Brake system and method of controlling a brake system

Abstract

The invention relates to a brake system and a method of controlling the brake system. A brake system may include: an electromechanical brake disposed in a rear wheel of a vehicle; a first force sensor and a second force sensor configured to detect a clamping force of the electromechanical brake; an electromechanical brake controller configured to perform brake control on the electromechanical brake in response to an output signal of at least one of the first force sensor and the second force sensor; one or more controllers are configured to output a control signal for braking control of the electromechanical brake to the electromechanical brake controller, and first and second power supply devices are configured to supply power to at least one of the one or more controllers and the electromechanical brake controller, the first force sensor and the second force sensor receive power from at least one of the first power supply device and the second power supply device through the electromechanical brake controller.

Description

Technical Field

[0001] The disclosed invention relates to a braking system and a method for controlling the braking system. Background Technology

[0002] Vehicles are generally equipped with braking systems for stopping the vehicle. Various types of braking systems have been proposed to provide safety for drivers and passengers.

[0003] Electromechanical brakes (EMBs) are operated by mechanical actuators and have the advantages of fast response and precise control.

[0004] The Integrated Dynamic Brake (IDB) converts the force applied to the brake pedal into an electrical signal and controls the braking force in a hydroelectric manner. The IDB system is configured by integrating a master booster and Electronic Stability Control (ESC) to generate stable, forced braking force.

[0005] Recently, braking systems that combine electromechanical brakes and integrated dynamic brakes have been developed. Furthermore, technologies to ensure redundancy in braking systems are being developed to improve their operational reliability and safety. Summary of the Invention

[0006] The purpose of this invention is to provide a braking system and a method for controlling the braking system, wherein the braking system has a novel structure that integrates a hydraulic brake and an electromechanical brake to ensure redundancy.

[0007] One aspect of the present invention provides a braking system comprising: an electromechanical brake disposed in the rear wheel of a vehicle; a first force sensor and a second force sensor configured to detect the clamping force of the electromechanical brake; an electromechanical brake controller configured to perform braking control on the electromechanical brake in response to an output signal of at least one of the first force sensor and the second force sensor; one or more controllers configured to output control signals for braking control of the electromechanical brake to the electromechanical brake controller; and a first power supply device and a second power supply device configured to supply power to at least one of the one or more controllers and the electromechanical brake controller, wherein the first force sensor and the second force sensor receive power from at least one of the first power supply device and the second power supply device via the electromechanical brake controller.

[0008] An electromechanical brake controller can perform braking control on an electromechanical brake based on a comparison between the output signals of a first force sensor and the output signals of a second force sensor.

[0009] The electromechanical brake controller can perform braking control on the electromechanical brake in response to the output signal of the first force sensor, and when the first force sensor fails to function, the electromechanical brake controller can control the electromechanical brake in response to the output signal of the second force sensor.

[0010] The electromechanical brake may include: a first electromechanical brake disposed in a first rear wheel; and a second electromechanical brake disposed in a second rear wheel, and the electromechanical brake controller may include: a first electromechanical brake controller configured to perform braking control on the first electromechanical brake; and a second electromechanical brake controller configured to perform braking control on the second electromechanical brake.

[0011] The first power supply device can supply power to one or more controllers, the first electromechanical brake controller and the second electromechanical brake controller, and the second power supply device can supply power to the first electromechanical brake controller and the second electromechanical brake controller.

[0012] One or more controllers may include: a first controller configured to output a control signal to a second electromechanical brake controller for braking control of the second electromechanical brake; and a second controller configured to output a control signal to the first electromechanical brake controller for braking control of the first electromechanical brake.

[0013] The first power supply device can supply power to the first controller, the first electromechanical brake controller, and the second electromechanical brake controller, and the second power supply device can supply power to the second controller, the first electromechanical brake controller, and the second electromechanical brake controller.

[0014] The first power supply device can supply power to the first controller and the second electromechanical brake controller, and the second power supply device can supply power to the second controller and the first electromechanical brake controller.

[0015] The braking system may further include: a hydraulic brake disposed in the front wheels of the vehicle; and a fluid pressure supply device configured to generate and supply fluid pressure to generate braking force in the hydraulic brake, wherein one or more controllers, in response to the output signal of at least one of a pedal displacement sensor of the vehicle brake pedal and a pressure sensor configured to output a signal corresponding to information about the fluid pressure generated by the braking system, output control signals for braking control of the electromechanical brake to an electromechanical brake controller, and output control signals for generating and supplying fluid pressure to the fluid pressure supply device.

[0016] The pedal displacement sensor and pressure sensor can receive power from one or more power sources via one or more controllers.

[0017] The braking system may further include: an electromechanical brake disposed in the front wheels of the vehicle; two force sensors configured to detect the clamping force of the electromechanical brake disposed in the front wheels; and an electromechanical brake controller configured to perform braking control on the electromechanical brake disposed in the front wheels in response to an output signal of at least one of the two force sensors configured to detect the clamping force of the front wheels, wherein one or more controllers, in response to an output signal of at least one of a pedal displacement sensor and a pedal force sensor of the vehicle's brake pedal, output a control signal for braking control of the electromechanical brake of the rear wheels to a rear wheel electromechanical brake controller, and output a control signal for braking control of the electromechanical brake of the front wheels to a front wheel electromechanical brake controller.

[0018] The pedal displacement sensor and pedal force sensor can receive power from one or more power supply units via one or more controllers.

[0019] Another aspect of the present invention provides a braking system comprising: a first electromechanical brake disposed in a first rear wheel of a vehicle; a second electromechanical brake disposed in a second rear wheel of the vehicle; a first force sensor configured to detect the clamping force of the first electromechanical brake; a second force sensor configured to detect the clamping force of the second electromechanical brake; a first electromechanical brake controller configured to perform braking control on the first electromechanical brake in response to an output signal from the first force sensor; a second electromechanical brake controller electrically or communicatively connected to the first electromechanical brake controller and configured to perform braking control on the second electromechanical brake; a first controller configured to output a signal to the second electromechanical brake controller for braking control of the second electromechanical brake; a second controller configured to output a signal to the first electromechanical brake controller for braking control of the first electromechanical brake; and a first power supply device and a second power supply device configured to supply power to at least one of the first controller, the second controller, the first electromechanical brake controller, and the second electromechanical brake controller.

[0020] The first power supply device can supply power to the first controller and the second electromechanical brake controller, and the second power supply device can supply power to the second controller and the first electromechanical brake controller.

[0021] The first force sensor can receive power from the second power supply via the first electromechanical brake controller, and the second force sensor can receive power from the first power supply via the second electromechanical brake controller.

[0022] The braking system may further include: a hydraulic brake disposed in the front wheels of the vehicle; and a liquid pressure supply device configured to generate and supply liquid pressure to generate braking force in the hydraulic brake, the liquid pressure supply device being electrically connected to a first controller and a second controller, wherein the first controller or the second controller outputs a control signal to the liquid pressure supply device in response to an output signal of at least one of a pedal displacement sensor of the vehicle's brake pedal and a pressure sensor configured to output a signal corresponding to information about the liquid pressure generated by the braking system.

[0023] The braking system may further include: an electromechanical brake disposed in the front wheels of the vehicle; two force sensors configured to detect the clamping force of the electromechanical brake disposed in the front wheels; and an electromechanical brake controller electrically or communicatively connected to a first controller and a second controller, and configured to perform braking control on the electromechanical brake disposed in the front wheels in response to output signals from the two force sensors configured to detect the clamping force of the front wheels, wherein the first controller or the second controller outputs a signal to the electromechanical brake controller of the front wheels for braking control of the electromechanical brake of the front wheels.

[0024] Another aspect of the disclosed content provides a method for controlling a braking system, the braking system comprising: an electromechanical brake disposed in the rear wheel of a vehicle; and a first force sensor and a second force sensor configured to receive power from at least one of a first power supply and a second power supply via an electromechanical brake controller of the electromechanical brake, and to detect clamping force based on the operation of the electromechanical brake, the method for controlling the braking system comprising the steps of: operating the electromechanical brake when receiving an output signal from a pedal displacement sensor of the vehicle's brake pedal; and controlling the braking force of the electromechanical brake based on the operation of the electromechanical brake and the receipt of the output signal from at least one of the first force sensor and the second force sensor.

[0025] The electromechanical brake may include: a first electromechanical brake disposed in a first rear wheel; and a second electromechanical brake disposed in a second rear wheel, and operation of the electromechanical brake may include: operating the second electromechanical brake in response to a control signal from a first controller receiving power from a first power supply device; and operating the first electromechanical brake in response to a control signal from a second controller receiving power from a second power supply device.

[0026] The method for controlling the braking system may further include the following steps: operating a first electromechanical brake and a second electromechanical brake in response to a control signal from a second controller when a first controller or a first power supply device fails; and operating the first electromechanical brake and the second electromechanical brake in response to a control signal from a first controller when a second controller or a second power supply device fails.

[0027] The effects of the present invention are not limited to those described above, and other effects not mentioned above will be readily understood by those skilled in the art from the following description.

