WO2023085094A1 - Brake system and brake pedal device - Google Patents

Abstract

A brake system comprises four sensors (11 to 14) and at least two electronic control devices (21, 22). The four sensors may be referred to as a first sensor (11), a second sensor (12), a third sensor (13), and a fourth sensor (14). The first sensor transmits a sensor output signal to a prescribed electronic control device (21) among the at least two electronic control devices. The second sensor transmits a sensor output signal to another electronic control device (22) that is not the prescribed electronic control device among the at least two electronic control devices. The third and fourth sensors have sensor output signal transmission functions (132, 142, 143) and/or reception functions (132, 142, 133). Among the third sensor and the fourth sensor, one sensor that has received a sensor output signal transmitted from the other sensor transmits, to the prescribed electronic control device or to another electronic control device, a composite signal obtained by combining a sensor output signal generated by the one sensor and the sensor output signal received by the one sensor.

Description

Brake system and brake pedal device Cross-references to related applications

This application is based on Japanese Patent Application No. 2021-183589 filed on November 10, 2021, the contents of which are incorporated herein by reference.

The present disclosure relates to a brake system and a brake pedal device mounted on a vehicle.

Conventionally, an electronic control unit detects the amount of operation of the brake pedal based on the output signal of a sensor that outputs a signal corresponding to the amount of operation of the brake pedal by the driver, and drives and controls the brake circuit to brake the vehicle. system is known. In the following description, the electronic control unit may be called "ECU", the brake pedal operation amount may be called "pedal operation amount", and the brake-by-wire system may be called "brake system". ECU is an abbreviation for Electronic Control Unit. An ECU that drives and controls the brake circuit is sometimes called a BCU. BCU is an abbreviation for Brake Control Unit.
In each embodiment, the brake system described in Patent Literature 1 includes six sensors that detect the amount of operation of the brake pedal, two ECUs, and two power supply units. The six sensors consist of four position sensors and two force sensors. In this braking system, one of the two power supplies supplies power to three sensors (specifically, two position sensors and one force sensor), and the other power supply supplies power to three sensors. Another three sensors are powered. Further, in this brake system, output signals from three sensors (specifically, two position sensors and one force sensor as described above) are transmitted to one of the two ECUs. , and output signals from the other three sensors are transmitted to the other ECU. As a result, even if one of the power supply devices fails, the brake system can be operated by the other three sensors, which are powered by the other power supply device, by transmitting the output signals to the other ECU. The brake circuit can be driven and controlled by the ECU. In this manner, this brake system has redundancy against failure of the power supply and failure of the ECU.

WO2021/185611

However, the brake system described in Patent Literature 1 has a large number of sensors, 6, although redundancy is provided against power supply failure and ECU failure. Therefore, there is a problem that the size of the brake pedal device in which the many sensors are arranged is increased, and the manufacturing cost is also increased.

The present disclosure provides a necessary and sufficient system configuration that can ensure redundancy for brake pedal sensing in a brake-by-wire system by optimizing the number of sensors and an optimal routing method for sensor information.

According to one aspect of the present disclosure, a brake system that drives and controls a brake circuit that brakes a vehicle includes four sensors and at least two electronic controllers. The four sensors generate and output sensor output signals corresponding to the amount of operation of the brake pedal operated by the driver. At least two electronic controllers control driving of the brake circuit based on sensor output signals output from the sensors. Here, the four sensors are arbitrarily called the first sensor, the second sensor, the third sensor and the fourth sensor. A first sensor transmits a sensor output signal to a predetermined one of the at least two electronic controllers. The second sensor transmits the sensor output signal to an electronic control device other than the predetermined electronic control device of the at least two electronic control devices. The third sensor and fourth sensor have at least one of a sensor output signal transmission function and a sensor output signal reception function. Then, of the third sensor and the fourth sensor, the other sensor that has received the sensor output signal transmitted from one of the sensors generates a predetermined synthesized signal obtained by synthesizing the sensor output signal generated by itself and the received sensor output signal. electronic control unit or another electronic control unit.

