驱动杠杆，所述驱动杠杆的第一侧通过驱动弹簧与所述固定底板的第一侧固定连接，所述驱动杠杆的第一侧通过传动装置与所述车辆制动装置相连接，所述驱动杠杆的第二侧设置有电磁铁，所述固定底板的第二侧设置有正对所述电磁铁的电动推杆。
  12. 一种采用制动系统的制动方法，用于汽车，其中，所述制动系统包括依次连接的控制装置、执行装置和车辆制动装置，所述执行装置包括电磁铁和电动推杆，所述车辆制动装置包括制动踏杆，所述方法包括：
    利用所述控制装置将控制信号传输给所述执行装置，以使所述电磁铁和所述电动推杆通电，从而使所述执行装置释放所述制动踏杆；
    响应于所述汽车处于断电状态，所述电磁铁和所述电动推杆之间的连接断开，从而使所述执行装置拉回所述制动踏杆，以实现所述汽车的制动。
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CN214874751U (zh) * 2021-01-18 2021-11-26 北京九曜智能科技有限公司 一种自动驾驶汽车的紧急制动系统

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