[0028] The objectives to be achieved by the present invention, the means to achieve those objectives, and the effects of the present invention described above do not specify the essential features of the claims. Therefore, the scope of the claims is not limited to the content of the present invention. Attached Figure Description

[0029] The above and other aspects, features and advantages of the invention will become clearer from the following detailed description taken in conjunction with the accompanying drawings, wherein:

[0030] Figure 1 This is a block diagram illustrating a braking system according to an embodiment;

[0031] Figure 2 This is a view illustrating the configuration of the braking system according to an embodiment;

[0032] Figure 3 This is a view illustrating the configuration of the braking system according to an embodiment;

[0033] Figure 4 This is a view illustrating the configuration of the braking system according to an embodiment;

[0034] Figure 5 This is a view illustrating the configuration of the braking system according to an embodiment;

[0035] Figure 6 This is a view illustrating the configuration of the braking system according to an embodiment;

[0036] Figure 7 This is a view illustrating the configuration of the braking system according to an embodiment;

[0037] Figure 8 This is a view illustrating the configuration of the braking system according to an embodiment;

[0038] Figure 9 This is a view illustrating the configuration of a braking system according to an embodiment; and

[0039] Figure 10 This is a flowchart illustrating the operation of the control braking system according to an embodiment. Detailed Implementation

[0040] Throughout this specification, the same reference numerals refer to the same parts. This specification does not describe all parts of the embodiments, and repetitions between embodiments or general descriptions of the technical field of the invention will be omitted. The terms "part," "module," "component," and "block" as used in this specification can refer to software or hardware, and multiple "parts," "modules," "components," and "blocks" can also refer to a single component, or a single "part," "module," "component," and "block" may include multiple components according to embodiments.

[0041] Throughout the instruction manual, when one part is referred to as “connected” to another, it includes not only direct connections but also indirect connections, and indirect connections include connections via wireless networks.

[0042] Furthermore, when a description section "includes" a component, it means that the section may also include other components, unless otherwise specifically stated, other components are not excluded.

[0043] Throughout the specification, when a component is described as being "on" another component, this includes not only cases where the component is in contact with the other component, but also cases where yet another component exists between the two components.

[0044] The terms first, second, etc. are used to distinguish one component from another, and these components are not limited by the terms mentioned above.

[0045] Unless the context clearly indicates otherwise, the singular forms “a,” “one,” and “the” include plural referents.

[0046] For ease of explanation, identification numbers are used in each step. These identification numbers do not describe the order of the steps, and each step may be performed in a different order than specified unless the context clearly states a particular order.

[0047] In the following description, exemplary embodiments of the present invention will be described with reference to the accompanying drawings and exemplary embodiments. For descriptive purposes, the proportions of the components shown in the drawings differ from the actual proportions, and therefore the proportions are not limited to those shown in the drawings.

[0048] Figure 1 This is a block diagram illustrating a braking system according to an embodiment.

[0049] Reference Figure 1 The braking system 1 may include: brakes 110, 120, 130 and 140, respectively disposed in the wheels w1, w2, w3 and w4 of the vehicle and configured to stop the rotation of the wheels w1, w2, w3 and w4; one or more power supply devices 150 configured to supply power to the braking system 1; and a controller 160 configured to control the braking system 1.

[0050] Brakes 110, 120, 130 and 140 may include: a first brake 110 configured to brake or release a first wheel w1; a second brake 120 configured to brake or release a second wheel w2; a third brake 130 configured to brake or release a third wheel w3; and a fourth brake 140 configured to brake or release a fourth wheel w4.

[0051] For example, the first wheel w1 and the second wheel w2 can be the front wheels, and the third wheel w3 and the fourth wheel w4 can be the rear wheels.

[0052] The first brake 110 and the second brake 120 can be configured as hydraulic brakes that operate by liquid pressure. Therefore, the braking system 1 may also include a liquid pressure supply device (not shown).

[0053] For example, the liquid pressure supply device may include: a reservoir configured to store a pressurized medium; a master cylinder configured to provide a reaction force to the driver corresponding to the pedal force of the brake pedal 31 and to pressurize and discharge the pressurized medium, such as brake fluid, contained therein; a liquid pressure supply unit configured to generate liquid pressure of the pressurized medium by means of mechanical operation by receiving the driver's braking intention as an electrical signal from a pedal displacement sensor 30 configured to detect the displacement of the brake pedal 31; a hydraulic control unit configured to control the liquid pressure from the liquid pressure supply unit; a hydraulic pressure circuit with wheel cylinders configured to brake a first wheel w1 and a second wheel w2 by receiving the liquid pressure of the pressurized medium; a connecting flow path configured to hydraulically connect the master cylinder and the hydraulic pressure circuit; a dump control unit disposed between the liquid pressure supply unit and the reservoir and configured to control the flow of the pressurized medium; a reservoir flow path configured to hydraulically connect the reservoir and the master cylinder; and / or a check flow path connected to the main chamber of the master cylinder.

[0054] The liquid pressure supply device can generate liquid pressure in response to the output signal of the pedal displacement sensor 30, and supply the generated liquid pressure to the wheel cylinders of the first wheel w1 and the second wheel w2 through the transmission flow path, so that braking force can be generated in the first wheel w1 and the second wheel w2 according to the internal pressure of the wheel cylinder.

[0055] Alternatively, the first brake 110 and the second brake 120 can be configured as electromechanical brakes (EMBs) that operate by electromechanical means, i.e., by generating braking force by means of a motor and mechanical components to generate clamping force for braking the respective wheels. The first brake 110 may include a controller (not shown) for controlling the first brake 110, and the second brake 120 may include a controller (not shown) for controlling the second brake 120. Furthermore, one or more force sensors may be provided in each of the first brake 110 and the second brake 120 to detect the clamping force of the respective brake.

[0056] A controller for controlling each of the first brake 110 and the second brake 120 may include drive circuitry for the motor. In response to a control signal from the controller 160, the drive circuitry may operate the motor to generate or eliminate braking force in the respective wheel.

[0057] For example, an electromechanical brake can be a caliper brake or a drum brake.

[0058] A caliper brake may include: a pair of pads mounted to press against a brake disc configured to rotate with each of wheels w1 and w2; a caliper housing configured to operate the pair of pads; a piston mounted in the caliper housing and configured to advance or retract; a power conversion unit configured to receive rotational drive power for moving the piston, convert the rotational drive power into linear drive power, and transmit the linear drive power to the piston; and / or a brake motor configured to generate rotational drive power for moving the piston.

[0059] A drum brake may include: a pair of brake shoes, each having an arcuate shape and mounted to be movable along the surface of a backing plate coupled to the vehicle body; a drum having a friction surface on its inner circumference and configured to rotate with the corresponding wheel of the vehicle; and / or an electric actuator configured to apply force to the brake shoes in the direction in which the pair of brake shoes are deployed. The electric actuator may include a motor, a reducer, and / or a pressurizing mechanism.

[0060] The third brake 130 and the fourth brake 140 may each be provided as electromechanical brakes. The third brake 130 may be referred to as the first electromechanical brake, and the fourth brake 140 may be referred to as the second electromechanical brake.

[0061] The third brake 130 may include a controller 132 configured to control the third brake 130, and the fourth brake 140 may include a controller 142 configured to control the fourth brake 140. Controller 132 may be referred to as a first electromechanical brake controller, and controller 142 may be referred to as a second electromechanical brake controller.

[0062] One or more force sensors 10 may be disposed in the third brake 130, and one or more force sensors 20 may be disposed in the fourth brake 140.

[0063] One or more force sensors 10 may include a first force sensor 11 and / or a second force sensor 12.

[0064] One or more force sensors 20 may include a third force sensor 21 and a fourth force sensor 22.

[0065] The controller 132 of the third brake 130 and the controller 142 of the fourth brake 140 can be electrically or communicatively connected to the controller 160, and perform braking control or brake release control on the third brake 130 and the fourth brake 140 in response to the braking control or brake release control signal of the controller 160.

[0066] One or more force sensors 10 may be electrically or communicatively connected to the controller 132 of the third brake 130.

[0067] Therefore, the controller 132 can receive signals corresponding to the clamping force of the third brake 130 from one or more force sensors 10 and perform feedback control to adjust the clamping force of the third brake 130.

[0068] The controller 132 of the third brake 130 can respond to the output signal of the first force sensor 11 and the output signal of the second force sensor 12 by utilizing the signal correlation analysis function in the prior art to improve the clamping force accuracy of the third brake 130.

[0069] For example, the controller 132 of the third brake 130 can control the third brake 130 based on a comparison between the output signal of the first force sensor 11 and the output signal of the second force sensor 12, that is, to perform feedback control. Since feedback control is a technique in the relevant art, a detailed description of this control will be omitted.

[0070] Furthermore, the controller 132 of the third brake 130 can detect abnormal conditions (e.g., detect an error in either force sensor) by comparing and analyzing the output signals of the first force sensor 11 and the second force sensor 12, thereby performing control to optimize braking performance and maintain the stability of the third brake 130. In other words, the first force sensor 11 and the second force sensor 12 can be redundant. When either force sensor fails, the other force sensor can be used to control the corresponding brake.

[0071] For example, when either the first force sensor 11 or the second force sensor 12 fails to function, the controller 132 of the third brake 130 can control the third brake 130 in response to the output signal of the other force sensor. Since the identification of force sensor malfunction is a technology in the relevant art, its detailed description will be omitted.

[0072] The controller 132 of the third brake 130 can use the first force sensor 11 as the main sensor and the second force sensor 12 as the auxiliary force sensor.

[0073] For example, the controller 132 of the third brake 130 can control the third brake 130 in response to the output signal of the first force sensor 11, i.e., perform feedback control. When it is detected that the first force sensor 11 is not working, the controller 132 of the third brake 130 can control the third brake 130 in response to the output signal of the second force sensor 12. Since the identification of the failure of the force sensor is a technology in the relevant art, its detailed description will be omitted.

[0074] One or more force sensors 20 may be electrically or communicatively connected to the controller 142 of the fourth brake 140. Thus, the controller 142 may receive signals corresponding to the clamping force of the fourth brake 140 from one or more force sensors 20 and perform feedback control to adjust the clamping force of the fourth brake 140.