According to this, the sensor output signal of one of the first sensor and the second sensor and the synthesized signal of the third sensor and the fourth sensor are input to at least one of the predetermined electronic control device and the other electronic control device. be done. That is, the sensor output signals of the three sensors are input to at least one of the predetermined electronic control device and another electronic control device. Therefore, the electronic control device to which the sensor output signals of the three sensors are input can identify the failed sensor by majority decision when one of the three sensors fails. At the same time, the electronic control unit can detect the correct pedal operation amount based on the normal sensor output signal except for the faulty sensor.

Also, in this brake system, a sensor output signal from one of the four sensors is input to both a predetermined electronic control device and another electronic control device. Therefore, even if one of the predetermined electronic control device or another electronic control device fails, the other electronic control device can drive and control the brake circuit. Therefore, this brake system can ensure redundancy against failure of the electronic control unit.

In this way, this brake system can be constructed by a routing method using four sensors to identify the failed sensor by majority decision and ensure redundancy against failure of the electronic control unit. be. Therefore, this brake system can reduce manufacturing costs and reduce the size of the brake pedal device by optimizing the number of sensors.

Further, the predetermined electronic control device and the another electronic control device do not require communication between the predetermined electronic control device and the another electronic control device regarding the sensor output signals of the four sensors. Therefore, this brake system can reduce the control processing load of the electronic control unit.

From another point of view, the brake pedal device is used in a brake system that includes at least two electronic controllers that drive and control a brake circuit that brakes the vehicle. A brake pedal device includes a brake pedal operated by a driver, and four sensors that generate and output sensor output signals according to the amount of operation of the brake pedal. Here, the four sensors are arbitrarily called the first sensor, the second sensor, the third sensor and the fourth sensor. A first sensor transmits a sensor output signal to a predetermined one of the at least two electronic controllers. The second sensor transmits the sensor output signal to an electronic control device other than the predetermined electronic control device of the at least two electronic control devices. The third sensor and fourth sensor have at least one of a sensor output signal transmission function and a sensor output signal reception function. Then, of the third sensor and the fourth sensor, the other sensor that has received the sensor output signal transmitted from one of the sensors generates a predetermined synthesized signal obtained by synthesizing the sensor output signal generated by itself and the received sensor output signal. electronic control unit or another electronic control unit.

According to this, the brake pedal device from another point of view can also achieve the same effect as the brake system from one point of view.

It should be noted that the reference numerals in parentheses attached to each component etc. indicate an example of the correspondence relationship between the component etc. and the specific component etc. described in the embodiment described later.

It is a block diagram showing a schematic structure of a brake system concerning a 1st embodiment. It is a side view of a brake pedal device with which a brake system concerning a 1st embodiment is provided. It is a block diagram which shows schematic structure of the brake system which concerns on 2nd Embodiment.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In addition, in each of the following embodiments, the same or equivalent portions are denoted by the same reference numerals, and description thereof will be omitted.

(First embodiment)
A brake system according to a first embodiment will be described with reference to FIGS. 1 and 2. FIG. The brake system of the first embodiment is a brake-by-wire system in which electronic control units (hereinafter referred to as "ECUs") 21 and 22 drive and control a brake circuit 40 based on the amount of operation of a brake pedal 31 to brake the vehicle. . The ECU that drives and controls the brake circuit 40 is sometimes called a BCU.

As shown in FIG. 1, the brake system of the first embodiment includes four sensors 11-14 and two ECUs 21,22. The four sensors 11-14 are provided, for example, in a brake pedal device 30 as shown in FIG.

FIG. 2 shows an organ-type brake pedal device 30 as an example. The organ-type brake pedal device 30 is one in which a portion 32 of the brake pedal 31 that is stepped on by the driver is arranged above the oscillation axis CL in the vertical direction when mounted on the vehicle. The coordinates shown in FIG. 2 indicate the vertical direction and the front-rear direction when the brake pedal device 30 is mounted on the vehicle.

The brake pedal device 30 includes a housing 33, a brake pedal 31 and the like. The housing 33 is fixed to the floor or dash panel of the vehicle with bolts (not shown) or the like. The brake pedal 31 is formed in a plate shape and arranged obliquely with respect to the floor of the vehicle. Specifically, the brake pedal 31 is obliquely arranged so that the upper end thereof faces the front of the vehicle and the lower end thereof faces the rear of the vehicle. The upper part of the brake pedal 31 is provided with a thick portion as a part 32 to be stepped on by the driver.

A connecting member 34 fixed to the brake pedal 31 is fixed to a rotating shaft (not shown) provided inside the housing 33 . Therefore, the brake pedal 31 is provided swingably around a predetermined axis CL provided in the housing 33 . In this specification, the term "oscillation" refers to rotational movement in a forward direction and a reverse direction within a predetermined angle range around a predetermined axis CL.

Although not shown in FIG. 2, the inside of the housing 33 includes a reaction force generating mechanism that generates a reaction force against the force applied to the brake pedal 31 by the driver, four sensors 11 to 14, and the like. is provided. In FIG. 2, illustration of the reaction force generating mechanism and the four sensors 11 to 14 is omitted.

The four sensors 11 to 14 shown in FIG. 1 are provided in the brake pedal device 30, and generate and output sensor output signals according to the amount of operation of the brake pedal 31 depressed by the driver.

The four sensors 11 to 14 may employ sensors that detect the same physical quantity, or may employ sensors that detect different physical quantities. In the first embodiment, from the viewpoint of redundancy, the four sensors 11 to 14 detect two types of physical quantities (for example, the pedal swing angle and the pedal stroke amount) as the pedal operation amount using different detection principles. A sensor is employed to detect Specifically, a magnetic sensor using, for example, a Hall element or a magnetoresistive element is employed as a sensor for detecting the pedal swing angle. An inductive sensor, for example, is employed as a sensor that detects the amount of pedal stroke. The types of the four sensors 11 to 14 are not limited to those described above, and various types such as pressure sensors and photoelectric sensors can be used.

The sensor output signals generated by the four sensors 11-14 are transmitted to the two ECUs 21 and 22. The transmission method will be described later.

The two ECUs 21 and 22 are composed of a processor that performs control processing and arithmetic processing, a microcomputer that includes storage units such as ROM and RAM that store programs and data, and peripheral circuits thereof. The storage unit is composed of a non-transitional physical storage medium. The ECUs 21 and 22 perform various control processing and arithmetic processing based on programs stored in the storage unit, and control the operation of each device connected to the output port. Specifically, the ECUs 21 and 22 detect an accurate pedal operation amount based on sensor output signals generated by the four sensors 11 to 14, and control the driving of the brake circuit 40. FIG.

Various mechanisms can be employed as the brake circuit 40 . For example, the brake circuit 40 may employ an electric brake that brakes each wheel by driving an electric motor according to commands from the ECUs 21 and 22 and pressing a brake pad against a disc brake rotor. Alternatively, for example, the brake circuit 40 may employ a configuration in which the hydraulic pressure of the brake fluid is increased by operating the master cylinder or the hydraulic pump to drive the wheel cylinders arranged for each wheel and operate the brake pads. good. Further, the brake circuit 40 can also perform normal control, ABS control, VSC control, etc. according to control signals from the ECUs 21 and 22 . ABS stands for Anti-lock Braking System, and VSC stands for Vehicle Stability Control.

Next, a method of transmitting sensor output signals from the four sensors 11 to 14 to the two ECUs 21 and 22 will be described.