[0075] The controller 142 of the fourth brake 140 can respond to the output signals of the third force sensor 21 and the fourth force sensor 22 by utilizing the signal correlation analysis function in the prior art to improve the clamping force accuracy of the fourth brake 140.

[0076] For example, the controller 142 of the fourth brake 140 can control the fourth brake 140 based on a comparison between the output signal of the third force sensor 21 and the output signal of the fourth force sensor 22, that is, to perform feedback control.

[0077] Furthermore, the controller 142 of the fourth brake 140 can detect abnormal conditions (e.g., detect an error in either force sensor) by comparing and analyzing the output signals of the third force sensor 21 and the fourth force sensor 22, thereby performing control to optimize braking performance and maintain the stability of the fourth brake 140. In other words, the third force sensor 21 and the fourth force sensor 22 can be redundant. When either force sensor fails, the other force sensor can be used to control the corresponding brake.

[0078] For example, when either the third force sensor 21 or the fourth force sensor 22 fails to function, the controller 142 of the fourth brake 140 can control the fourth brake 140 in response to the output signal of the other force sensor. Since the identification of force sensor malfunction is a technology in the relevant art, its detailed description will be omitted.

[0079] The controller 142 of the fourth brake 140 can use the third force sensor 21 as the main force sensor and the fourth force sensor 22 as the auxiliary force sensor.

[0080] For example, the controller 142 of the fourth brake 140 can control the fourth brake 140 in response to the output signal of the third force sensor 21, i.e., perform feedback control. When it is detected that the third force sensor 21 is not working, the controller 142 of the fourth brake 140 can control the fourth brake 140 in response to the output signal of the fourth force sensor 22. Since the identification of the failure of the force sensor is a technology in the relevant art, its detailed description will be omitted.

[0081] The power supply unit 150 can be configured to supply power to the components of the braking system 1, such as the controller 132 of the third brake 130 and the controller 142 of the fourth brake 140, force sensors 10 and 20, controller 160 and / or pedal displacement sensor 30.

[0082] The power supply device 150 may include a first power supply device 1510 and a second power supply device 1520 and implement power redundancy.

[0083] The first power supply device 1510 and the second power supply device 1520 may include independent power circuits configured to supply power from different batteries, or may include independent power circuits separate from one battery.

[0084] For example, the first power supply device 1510 may include a first battery and / or a first power circuit configured to provide power from the first battery, and the second power supply device 1520 may include a second battery and / or a second power circuit configured to provide power from the second battery. Alternatively, the first power supply device 1510 and the second power supply device 1520 may each include a first power circuit and a second power circuit configured to provide power from a single battery.

[0085] The controller 160 can be electrically or communicatively connected to the pedal displacement sensor 30 of the brake pedal 31.

[0086] The controller 160 can receive the output signal of the pedal displacement sensor 30 and, in response to the output signal of the pedal displacement sensor 30, output a signal for performing braking control or brake release control on the first brake 110, the second brake 120, the third brake 130 and / or the fourth brake 140.

[0087] The pedal displacement sensor 30 can output a signal corresponding to the displacement (e.g., distance traveled and / or speed of travel) of the brake pedal 31. Therefore, the controller 160 can identify the displacement of the brake pedal 31 in response to the output signal of the pedal displacement sensor 30, and thus output a brake control signal corresponding to the driver's braking intention.

[0088] Controller 160 may include a first controller 1610 and / or a second controller 1620.

[0089] For example, the first controller 1610 may be the basic controller of the braking system 1, and the second controller 1620 may be a backup controller.

[0090] For example, the first controller 1610 can control the first brake 110, the second brake 120, the third brake 130, and the fourth brake 140, and the second controller 1620 can control the first brake 110, the second brake 120, the third brake 130, and the fourth brake 140. In this case, the first controller 1610 can be the basic controller of the braking system 1, the second controller 1620 can be a backup controller, and the second controller 1620 can operate if the first controller 1610 fails or cannot operate.

[0091] As another example, the first controller 1610 can control the first brake 110 and the second brake 120, and control either the third brake 130 or the fourth brake 140. The second controller 1620 can control the first brake 110 and the second brake 120, and control the remaining brake among the third brake 130 and the fourth brake 140 that is not controlled by the first controller 1610. In this case, with the first brake 110 and the second brake 120, the first controller 1610 can be the primary controller, and the second controller 1620 can be the backup controller. Therefore, in the event of a failure or inoperability of the first controller 1610, the second controller 1620 can control the first brake 110 and the second brake 120, and control the remaining brake among the third brake 130 and the fourth brake 140, which is a brake that is not controlled by the first controller 1610 when no failure occurs.

[0092] As another example, the first controller 1610 can control the first brake 110 and the fourth brake 140, and the second controller 1620 can control the second brake 120 and the third brake 130.

[0093] The first controller 1610 may include a processor 1611 and a memory 1613.

[0094] The processor 1611 can process the output signal of the pedal displacement sensor 30 and, in response to the output signal of the pedal displacement sensor 30, output a control signal for performing braking control on the first brake 110, the second brake 120, the third brake 130 and the fourth brake 140.

[0095] The memory 1613 can store or remember programs and data used to control the operation of components included in the braking system 1. The memory 1613 can provide the stored programs and data to the processor 1611, and store temporary data generated during the operation of the processor 1611.

[0096] The second controller 1620 may include a processor 1621 and a memory 1623.

[0097] The processor 1621 can process the output signal of the pedal displacement sensor 30 and, in response to the output signal of the pedal displacement sensor 30, output a control signal for performing braking control on the first brake 110, the second brake 120, the third brake 130 and the fourth brake 140.

[0098] The memory 1623 can store or remember programs and data used to control the operation of components included in the braking system 1. The memory 1623 can provide the stored programs and data to the processor 1621, and also store temporary data generated during the operation of the processor 1621.

[0099] Memory 1613 and memory 1623 may each include volatile memory, such as static random access memory (S-RAM) and dynamic random access memory (D-RAM), and non-volatile memory, such as read-only memory (ROM), erasable programmable read-only memory (EEPROM), electrically erasable programmable read-only memory (EEPROM), and flash memory.

[0100] The first controller 1610 and the second controller 1620 may each include one or more semiconductor elements and are referred to by various terms such as electronic control unit (ECU).

[0101] Figure 2 This is a view showing the configuration of a braking system (e.g., braking system 1) according to an embodiment.

[0102] Reference Figure 2 The braking system 1-1 may include a hydraulic brake and a drum-type electromechanical brake.

[0103] The braking system 1-1 may include: a first brake 110 and a second brake 120, which are caliper-type hydraulic brakes; a third brake 130 and a fourth brake 140, which are drum-type electromechanical brakes; a first force sensor 11 and a second force sensor 12 disposed in the third brake 130; a third force sensor 21 and a fourth force sensor 22 disposed in the fourth brake 140; a first battery 1510 and a second battery 1520, the first battery 1510 corresponding to a first power supply device 1510 and the second battery 1520 corresponding to a second power supply device 1520, the first power supply device and the second power supply device being two independent power supply devices; a controller 160 configured to control at least one component of the braking system 1-1; a liquid pressure supply device 190 configured to provide liquid pressure to the first brake 110 and the second brake 120; and a pressure sensor 40 capable of measuring the liquid pressure of the pressurized medium when the first brake 110 and the second brake 120 are operated by the pedal displacement sensor 30 of the brake pedal 31 and / or the liquid pressure supply device 190.

[0104] The third brake 130 may include a controller 132, and the fourth brake 140 may include a controller 142.

[0105] The first brake 110 and the second brake 120 can be hydraulically connected to the liquid pressure supply device 190, and generate braking force on the corresponding wheels w1 and w2, or release the generation of braking force, by receiving liquid pressure from the liquid pressure supply device 190.

[0106] The liquid pressure supply device 190 can be electrically or communicatively connected to the controller 160 and operates by receiving control signals from the controller 160.

[0107] The third brake 130 and the fourth brake 140 can be electrically or communicatively connected to the controller 160. For example, the controller 132 of the third brake 130 and the controller 142 of the fourth brake 140 can be electrically or communicatively connected to the controller 160.

[0108] The controller 132 of the third brake 130 and the controller 142 of the fourth brake 140 can receive control signals from the controller 160 and perform braking control or brake release control on the third brake 130 and the fourth brake 140.

[0109] The dual-type first force sensor 11 and second force sensor 12 disposed in the third brake 130 can be electrically or communicatively connected to the third brake 130. For example, the first force sensor 11 and second force sensor 12 can be electrically or communicatively connected to the controller 132 of the third brake 130.

[0110] The controller 132 of the third brake 130 can perform braking control or brake release control on the third brake 130 in response to a control signal from the controller 160.

[0111] Additionally, the controller 132 can perform signal correlation analysis and / or feedback control in response to the output signals of the first force sensor 11 and the second force sensor 12. Furthermore, when either the first force sensor 11 or the second force sensor 12 fails, the controller 132 can use the remaining force sensor to control the third brake 130.

[0112] Alternatively, controller 132 can perform feedback control on the third brake 130 by using the first force sensor 11 as the primary sensor and the second force sensor 12 as the auxiliary force sensor. For example, controller 132 can control the third brake 130 in response to the output signal of the first force sensor 11. When it is detected that the first force sensor 11 is not working, controller 132 can control the third brake 130 in response to the output signal of the second force sensor 12.

[0113] The dual-type third force sensor 21 and fourth force sensor 22 disposed in the fourth brake 140 can be electrically or communicatively connected to the fourth brake 140. For example, the third force sensor 21 and fourth force sensor 22 can be electrically or communicatively connected to the controller 142 of the fourth brake 140.