In the following description, for convenience of explanation, the four sensors 11 to 14 are referred to as the first sensor 11, the second sensor 12, the third sensor 13, and the fourth sensor 14 in order from the upper side to the lower side of the paper surface of FIG. call. Further, in the following description, for convenience of explanation, of the two ECUs 21 and 22, the one on the upper side of the paper surface of FIG. The first ECU 21 corresponds to the "predetermined electronic control unit", and the second ECU 22 corresponds to "another electronic control unit". Further, in the following description, the wiring shown in FIG. 1 will be referred to as first to sixth wirings 51 to 56 for convenience of explanation. Note that the names of the first to fourth sensors 11 to 14 do not limit the positions and types of sensors mounted on the brake pedal device 30 . The names of the 1ECU21 and the 2ECU22 do not limit the mounting position or the like. These are the same in the description of the second embodiment, which will be described later.

The first sensor 11 transmits the sensor output signal generated within its own sensor from the transmitter 111 of the first sensor 11 to the first receiver 211 of the first ECU 21 via the first wiring 51 .

The second sensor 12 transmits the sensor output signal generated within its own sensor from the transmitter 121 of the second sensor 12 to the first receiver 221 of the 2ECU 22 via the second wiring 52 .

In the first embodiment, in the communication function between the third sensor 13 and the fourth sensor 14, both the third sensor 13 and the fourth sensor 14 have a transmitting function and a receiving function. That is, in the first embodiment, the third sensor 13 and the fourth sensor 14 respectively have the transmitting/receiving units 132 and 142 that mutually transmit and receive sensor output signals. The third sensor 13 and the fourth sensor 14 receive the sensor output signal transmitted from one of the sensors, and the other sensor generates a synthesized signal obtained by synthesizing its own sensor output signal and the received sensor output signal to the first ECU 21 . Or it is configured to transmit to the second ECU22.

Specifically, the third sensor 13 transmits the sensor output signal generated within its own sensor from its own transmitter/receiver 132 to the transmitter/receiver 142 of the fourth sensor 14 via the sixth wiring 56 . When the fourth sensor 14 receives the sensor output signal from the third sensor 13 with its own transmission/reception unit 142, the sensor output signal generated by itself using the signal aggregation function of the integrated circuit in the sensor and the third sensor 13 generates a composite signal that is combined with the sensor output signal received from. As an integrated circuit in the sensor, for example, ASIC (abbreviation for application specific integrated circuit) is used. And the 4th sensor 14 transmits the synthetic signal to the 2nd receiving part 222 of 2ECU22 via the 4th wiring 54 from the transmission part 141 of itself. Further, the fourth sensor 14 transmits the sensor output signal generated in its own sensor from its own transmitter/receiver 142 to the transmitter/receiver 132 of the third sensor 13 via the fifth wiring 55 .

When the third sensor 13 receives the sensor output signal from the fourth sensor 14 with its own transmitting/receiving unit 132, it uses the signal aggregation function of the integrated circuit in the sensor to generate the self-generated sensor output signal and the fourth sensor 14 generates a composite signal that is combined with the sensor output signal received from. And the 3rd sensor 13 transmits the combined signal to the 2nd receiving part 212 of 1ECU21 via the 3rd wiring 53 from the transmission part 131 of itself.

As a communication method between the third sensor 13 and the fourth sensor 14, analog communication, digital communication, digital bus communication, or the like can be adopted. Examples of digital communication include SPI, I2C, UART, and SENT. SPI stands for Serial Peripheral Interface. I2C is an abbreviation for Inter-Integrated Circuit. UART is an abbreviation for Universal Asynchronous Receiver/Transmitter. SENT is an abbreviation for Single Edge Nibble Transmission.

Also, analog communication, digital communication, optical communication, etc. can be adopted as communication methods between the sensors 11 to 14 and the ECUs 21 and 22. Examples of digital communication include SPI, I2C, UART, and SENT. Note that when SENT is employed, the transmitter is the driver and the receiver is the receiver. Also, when SENT is employed, each wiring includes a supply voltage line, a signal line, and a ground line.

On the other hand, when analog communication is adopted as the communication method, the transmitter and receiver are terminals, wires, or connectors.