[0114] The controller 142 of the fourth brake 140 can perform braking control or brake release control on the fourth brake 140 in response to a control signal from the controller 160.

[0115] Furthermore, the controller 142 can perform signal correlation analysis and / or feedback control in response to the output signals of the third force sensor 21 and the fourth force sensor 22. Additionally, if either the third force sensor 21 or the fourth force sensor 22 fails, the controller 142 can utilize the remaining force sensor to control the fourth brake 140.

[0116] Alternatively, controller 142 can perform feedback control on the fourth brake 140 by using the third force sensor 21 as the primary sensor and the fourth force sensor 22 as the auxiliary force sensor. For example, controller 142 can control the fourth brake 140 in response to the output signal of the third force sensor 21. When it is detected that the third force sensor 21 is not working, controller 142 can control the fourth brake 140 in response to the output signal of the fourth force sensor 22.

[0117] The first battery 1510 can supply power to the controller 160 via a power line. Additionally, the first battery 1510 can supply power to the pedal displacement sensor 30 and the pressure sensor 40 via the controller 160.

[0118] The first battery 1510 can supply power to the third brake 130 and the fourth brake 140 via power lines.

[0119] The second battery 1520 can supply power to the third brake 130 and the fourth brake 140 via power lines.

[0120] The first force sensor 11 and the second force sensor 12, which are disposed in the third brake 130, can receive power from the first battery 1510 and / or the second battery 1520 via the power line through the third brake 130.

[0121] The third force sensor 21 and the fourth force sensor 22, which are located in the fourth brake 140, can receive power from the first battery 1510 and / or the second battery 1520 via the power line through the fourth brake 140.

[0122] The pedal displacement sensor 30 and the pressure sensor 40 can be electrically or communicatively connected to the controller 160, and output signals for performing braking control or brake release control on the first brake 110, the second brake 120, the third brake 130 and the fourth brake 140 in response to the output signals of the pedal displacement sensor 30 and / or the pressure sensor 40.

[0123] For example, the pedal displacement sensor 30 and the pressure sensor 40 can serve as redundancy for each other, so that if one sensor fails, the other sensor can provide a backup for the function.

[0124] Although not shown in the attached diagram, in Figure 2 In the above embodiments, the third brake 130 and the fourth brake 140, that is, the controller 132 of the third brake 130 and the controller 142 of the fourth brake 140, can be electrically connected or communicatively connected to each other and work together.

[0125] In addition, according to Figure 2In the above configuration of the braking system 1-1, the two force sensors in each of the third brake 130 and the fourth brake 140 are redundant, so that when any one force sensor fails, the remaining force sensor can be used to control the corresponding brake.

[0126] Figure 3 This is a view showing the configuration of a braking system (e.g., braking system 1) according to an embodiment.

[0127] Reference Figure 3 The controller of the braking system 1-2 can be implemented as a dual-type controller including a first controller 1610 and a second controller 1620.

[0128] Braking systems 1-2 may include hydraulic brakes and drum-type electromechanical brakes.

[0129] The braking system 1-2 may include: a first brake 110 and a second brake 120, which are caliper-type hydraulic brakes; a third brake 130 and a fourth brake 140, which are drum-type electromechanical brakes; a first force sensor 11 and a second force sensor 12, which are disposed in the third brake 130; a third force sensor 21 and a fourth force sensor 22, which are disposed in the fourth brake 140; a first battery 1510 and a second battery 1520, wherein the first battery 1510 corresponds to a first power supply device 1510 and the second battery 1520 corresponds to a second power supply device 1520. The device 1520 includes a first power supply and a second power supply, which are two independent power supply devices; a first controller 1610 and a second controller 1620, configured to control at least one component of the braking system 1-2; a liquid pressure supply device 190, configured to provide liquid pressure to the first brake 110 and the second brake 120; and a pressure sensor 40, capable of measuring the liquid pressure of the pressurized medium when the first brake 110 and the second brake 120 are operated by the pedal displacement sensor 30 of the brake pedal 31 and / or the liquid pressure supply device 190.

[0130] The third brake 130 may include a controller 132, and the fourth brake 140 may include a controller 142.

[0131] The first brake 110 and the second brake 120 can be hydraulically connected to the liquid pressure supply device 190 and generate braking force on the corresponding wheels w1 and w2 by receiving liquid pressure from the liquid pressure supply device 190.

[0132] The liquid pressure supply device 190 can be electrically or communicatively connected to the first controller 1610 and the second controller 1620, and operates by receiving control signals from the first controller 1610 or the second controller 1620.

[0133] The third brake 130 and the fourth brake 140 can be electrically or communicatively connected to the first controller 1610 and the second controller 1620, respectively. For example, the controller 132 of the third brake 130 and the controller 142 of the fourth brake 140 can be electrically or communicatively connected to the first controller 1610 and the second controller 1620, respectively.

[0134] The controller 132 of the third brake 130 and the controller 142 of the fourth brake 140 can receive control signals from the first controller 1610 or the second controller 1620, and perform braking control or brake release control on the third brake 130 and the fourth brake 140.

[0135] The dual-type first force sensor 11 and second force sensor 12 disposed in the third brake 130 can be electrically or communicatively connected to the third brake 130. For example, the first force sensor 11 and second force sensor 12 can be electrically or communicatively connected to the controller 132 of the third brake 130.

[0136] The controller 132 of the third brake 130 can perform braking control or brake release control on the third brake 130 in response to control signals from the first controller 1610 or the second controller 1620.

[0137] Additionally, the controller 132 can perform signal correlation analysis and / or feedback control in response to the output signals of the first force sensor 11 and the second force sensor 12. Furthermore, when either the first force sensor 11 or the second force sensor 12 fails, the controller 132 can use the remaining force sensor to control the third brake 130.

[0138] Alternatively, controller 132 can perform feedback control on the third brake 130 by using the first force sensor 11 as the primary sensor and the second force sensor 12 as the auxiliary force sensor. For example, controller 132 can control the third brake 130 in response to the output signal of the first force sensor 11. When it is detected that the first force sensor 11 is not working, controller 132 can control the third brake 130 in response to the output signal of the second force sensor 12.

[0139] The dual-type third force sensor 21 and fourth force sensor 22 disposed in the fourth brake 140 can be electrically or communicatively connected to the fourth brake 140. For example, the third force sensor 21 and fourth force sensor 22 can be electrically or communicatively connected to the controller 142 of the fourth brake 140.

[0140] The controller 142 of the fourth brake 140 can perform braking control or brake release control on the fourth brake 140 in response to a control signal from the first controller 1610 or the second controller 1620.

[0141] Furthermore, the controller 142 can perform signal correlation analysis and / or feedback control in response to the output signals of the third force sensor 21 and the fourth force sensor 22. Additionally, if either the third force sensor 21 or the fourth force sensor 22 fails, the controller 142 can utilize the remaining force sensor to control the fourth brake 140.

[0142] Alternatively, controller 142 can perform feedback control on the fourth brake 140 by using the third force sensor 21 as the primary sensor and the fourth force sensor 22 as the auxiliary force sensor. For example, controller 142 can control the fourth brake 140 in response to the output signal of the third force sensor 21. When it is detected that the third force sensor 21 is not working, controller 142 can control the fourth brake 140 in response to the output signal of the fourth force sensor 22.

[0143] The first battery 1510 can supply power to the first controller 1610 via a power line. Additionally, the first battery 1510 can supply power to the pedal displacement sensor 30 and the pressure sensor 40 via the first controller 1610.

[0144] The second battery 1520 can supply power to the second controller 1620 via a power line. Additionally, the second battery 1520 can supply power to the pedal displacement sensor 30 and the pressure sensor 40 via the second controller 1620.

[0145] The first battery 1510 can supply power to the third brake 130 and the fourth brake 140 via power lines.

[0146] The second battery 1520 can supply power to the third brake 130 and the fourth brake 140 via power lines.

[0147] The first force sensor 11 and the second force sensor 12, which are disposed in the third brake 130, can receive power from the first battery 1510 and / or the second battery 1520 via the power line through the third brake 130.

[0148] The third force sensor 21 and the fourth force sensor 22, which are located in the fourth brake 140, can receive power from the first battery 1510 and / or the second battery 1520 via the power line through the fourth brake 140.

[0149] The pedal displacement sensor 30 and the pressure sensor 40 can be electrically or communicatively connected to the first controller 1610 and the second controller 1620. The first controller 1610 or the second controller 1620 can output signals for performing braking control or brake release control on the first brake 110, the second brake 120, the third brake 130, and the fourth brake 140 in response to the output signals of the pedal displacement sensor 30 and / or the pressure sensor 40.

[0150] For example, the pedal displacement sensor 30 and the pressure sensor 40 can serve as redundancy for each other, so that if one sensor fails, the other sensor can provide a backup for the function.

[0151] The first controller 1610 and the second controller 1620 can be electrically or communicatively connected to each other. When either the first controller 1610 or the second controller 1620 fails, the other controller can act as a backup controller.

[0152] For example, the first controller 1610 may be a basic controller configured to control the overall operation of the braking system 1-2, and the second controller 1620 may be a backup controller. Therefore, when the first controller 1610 fails, the second controller 1620 can control the overall operation of the braking system 1-2.

[0153] according to Figure 3 In the above-described configuration of the braking system 1-2 in the embodiment, when the first controller 1610 or the first battery 1510 fails, the second controller 1620 supplies power from the second battery 1520 to the pedal displacement sensor 30 and the pressure sensor 40, so that the second controller 1620 can control the braking system 1-2 in response to the output signals of the pedal displacement sensor 30 and / or the pressure sensor 40.

[0154] In addition, according to Figure 3 The above configuration of the braking system 1-2, in which two force sensors are installed in each of the third brake 130 and the fourth brake 140, achieves redundancy, so that when any one force sensor fails, the remaining force sensor can be used to control the corresponding brake.

[0155] Figure 4 This is a view showing the configuration of a braking system (e.g., braking system 1) according to an embodiment.

[0156] Reference Figure 4 The controller of the braking system 1-3 can be implemented as a dual-type controller including a first controller 1610 and a second controller 1620.

[0157] Braking systems 1-3 may include hydraulic brakes and drum-type electromechanical brakes.

[0158] The braking system 1-3 may include: a first brake 110 and a second brake 120, which are caliper-type hydraulic brakes; a third brake 130 and a fourth brake 140, which are drum-type electromechanical brakes; a first force sensor 11 and a second force sensor 12, which are disposed in the third brake 130; a third force sensor 21 and a fourth force sensor 22, which are disposed in the fourth brake 140; a first battery 1510 and a second battery 1520, wherein the first battery 1510 corresponds to a first power supply device 1510 and the second battery 1520 corresponds to a second power supply device 1520. The device 1520 includes a first power supply and a second power supply, which are two independent power supply devices; a first controller 1610 and a second controller 1620, configured to control at least one component of the braking system 1-3; a liquid pressure supply device 190, configured to provide liquid pressure to the first brake 110 and the second brake 120; and a pressure sensor 40, capable of measuring the liquid pressure of the pressurized medium when the first brake 110 and the second brake 120 are operated by the pedal displacement sensor 30 of the brake pedal 31 and / or the liquid pressure supply device 190.

[0159] The third brake 130 may include a controller 132, and the fourth brake 140 may include a controller 142.

[0160] The first brake 110 and the second brake 120 can be hydraulically connected to the liquid pressure supply device 190 and generate braking force on the corresponding wheels w1 and w2 by receiving liquid pressure from the liquid pressure supply device 190.

[0161] The liquid pressure supply device 190 can be electrically or communicatively connected to the first controller 1610 and the second controller 1620, and operates by receiving control signals from the first controller 1610 or the second controller 1620.

[0162] The third brake 130 can be electrically or communicatively connected to the second controller 1620. For example, the controller 132 of the third brake 130 can be electrically or communicatively connected to the second controller 1620. The controller 132 of the third brake 130 can receive control signals from the second controller 1620 and perform braking control or brake release control on the third brake 130.

[0163] The fourth brake 140 may be electrically or communicatively connected to the first controller 1610. For example, the controller 142 of the fourth brake 140 may be electrically or communicatively connected to the first controller 1610. The controller 142 of the fourth brake 140 may receive control signals from the first controller 1610 and perform braking control or brake release control on the fourth brake 140.

[0164] The dual-type first force sensor 11 and second force sensor 12 disposed in the third brake 130 can be electrically or communicatively connected to the third brake 130. For example, the first force sensor 11 and second force sensor 12 can be electrically or communicatively connected to the controller 132 of the third brake 130.

[0165] The controller 132 of the third brake 130 can perform braking control or brake release control on the third brake 130 in response to a control signal from the second controller 1620.

[0166] Additionally, the controller 132 can perform signal correlation analysis and / or feedback control in response to the output signals of the first force sensor 11 and the second force sensor 12. Furthermore, when either the first force sensor 11 or the second force sensor 12 fails, the controller 132 can use the remaining force sensor to control the third brake 130.

[0167] Alternatively, controller 132 can perform feedback control on the third brake 130 by using the first force sensor 11 as the primary sensor and the second force sensor 12 as the auxiliary force sensor. For example, controller 132 can control the third brake 130 in response to the output signal of the first force sensor 11. When it is detected that the first force sensor 11 is not working, controller 132 can control the third brake 130 in response to the output signal of the second force sensor 12.

[0168] The dual-type third force sensor 21 and fourth force sensor 22 disposed in the fourth brake 140 can be electrically or communicatively connected to the fourth brake 140. For example, the third force sensor 21 and fourth force sensor 22 can be electrically or communicatively connected to the controller 142 of the fourth brake 140.

[0169] The controller 142 can perform braking control or brake release control on the fourth brake 140 in response to a control signal from the first controller 1610.

[0170] Furthermore, the controller 142 can perform signal correlation analysis and / or feedback control in response to the output signals of the third force sensor 21 and the fourth force sensor 22. Additionally, if either the third force sensor 21 or the fourth force sensor 22 fails, the controller 142 can utilize the remaining force sensor to control the fourth brake 140.

[0171] Alternatively, controller 142 can perform feedback control on the fourth brake 140 by using the third force sensor 21 as the primary sensor and the fourth force sensor 22 as the auxiliary force sensor. For example, controller 142 can control the fourth brake 140 in response to the output signal of the third force sensor 21. When it is detected that the third force sensor 21 is not working, controller 142 can control the fourth brake 140 in response to the output signal of the fourth force sensor 22.

[0172] The first battery 1510 can supply power to the first controller 1610 via a power line. Additionally, the first battery 1510 can supply power to the pedal displacement sensor 30 and the pressure sensor 40 via the first controller 1610.

[0173] The second battery 1520 can supply power to the second controller 1620 via a power line. Additionally, the second battery 1520 can supply power to the pedal displacement sensor 30 and the pressure sensor 40 via the second controller 1620.

[0174] The first battery 1510 can supply power to the fourth controller 140 via power lines.

[0175] The second battery 1520 can supply power to the third controller 130 via power lines.

[0176] The first force sensor 11 and the second force sensor 12, which are installed in the third brake 130, can receive power from the second battery 1520 via the power line through the third brake 130.

[0177] The third force sensor 21 and the fourth force sensor 22, which are installed in the fourth brake 140, can receive power from the first battery 1510 via the power line through the fourth brake 140.

[0178] Pedal displacement sensor 30 and pressure sensor 40 can be electrically or communicatively connected to a first controller 1610 and a second controller 1620. The first controller 1610 or the second controller 1620 can output signals for performing braking control or brake release control on the first brake 110 and the second brake 120 in response to the output signals of the pedal displacement sensor 30 and / or pressure sensor 40. The first controller 1610 can output signals for performing braking control or brake release control on the fourth brake 140 in response to the output signals of the pedal displacement sensor 30 and / or pressure sensor 40. The second controller 1620 can output signals for performing braking control or brake release control on the third brake 130 in response to the output signals of the pedal displacement sensor 30 and / or pressure sensor 40.

[0179] For example, the pedal displacement sensor 30 and the pressure sensor 40 can serve as redundancy for each other, so that if one sensor fails, the other sensor can provide a backup for the function.

[0180] according to Figure 4 As can be seen from the above configuration of the braking system 1-3 in the embodiments, the power sources of the first controller 1610 and the fourth brake 140 are connected, and the power sources of the second controller 1620 and the third brake 130 are connected. Based on the above cross-connection of the power sources, even if either the first battery 1510 or the second battery 1520 fails, the braking system 1-3 can stably perform braking control.

[0181] In addition, according to Figure 4 The above configuration of the braking system 1-3, in which two force sensors are installed in each of the third brake 130 and the fourth brake 140, achieves redundancy, so that when any one force sensor fails, the remaining force sensor can be used to control the corresponding brake.

[0182] Figure 5 This is a view showing the configuration of a braking system (e.g., braking system 1) according to an embodiment.

[0183] Reference Figure 5 The controller of the braking system 1-4 can be implemented as a dual-type controller including a first controller 1610 and a second controller 1620.

[0184] Braking systems 1-4 may include hydraulic brakes and drum-type electromechanical brakes.

[0185] The braking system 1-4 may include: a first brake 110 and a second brake 120, which are caliper-type hydraulic brakes; a third brake 130 and a fourth brake 140, which are drum-type electromechanical brakes; a first force sensor 11 disposed in the third brake 130; a third force sensor 21 disposed in the fourth brake 140; a first battery 1510 and a second battery 1520, the first battery 1510 corresponding to a first power supply device 1510 and the second battery 1520 corresponding to a second power supply device 1520, the first power supply device and the second power supply device being two independent power supply devices; a first controller 1610 and a second controller 1620 configured to control at least one component of the braking system 1-4; a liquid pressure supply device 190 configured to provide liquid pressure to the first brake 110 and the second brake 120; and a pressure sensor 40 capable of measuring the liquid pressure of the pressurized medium when the first brake 110 and the second brake 120 are operated by the pedal displacement sensor 30 of the brake pedal 31 and / or the liquid pressure supply device 190.

[0186] The third brake 130 may include a controller 132, and the fourth brake 140 may include a controller 142.

[0187] The first brake 110 and the second brake 120 can be hydraulically connected to the liquid pressure supply device 190 and generate braking force on the corresponding wheels w1 and w2 by receiving liquid pressure from the liquid pressure supply device 190.

[0188] The liquid pressure supply device 190 can be electrically or communicatively connected to the first controller 1610 and the second controller 1620, and operates by receiving control signals from the first controller 1610 or the second controller 1620.

[0189] The third brake 130 can be electrically or communicatively connected to the second controller 1620. For example, the controller 132 of the third brake 130 can be electrically or communicatively connected to the second controller 1620. The controller 132 of the third brake 130 can receive control signals from the second controller 1620 and perform braking control or brake release control on the third brake 130.

[0190] The fourth brake 140 may be electrically or communicatively connected to the first controller 1610. For example, the controller 142 of the fourth brake 140 may be electrically or communicatively connected to the first controller 1610. The controller 142 of the fourth brake 140 may receive control signals from the first controller 1610 and perform braking control or brake release control on the fourth brake 140.