As described above, in the brake system of the first embodiment, the sensor output signal transmitted from the first sensor 11 and the combined signal transmitted from the third sensor 13 are input to the first ECU 21 . That is, sensor output signals of the first sensor 11, the third sensor 13, and the fourth sensor 14 are input to the first ECU21. On the other hand, the sensor output signal transmitted from the second sensor 12 and the synthesized signal transmitted from the fourth sensor 14 are input to the second 2ECU22. That is, the sensor output signals of the second sensor 12, the third sensor 13 and the fourth sensor 14 are input to the second 2ECU22. Therefore, when one of the three sensors fails, the 1ECU21 and the 2ECU22 can identify the failed sensor by majority decision. At the same time, the 1ECU21 and the 2ECU22 can detect an accurate pedal operation amount based on a normal sensor output signal excluding the failed sensor.

Incidentally, when three sensor output signals are input to the ECUs 21 and 22, a specific example of a method of identifying a malfunctioning sensor by majority decision and detecting an accurate pedal operation amount is the same as in the present disclosure. See Applicant's Japanese Patent Application No. 2021-142749.

Further, in the first embodiment, the sensor output signal of one of the four sensors 11 to 14 is input to both the 1ECU21 and the 2ECU22. Therefore, even if one of the first ECU 21 and the second ECU 22 fails, the brake circuit 40 can be driven and controlled by the other ECU. Therefore, this brake system can ensure redundancy against failure of the ECUs 21 and 22 .

As described above, the brake system of the first embodiment has functions such as identifying a failed sensor by majority decision and ensuring redundancy against failure of the ECUs 21 and 22 by a routing method using the four sensors 11 to 14. It is possible to construct by Therefore, this brake system can reduce manufacturing costs and reduce the size of the brake pedal device 30 by optimizing the number of sensors.

Furthermore, in the brake system of the first embodiment, the first ECU 21 and the second ECU 22 do not require communication between the first ECU 21 and the second ECU 22 regarding the sensor output signals of the four sensors 11-14. Therefore, this brake system can reduce the control processing load of the ECUs 21 and 22 .

Also, in the first embodiment, from the viewpoint of redundancy, at least one of the four sensors 11 to 14 employs a magnetic sensor, and the other sensors employ inductive sensors. According to this, the brake system of the first embodiment employs a plurality of non-contact sensors, such as magnetic sensors and inductive sensors, having different detection principles for the four sensors 11-14. Therefore, even if the output signal of one sensor becomes abnormal due to the proximity of magnetic or conductive foreign matter, which each sensor is not good at, the output signals of the other sensors can be maintained normal. Therefore, this brake system can ensure redundancy of the output signals of the sensors by preventing simultaneous failure of the sensors.

(Second embodiment)
A second embodiment will be described. The second embodiment differs from the first embodiment in the method of transmitting sensor output signals from the four sensors 11 to 14 to the two ECUs 21 and 22, and the rest is the same as in the first embodiment. , only differences from the first embodiment will be described.

A method of transmitting sensor output signals from the four sensors 11 to 14 to the two ECUs 21 and 22 in the second embodiment will be described with reference to FIG.

The first sensor 11 transmits the sensor output signal generated within its own sensor from the transmitter 111 of the first sensor 11 to the first receiver 211 of the first ECU 21 via the first wiring 51 .

The second sensor 12 transmits the sensor output signal generated within its own sensor from the transmitter 121 of the second sensor 12 to the first receiver 221 of the 2ECU 22 via the second wiring 52 .

In the second embodiment, in the communication function between the third sensor 13 and the fourth sensor 14, the third sensor 13 has a function of receiving a sensor output signal, and the fourth sensor 14 has a function of receiving a sensor output signal. It has a transmission function of

The fourth sensor 14 transmits the sensor output signal generated within its own sensor from its own transmitter 143 to the receiver 133 of the third sensor 13 via the fifth wiring 55 . In addition, the fourth sensor 14 transmits the sensor output signal generated in its own sensor from the transmitter 141 of the fourth sensor 14 to the second receiver 222 of the second ECU 22 via the fourth wiring 54 .