[0191] The first force sensor 11, which is disposed in the third brake 130, can be electrically or communicatively connected to the third brake 130. For example, the first force sensor 11 can be electrically or communicatively connected to the controller 132 of the third brake 130.

[0192] The controller 132 of the third brake 130 can perform braking control or brake release control on the third brake 130 in response to a control signal from the second controller 1620.

[0193] The controller 132 can perform feedback control in response to the output signal of the first force sensor 11.

[0194] The third force sensor 21, which is disposed in the fourth brake 140, can be electrically or communicatively connected to the fourth brake 140. For example, the third force sensor 21 can be electrically or communicatively connected to the controller 142 of the fourth brake 140.

[0195] The controller 142 of the fourth brake 140 can perform braking control or brake release control on the fourth brake 140 in response to a control signal from the first controller 1610.

[0196] The controller 142 can perform feedback control in response to the output signal of the third force sensor 21.

[0197] The third brake 130 and the fourth brake 140 can be directly connected to each other (either directly electrically or directly through communication), that is, the controller 132 of the third brake 130 and the controller 142 of the fourth brake 140 can be directly connected to each other.

[0198] Therefore, when the first force sensor 11 malfunctions, the controller 132 of the third brake 130 can control the third brake 130 in response to the output signal from the third force sensor 21. For example, when the first force sensor 11 malfunctions, the controller 132 of the third brake 130 can receive the output signal of the third force sensor 21 from the controller 142 of the fourth brake 140.

[0199] Furthermore, when the third force sensor 21 malfunctions, the controller 142 of the fourth brake 140 can control the fourth brake 140 in response to the output signal from the first force sensor 11. For example, when the third force sensor 21 malfunctions, the controller 142 of the fourth brake 140 can receive the output signal of the first force sensor 11 from the controller 132 of the third brake 130.

[0200] The first battery 1510 can supply power to the first controller 1610 via a power line. Additionally, the first battery 1510 can supply power to the pedal displacement sensor 30 and the pressure sensor 40 via the first controller 1610.

[0201] The second battery 1520 can supply power to the second controller 1620 via a power line. Additionally, the second battery 1520 can supply power to the pedal displacement sensor 30 and the pressure sensor 40 via the second controller 1620.

[0202] The first battery 1510 can supply power to the fourth controller 140 via power lines.

[0203] The second battery 1520 can supply power to the third controller 130 via power lines.

[0204] The first force sensor 11, which is located in the third brake 130, can receive power from the second battery 1520 via the power line through the third brake 130.

[0205] The third force sensor 21, which is located in the fourth brake 140, can receive power from the first battery 1510 via the power line through the fourth brake 140.

[0206] Pedal displacement sensor 30 and pressure sensor 40 can be electrically or communicatively connected to a first controller 1610 and a second controller 1620. The first controller 1610 or the second controller 1620 can output signals for performing braking control on the first brake 110 and the second brake 120 in response to the output signals of the pedal displacement sensor 30 and / or pressure sensor 40. The first controller 1610 can output signals for performing braking control on the fourth brake 140 in response to the output signals of the pedal displacement sensor 30 and / or pressure sensor 40. The second controller 1620 can output signals for performing braking control on the third brake 130 in response to the output signals of the pedal displacement sensor 30 and / or pressure sensor 40.

[0207] For example, the pedal displacement sensor 30 and the pressure sensor 40 can serve as redundancy for each other, so that if one sensor fails, the other sensor can provide a backup for the function.

[0208] according to Figure 5 As can be seen from the above configuration of the braking system 1-4 in the embodiments, the power sources of the first controller 1610 and the fourth brake 140 are connected, and the power sources of the second controller 1620 and the third brake 130 are connected. Based on the above cross-connection of the power sources, even if either the first battery 1510 or the second battery 1520 fails, the braking system 1-4 can stably perform braking control.

[0209] Figure 6 This is a view showing the configuration of a braking system (e.g., braking system 1) according to an embodiment.

[0210] Reference Figure 6 The braking system 1-5 may include caliper-type electromechanical brakes and drum-type electromechanical brakes.

[0211] Braking systems 1-5 may include: a first brake 110 and a second brake 120, which are caliper-type electromechanical brakes; a third brake 130 and a fourth brake 140, which are drum-type electromechanical brakes; a fifth force sensor 13 and a sixth force sensor 14, which are disposed in the first brake 110; a seventh force sensor 23 and an eighth force sensor 24, which are disposed in the second brake 120; a first force sensor 11 and a second force sensor 12, which are disposed in the third brake 130; and a third force sensor 21 and a fourth force sensor 22, which are disposed in the fourth brake. 140; a first battery 1510 and a second battery 1520, the first battery 1510 corresponding to a first power supply device 1510 and the second battery 1520 corresponding to a second power supply device 1520, the first power supply device and the second power supply device are two independent power supply devices; a controller 160 configured to control at least one component of the braking system 1-5; and a pedal force sensor 35 for the brake pedal 31, the pedal force sensor 35 being configured to output a signal corresponding to the force applied to the brake pedal 31 by the pedal displacement sensor 30 and / or the brake pedal 31.

[0212] The first brake 110 may include a controller 112, the second brake 120 may include a controller 122, the third brake 130 may include a controller 132, and the fourth brake 140 may include a controller 142.

[0213] The first brake 110 and the second brake 120 may be electrically or communicatively connected to the controller 160. For example, the controller 112 of the first brake 110 and the controller 122 of the second brake 120 may be electrically or communicatively connected to the controller 160.

[0214] The controller 112 of the first brake 110 and the controller 122 of the second brake 120 can receive control signals from the controller 160 and perform braking control or brake release control on the first brake 110 and the second brake 120.

[0215] The third brake 130 and the fourth brake 140 can be electrically or communicatively connected to the controller 160. For example, the controller 132 of the third brake 130 and the controller 142 of the fourth brake 140 can be electrically or communicatively connected to the controller 160.

[0216] The controller 132 of the third brake 130 and the controller 142 of the fourth brake 140 can receive control signals from the controller 160 and perform braking control or brake release control on the third brake 130 and the fourth brake 140.

[0217] The dual-type fifth force sensor 13 and sixth force sensor 14 disposed in the first brake 110 can be electrically or communicatively connected to the first brake 110. For example, the fifth force sensor 13 and sixth force sensor 14 can be electrically or communicatively connected to the controller 112 of the first brake 110.

[0218] The controller 112 of the first brake 110 can perform braking control or brake release control on the first brake 110 in response to a control signal from the controller 160.

[0219] Furthermore, the controller 112 can perform signal correlation analysis and / or feedback control in response to the output signals of the fifth force sensor 13 and the sixth force sensor 14. Additionally, if either the fifth force sensor 13 or the sixth force sensor 14 fails, the controller 112 can utilize the remaining force sensor to control the first brake 110.

[0220] Alternatively, controller 112 can perform feedback control on the first brake 110 by using the fifth force sensor 13 as the primary sensor and the sixth force sensor 14 as the auxiliary force sensor. For example, controller 112 can control the first brake 110 in response to the output signal of the fifth force sensor 13. When it is detected that the fifth force sensor 13 is not working, controller 112 can control the first brake 110 in response to the output signal of the sixth force sensor 14.

[0221] The dual-type seventh force sensor 23 and eighth force sensor 24 disposed in the second brake 120 can be electrically or communicatively connected to the second brake 120. For example, the seventh force sensor 23 and eighth force sensor 24 can be electrically or communicatively connected to the controller 122 of the second brake 120.

[0222] The controller 122 of the second brake 120 can perform braking control or brake release control on the second brake 120 in response to a control signal from the controller 160.

[0223] Furthermore, the controller 122 can perform signal correlation analysis and / or feedback control in response to the output signals of the seventh force sensor 23 and the eighth force sensor 24. Additionally, if either the seventh force sensor 23 or the eighth force sensor 24 fails, the controller 122 can utilize the remaining force sensor to control the second brake 120.

[0224] Alternatively, the controller 122 can perform feedback control on the second brake 120 by using the seventh force sensor 23 as the primary sensor and the eighth force sensor 24 as the auxiliary force sensor. For example, the controller 122 can control the second brake 120 in response to the output signal of the seventh force sensor 23. When it is detected that the seventh force sensor 23 is not working, the controller 122 can control the second brake 120 in response to the output signal of the eighth force sensor 24.

[0225] The dual-type first force sensor 11 and second force sensor 12 disposed in the third brake 130 can be electrically or communicatively connected to the third brake 130. For example, the first force sensor 11 and second force sensor 12 can be electrically or communicatively connected to the controller 132 of the third brake 130.

[0226] The controller 132 of the third brake 130 can perform braking control or brake release control on the third brake 130 in response to a control signal from the controller 160.

[0227] Additionally, the controller 132 can perform signal correlation analysis and / or feedback control in response to the output signals of the first force sensor 11 and the second force sensor 12. Furthermore, when either the first force sensor 11 or the second force sensor 12 fails, the controller 132 can use the remaining force sensor to control the third brake 130.

[0228] Alternatively, controller 132 can perform feedback control on the third brake 130 by using the first force sensor 11 as the primary sensor and the second force sensor 12 as the auxiliary force sensor. For example, controller 132 can control the third brake 130 in response to the output signal of the first force sensor 11. When it is detected that the first force sensor 11 is not working, controller 132 can control the third brake 130 in response to the output signal of the second force sensor 12.

[0229] The dual-type third force sensor 21 and fourth force sensor 22 disposed in the fourth brake 140 can be electrically or communicatively connected to the fourth brake 140. For example, the third force sensor 21 and fourth force sensor 22 can be electrically or communicatively connected to the controller 142 of the fourth brake 140.

[0230] The controller 142 can perform braking control or brake release control on the fourth brake 140 in response to a control signal from the controller 160.

[0231] Furthermore, the controller 142 can perform signal correlation analysis and / or feedback control in response to the output signals of the third force sensor 21 and the fourth force sensor 22. Additionally, if either the third force sensor 21 or the fourth force sensor 22 fails, the controller 142 can utilize the remaining force sensor to control the fourth brake 140.

[0232] Alternatively, controller 142 can perform feedback control on the fourth brake 140 by using the third force sensor 21 as the primary sensor and the fourth force sensor 22 as the auxiliary force sensor. For example, controller 142 can control the fourth brake 140 in response to the output signal of the third force sensor 21. When it is detected that the third force sensor 21 is not working, controller 142 can control the fourth brake 140 in response to the output signal of the fourth force sensor 22.

[0233] The first battery 1510 can supply power to the controller 160 via a power line. Additionally, the first battery 1510 can supply power to the pedal displacement sensor 30 and the pressure sensor 40 via the controller 160.

[0234] The first battery 1510 can supply power to the first brake 110 and the fourth brake 140 via power lines.

[0235] The second battery 1520 can supply power to the second brake 120 and the third brake 130 via power lines.

[0236] The fifth force sensor 13 and the sixth force sensor 14, which are installed in the first brake 110, can receive power from the first battery 1510 via the first brake 110 through the power line.

[0237] The seventh force sensor 23 and the eighth force sensor 24, which are installed in the second brake 120, can receive power from the second battery 1520 via the power line through the second brake 120.

[0238] The first force sensor 11 and the second force sensor 12, which are installed in the third brake 130, can receive power from the second battery 1520 via the power line through the third brake 130.

[0239] The third force sensor 21 and the fourth force sensor 22, which are installed in the fourth brake 140, can receive power from the first battery 1510 via the power line through the fourth brake 140.

[0240] The pedal displacement sensor 30 and the pedal force sensor 35 can be electrically or communicatively connected to the controller 160, and output signals for performing braking control on the first brake 110, the second brake 120, the third brake 130 and the fourth brake 140 in response to the output signals of the pedal displacement sensor 30 and / or the pedal force sensor 35.

[0241] For example, pedal displacement sensor 30 and pedal force sensor 35 can serve as redundancy for each other, so that if one sensor fails, the other sensor can provide a backup for the function.

[0242] Although not shown in the attached diagram, in Figure 6 In the above embodiments, the third brake 130 and the fourth brake 140, namely the controller 132 of the third brake 130 and the controller 142 of the fourth brake 140, can be electrically connected or communicatively connected to each other and work together.

[0243] In addition, according to Figure 6 The above configuration of the braking system 1-5, in which two force sensors are installed in each of the first brake 110, the second brake 120, the third brake 130 and the fourth brake 140, achieves redundancy, so that when any one force sensor fails, the remaining force sensor can be used to control the corresponding brake.

[0244] Figure 7 This is a view showing the configuration of a braking system (e.g., braking system 1) according to an embodiment.

[0245] Reference Figure 7 The braking system 1-6 may include caliper-type electromechanical brakes and drum-type electromechanical brakes.

[0246] Braking systems 1-6 may include: a first brake 110 and a second brake 120, which are caliper-type electromechanical brakes; a third brake 130 and a fourth brake 140, which are drum-type electromechanical brakes; a fifth force sensor 13 and a sixth force sensor 14, which are disposed in the first brake 110; a seventh force sensor 23 and an eighth force sensor 24, which are disposed in the second brake 120; a first force sensor 11 and a second force sensor 12, which are disposed in the third brake 130; and a third force sensor 21 and a fourth force sensor 22, which are disposed in the fourth brake 140. A first battery 1510 and a second battery 1520, the first battery 1510 corresponding to a first power supply device 1510 and the second battery 1520 corresponding to a second power supply device 1520, the first power supply device and the second power supply device are two independent power supply devices; a first controller 1610 and a second controller 1620, configured to control components of the braking system 1-6; and a pedal force sensor 35 for the brake pedal 31, the pedal force sensor 35 being configured to output a signal corresponding to the force applied to the brake pedal 31 by the pedal displacement sensor 30 and / or the brake pedal 31.

[0247] The first brake 110 may include a controller 112, the second brake 120 may include a controller 122, the third brake 130 may include a controller 132, and the fourth brake 140 may include a controller 142.

[0248] The first brake 110 may be electrically or communicatively connected to the first controller 1610 and the second controller 1620. For example, the controller 112 of the first brake 110 may be electrically or communicatively connected to the first controller 1610 and the second controller 1620.

[0249] The second brake 120 may be electrically or communicatively connected to the first controller 1610 and the second controller 1620. For example, the controller 122 of the second brake 120 may be electrically or communicatively connected to the first controller 1610 and the second controller 1620.

[0250] The controller 112 of the first brake 110 and the controller 122 of the second brake 120 can receive control signals from the first controller 1610 or the second controller 1620 and perform braking control or brake release control on the first brake 110 and the second brake 120.

[0251] The third brake 130 can be electrically or communicatively connected to the second controller 1620. For example, the controller 132 of the third brake 130 can be electrically or communicatively connected to the second controller 1620. The controller 132 of the third brake 130 can receive control signals from the second controller 1620 and perform braking control or brake release control on the third brake 130.

[0252] The fourth brake 140 may be electrically or communicatively connected to the first controller 1610. For example, the controller 142 of the fourth brake 140 may be electrically or communicatively connected to the first controller 1610. The controller 142 of the fourth brake 140 may receive control signals from the first controller 1610 and perform braking control or brake release control on the fourth brake 140.

[0253] The dual-type fifth force sensor 13 and sixth force sensor 14 disposed in the first brake 110 can be electrically or communicatively connected to the first brake 110. For example, the fifth force sensor 13 and sixth force sensor 14 can be electrically or communicatively connected to the controller 112 of the first brake 110.

[0254] The controller 112 of the first brake 110 can perform braking control or brake release control on the first brake 110 in response to a control signal from the first controller 1610 or the second controller 1620.

[0255] Furthermore, the controller 112 can perform signal correlation analysis and / or feedback control in response to the output signals of the fifth force sensor 13 and the sixth force sensor 14. Additionally, if either the fifth force sensor 13 or the sixth force sensor 14 fails, the controller 112 can utilize the remaining force sensor to control the first brake 110.

[0256] Alternatively, controller 112 can perform feedback control on the first brake 110 by using the fifth force sensor 13 as the primary sensor and the sixth force sensor 14 as the auxiliary force sensor. For example, controller 112 can control the first brake 110 in response to the output signal of the fifth force sensor 13. When it is detected that the fifth force sensor 13 is not working, controller 112 can control the first brake 110 in response to the output signal of the sixth force sensor 14.

[0257] The dual-type seventh force sensor 23 and eighth force sensor 24 disposed in the second brake 120 can be electrically or communicatively connected to the second brake 120. For example, the seventh force sensor 23 and eighth force sensor 24 can be electrically or communicatively connected to the controller 122 of the second brake 120.

[0258] The controller 122 of the second brake 120 can perform braking control or brake release control on the second brake 120 in response to a control signal from the first controller 1610 or the second controller 1620.

[0259] Furthermore, the controller 122 can perform signal correlation analysis and / or feedback control in response to the output signals of the seventh force sensor 23 and the eighth force sensor 24. Additionally, if either the seventh force sensor 23 or the eighth force sensor 24 fails, the controller 122 can utilize the remaining force sensor to control the second brake 120.

[0260] Alternatively, the controller 122 can perform feedback control on the second brake 120 by using the seventh force sensor 23 as the primary sensor and the eighth force sensor 24 as the auxiliary force sensor. For example, the controller 122 can control the second brake 120 in response to the output signal of the seventh force sensor 23. When it is detected that the seventh force sensor 23 is not working, the controller 122 can control the second brake 120 in response to the output signal of the eighth force sensor 24.

[0261] The dual-type first force sensor 11 and second force sensor 12 disposed in the third brake 130 can be electrically or communicatively connected to the third brake 130. For example, the first force sensor 11 and second force sensor 12 can be electrically or communicatively connected to the controller 132 of the third brake 130.

[0262] The controller 132 of the third brake 130 can perform braking control or brake release control on the third brake 130 in response to a control signal from the second controller 1620.

[0263] Additionally, the controller 132 can perform signal correlation analysis and / or feedback control in response to the output signals of the first force sensor 11 and the second force sensor 12. Furthermore, when either the first force sensor 11 or the second force sensor 12 fails, the controller 132 can use the remaining force sensor to control the third brake 130.

[0264] Alternatively, controller 132 can perform feedback control on the third brake 130 by using the first force sensor 11 as the primary sensor and the second force sensor 12 as the auxiliary force sensor. For example, controller 132 can control the third brake 130 in response to the output signal of the first force sensor 11. When it is detected that the first force sensor 11 is not working, controller 132 can control the third brake 130 in response to the output signal of the second force sensor 12.

[0265] The dual-type third force sensor 21 and fourth force sensor 22 disposed in the fourth brake 140 can be electrically or communicatively connected to the fourth brake 140. For example, the third force sensor 21 and fourth force sensor 22 can be electrically or communicatively connected to the controller 142 of the fourth brake 140.

[0266] The controller 142 can perform braking control or brake release control on the fourth brake 140 in response to a control signal from the first controller 1610.

[0267] In addition, the controller 142 can perform signal correlation analysis and / or feedback control in response to the output signals of the third force sensor 21 and the fourth force sensor 22.