When the third sensor 13 receives the sensor output signal from the fourth sensor 14 with its own receiving unit 133, it uses the signal aggregation function of the integrated circuit in the sensor to generate the self-generated sensor output signal and the fourth sensor 14 generates a composite signal that is combined with the sensor output signal received from. For example, an ASIC is used as an integrated circuit in the sensor. And the 3rd sensor 13 transmits the combined signal to the 2nd receiving part 212 of 1ECU21 via the 3rd wiring 53 from the transmission part 131 of the 3rd sensor 13. FIG.

As a communication method between the third sensor 13 and the fourth sensor 14, analog communication, digital communication, digital bus communication, or the like can be adopted. Further, analog communication, digital communication, optical communication, or the like can be adopted as a communication method between the sensors 11 to 14 and the ECUs 21 and 22. FIG. Examples of digital communication include SPI, I2C, UART, and SENT.

As described above, in the brake system of the second embodiment, the sensor output signal transmitted from the first sensor 11 and the combined signal transmitted from the third sensor 13 are input to the first ECU 21 . That is, sensor output signals of the first sensor 11, the third sensor 13, and the fourth sensor 14 are input to the first ECU21. Therefore, when one of the three sensors fails, the first ECU 21 can identify the failed sensor by majority decision. At the same time, the first ECU 21 can detect an accurate pedal operation amount based on normal sensor output signals excluding the malfunctioning sensor.

Further, in the second embodiment, two or more sensor output signals out of the four sensors 11 to 14 are input to the 1ECU21 and the 2ECU22. Therefore, even if one of the first ECU 21 and the second ECU 22 fails, the brake circuit 40 can be driven and controlled by the other ECU. Therefore, this brake system can ensure redundancy against failure of the ECUs 21 and 22 .

Thus, in the configuration of the second embodiment as well, the functions of specifying a failed sensor by majority decision by the first ECU 21 and ensuring redundancy against failures of the ECUs 21 and 22 are performed using the four sensors 11 to 14. It can be constructed by routing methods. Therefore, this brake system can reduce manufacturing costs and reduce the size of the brake pedal device 30 by optimizing the number of sensors.

Furthermore, even in the brake system of the second embodiment, the first ECU 21 and the second ECU 22 do not require communication between the first ECU 21 and the second ECU 22 regarding the sensor output signals of the four sensors 11-14. Therefore, this brake system can reduce the control processing load of the ECUs 21 and 22 .

(Other embodiments)
(1) In each of the above-described embodiments, the organ-type brake pedal device 30 was described as an example of the brake pedal device 30. good. A pendant-type brake pedal device is one in which the portion of the brake pedal 31 that is stepped on by the driver is arranged below the swing axis CL in the vertical direction when the brake pedal is mounted on the vehicle.

(2) In each of the above embodiments, the brake system has two ECUs 21 and 22, but the brake system may have three ECUs. In other words, the brake system should have at least two ECUs 21 and 22 .

The present disclosure is not limited to the above-described embodiments, and can be modified as appropriate. Moreover, the above-described embodiments are not unrelated to each other, and can be appropriately combined unless the combination is clearly impossible. Further, in each of the above-described embodiments, it goes without saying that the elements constituting the embodiment are not necessarily essential, unless it is explicitly stated that they are essential, or they are clearly considered essential in principle. stomach. In addition, in each of the above-described embodiments, when numerical values such as the number, numerical value, amount, range, etc. of the constituent elements of the embodiment are mentioned, when it is explicitly stated that they are particularly essential, and when they are clearly limited to a specific number in principle is not limited to that particular number. In addition, in each of the above-described embodiments, when referring to the shape, positional relationship, etc. of the constituent elements, the shape, It is not limited to the positional relationship or the like.

The controller and techniques described in this disclosure may be implemented by a dedicated computer provided by configuring a processor and memory programmed to perform one or more functions embodied by the computer program. may be Alternatively, the controls and techniques described in this disclosure may be implemented by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits. Alternatively, the control units and techniques described in this disclosure can be implemented by a combination of a processor and memory programmed to perform one or more functions and a processor configured by one or more hardware logic circuits. It may also be implemented by one or more dedicated computers configured. The computer program may also be stored as computer-executable instructions on a computer-readable non-transitional tangible recording medium.

Claims (7)

1. In a brake system that drives and controls a brake circuit (40) that brakes a vehicle,
   four sensors (11 to 14) for generating and outputting sensor output signals corresponding to the amount of operation of a brake pedal (31) operated by the driver;
   At least two electronic control units (21, 22) that control the driving of the brake circuit based on the sensor output signal output from the sensor,
   When the four sensors are arbitrarily called first sensor (11), second sensor (12), third sensor (13), fourth sensor (14),
   The first sensor transmits a sensor output signal to a predetermined electronic control unit (21) of the at least two electronic control units;
   said second sensor sending a sensor output signal to said electronic control unit (22) other than a predetermined one of said at least two electronic control units;
   The third sensor and the fourth sensor have at least one of sensor output signal transmission functions (132, 142, 143) and reception functions (132, 142, 133),
   Of the third sensor and the fourth sensor, the other sensor that has received the sensor output signal transmitted from one of the sensors generates a predetermined synthesized signal obtained by synthesizing the sensor output signal generated by itself and the received sensor output signal. or another said electronic controller.
2. The third sensor transmits the sensor output signal generated by itself to the fourth sensor by the transmission function, further receives the sensor output signal transmitted from the fourth sensor by the reception function, and generates the sensor output by itself sending a synthesized signal obtained by synthesizing the signal and the received sensor output signal to the predetermined electronic control device;
   The fourth sensor transmits the sensor output signal generated by itself to the third sensor by the transmission function, receives the sensor output signal transmitted from the third sensor by the reception function, and generates the sensor output 2. The braking system of claim 1, configured to transmit a composite signal combining the signal and the received sensor output signal to another of the electronic controllers.
3. One of the third sensor and the fourth sensor receives the sensor output signal transmitted by the other sensor by the receiving function, and synthesizes the sensor output signal generated by itself and the received sensor output signal. sending a signal to a predetermined electronic control unit;
   The other of the third sensor and the fourth sensor transmits the sensor output signal generated by itself to one of the sensors by the transmission function, and further transmits the sensor output signal generated by itself to the other electronic control device. 2. The braking system of claim 1, wherein the braking system is configured to:
4. The brake system according to any one of claims 1 to 3, wherein any one of analog communication, digital communication, and digital bus communication is adopted as a communication method between the third sensor and the fourth sensor.
5. The brake system according to any one of claims 1 to 4, wherein any one of analog communication, digital communication, and optical communication is adopted as a communication method between the sensor and the electronic control device.
6. The brake system according to any one of claims 1 to 5, wherein at least one of the four sensors is a magnetic sensor and the other sensors are inductive sensors.
7. A brake pedal device used in a brake system comprising at least two electronic controllers (21, 22) for driving and controlling a brake circuit (40) for braking a vehicle,
   a brake pedal (31) operated by a driver;
   four sensors (11 to 14) that generate and output sensor output signals corresponding to the amount of operation of the brake pedal,
   When the four sensors are arbitrarily called first sensor (11), second sensor (12), third sensor (13), fourth sensor (14),
   The first sensor transmits a sensor output signal to a predetermined electronic control unit (21) of the at least two electronic control units;
   said second sensor sending a sensor output signal to said electronic control unit (22) other than a predetermined one of said at least two electronic control units;
   The third sensor and the fourth sensor have at least one of sensor output signal transmission functions (132, 142, 143) and reception functions (132, 142, 133),
   Of the third sensor and the fourth sensor, the other sensor that has received the sensor output signal transmitted from one of the sensors generates a predetermined synthesized signal obtained by synthesizing the sensor output signal generated by itself and the received sensor output signal. or another said electronic control device.

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