[0268] Alternatively, controller 142 can perform feedback control on the fourth brake 140 by using the third force sensor 21 as the primary sensor and the fourth force sensor 22 as the auxiliary force sensor. For example, controller 142 can control the fourth brake 140 in response to the output signal of the third force sensor 21. When it is detected that the third force sensor 21 is not working, controller 142 can control the fourth brake 140 in response to the output signal of the fourth force sensor 22.

[0269] The first battery 1510 can supply power to the first controller 1610 via a power line. Additionally, the first battery 1510 can supply power to the pedal displacement sensor 30 and the pressure sensor 40 via the first controller 1610.

[0270] The second battery 1520 can supply power to the second controller 1620 via a power line. Additionally, the second battery 1520 can supply power to the pedal displacement sensor 30 and the pressure sensor 40 via the second controller 1620.

[0271] The first battery 1510 can supply power to the first brake 110 and / or the second brake 120 via a power line through the first controller 1610, that is, the controller 112 of the first brake 110 and / or the controller 122 of the second brake 120. Furthermore, the second battery 1520 can supply power to the first brake 110 and / or the second brake 120 via a power line through the second controller 1620, that is, the controller 112 of the first brake 110 and / or the controller 122 of the second brake 120.

[0272] The fifth force sensor 13 and the sixth force sensor 14, which are installed in the first brake 110, can receive power from the first battery 1510 and / or the second battery 1520 via the power line through the first brake 110.

[0273] The seventh force sensor 23 and the eighth force sensor 24, which are installed in the second brake 120, can receive power from the first battery 1510 and / or the second battery 1520 via the power line through the second brake 120.

[0274] The first battery 1510 can supply power to the fourth controller 140 via power lines.

[0275] The third force sensor 21 and the fourth force sensor 22, which are installed in the fourth brake 140, can receive power from the first battery 1510 via the power line through the fourth brake 140.

[0276] The second battery 1520 can supply power to the third controller 130 via power lines.

[0277] The first force sensor 11 and the second force sensor 12, which are installed in the third brake 130, can receive power from the second battery 1520 via the power line through the third brake 130.

[0278] Pedal displacement sensor 30 and pedal force sensor 35 can be electrically or communicatively connected to a first controller 1610 and a second controller 1620. The first controller 1610 or the second controller 1620 can output signals for performing braking control on the first brake 110 and the second brake 120 in response to the output signals of the pedal displacement sensor 30 and / or the pedal force sensor 35. The first controller 1610 can output signals for performing braking control on the fourth brake 140 in response to the output signals of the pedal displacement sensor 30 and / or the pedal force sensor 35. The second controller 1620 can output signals for performing braking control on the third brake 130 in response to the output signals of the pedal displacement sensor 30 and / or the pedal force sensor 35.

[0279] For example, pedal displacement sensor 30 and pedal force sensor 35 can serve as redundancy for each other, so that if one sensor fails, the other sensor can provide a backup for the function.

[0280] exist Figure 7 In the aforementioned braking systems 1-6, the first controller 1610 and the second controller 1620 can be electrically or communicatively connected to each other. When either the first controller 1610 or the second controller 1620 fails, the other controller can act as a backup controller.

[0281] For example, the first controller 1610 may be a basic controller configured to control the overall operation of the braking system 1-6, and the second controller 1620 may be a backup controller. Therefore, when the first controller 1610 fails, the second controller 1620 may control the overall operation of the braking system 1-6.

[0282] In addition, according to Figure 7As can be seen from the above configuration of the braking systems 1-6 in the embodiments, the power sources of the first controller 1610 and the fourth brake 140 are connected, and the power sources of the second controller 1620 and the third brake 130 are connected. Based on the above power source connections, even if either the first battery 1510 or the second battery 1520 fails, the braking systems 1-6 can stably perform braking control.

[0283] For example, when the first controller 1610 or the first battery 1510 fails, the second controller 1620 supplies power from the second battery 1520 to the pedal displacement sensor 30 and the pressure sensor 40, so that the second controller 1620 can control the braking system 1-6 in response to the output signals of the pedal displacement sensor 30 and / or the pressure sensor 40.

[0284] In addition, according to Figure 7 The above-described configuration of the braking systems 1-6, in which two force sensors are installed in each of the first brake 110, the second brake 120, the third brake 130 and the fourth brake 140, achieves redundancy, so that when any one force sensor fails, the remaining force sensor can be used to control the corresponding brake.

[0285] Figure 8 This is a view showing the configuration of a braking system (e.g., braking system 1) according to an embodiment.

[0286] Reference Figure 8 The braking system 1-7 may include caliper-type electromechanical brakes and drum-type electromechanical brakes.

[0287] Braking systems 1-7 may include: a first brake 110 and a second brake 120, which are caliper-type electromechanical brakes; a third brake 130 and a fourth brake 140, which are drum-type electromechanical brakes; a fifth force sensor 13 and a sixth force sensor 14, disposed in the first brake 110; a seventh force sensor 23 and an eighth force sensor 24, disposed in the second brake 120; a first force sensor 11 and a second force sensor 12, disposed in the third brake 130; and a third force sensor 21 and a fourth force sensor 22, disposed in the fourth brake 140. The system includes a battery 1510 and a second battery 1520, the first battery 1510 corresponding to a first power supply device 1510 and the second battery 1520 corresponding to a second power supply device 1520, the first power supply device and the second power supply device being two independent power supply devices; a first controller 1610 and a second controller 1620, configured to control at least one component of the braking system 1-7; and a pedal force sensor 35 for the brake pedal 31, the pedal force sensor 35 being configured to output a signal corresponding to the force applied to the brake pedal 31 by the pedal displacement sensor 30 and / or the brake pedal 31.

[0288] The first brake 110 may include a controller 112, the second brake 120 may include a controller 122, the third brake 130 may include a controller 132, and the fourth brake 140 may include a controller 142.

[0289] The first brake 110 may be electrically or communicatively connected to the first controller 1610. For example, the controller 112 of the first brake 110 may be electrically or communicatively connected to the first controller 1610. The controller 112 of the first brake 110 may receive control signals from the first controller 1610 and perform braking control or brake release control on the first brake 110.

[0290] The second brake 120 can be electrically or communicatively connected to the second controller 1620. For example, the controller 122 of the second brake 120 can be electrically or communicatively connected to the second controller 1620. The controller 122 of the second brake 120 can receive control signals from the second controller 1620 and perform braking control or brake release control on the second brake 120.

[0291] The third brake 130 can be electrically or communicatively connected to the second controller 1620. For example, the controller 132 of the third brake 130 can be electrically or communicatively connected to the second controller 1620. The controller 132 of the third brake 130 can receive control signals from the second controller 1620 and perform braking control or brake release control on the third brake 130.

[0292] The fourth brake 140 may be electrically or communicatively connected to the first controller 1610. For example, the controller 142 of the fourth brake 140 may be electrically or communicatively connected to the first controller 1610. The controller 142 of the fourth brake 140 may receive control signals from the first controller 1610 and perform braking control or brake release control on the fourth brake 140.

[0293] The dual-type fifth force sensor 13 and sixth force sensor 14 disposed in the first brake 110 can be electrically or communicatively connected to the first brake 110. For example, the fifth force sensor 13 and sixth force sensor 14 can be electrically or communicatively connected to the controller 112 of the first brake 110.

[0294] The controller 112 of the first brake 110 can perform braking control or brake release control on the first brake 110 in response to a control signal from the first controller 1610.

[0295] Furthermore, the controller 112 can perform signal correlation analysis and / or feedback control in response to the output signals of the fifth force sensor 13 and the sixth force sensor 14. Additionally, if either the fifth force sensor 13 or the sixth force sensor 14 fails, the controller 112 can utilize the remaining force sensor to control the first brake 110.

[0296] Alternatively, controller 112 can perform feedback control on the first brake 110 by using the fifth force sensor 13 as the primary sensor and the sixth force sensor 14 as the auxiliary force sensor. For example, controller 112 can control the first brake 110 in response to the output signal of the fifth force sensor 13. When it is detected that the fifth force sensor 13 is not working, controller 112 can control the first brake 110 in response to the output signal of the sixth force sensor 14.

[0297] The dual-type seventh force sensor 23 and eighth force sensor 24 disposed in the second brake 120 can be electrically or communicatively connected to the second brake 120. For example, the seventh force sensor 23 and eighth force sensor 24 can be electrically or communicatively connected to the controller 122 of the second brake 120.

[0298] The controller 122 of the second brake 120 can perform braking control or brake release control on the second brake 120 in response to a control signal from the second controller 1620.

[0299] Furthermore, the controller 122 can perform signal correlation analysis and / or feedback control in response to the output signals of the seventh force sensor 23 and the eighth force sensor 24. Additionally, if either the seventh force sensor 23 or the eighth force sensor 24 fails, the controller 122 can utilize the remaining force sensor to control the second brake 120.

[0300] Alternatively, the controller 122 can perform feedback control on the second brake 120 by using the seventh force sensor 23 as the primary sensor and the eighth force sensor 24 as the auxiliary force sensor. For example, the controller 122 can control the second brake 120 in response to the output signal of the seventh force sensor 23. When it is detected that the seventh force sensor 23 is not working, the controller 122 can control the second brake 120 in response to the output signal of the eighth force sensor 24.

[0301] The dual-type first force sensor 11 and second force sensor 12 disposed in the third brake 130 can be electrically or communicatively connected to the third brake 130. For example, the first force sensor 11 and second force sensor 12 can be electrically or communicatively connected to the controller 132 of the third brake 130.

[0302] The controller 132 of the third brake 130 can perform braking control or brake release control on the third brake 130 in response to a control signal from the second controller 1620.

[0303] Additionally, the controller 132 can perform signal correlation analysis and / or feedback control in response to the output signals of the first force sensor 11 and the second force sensor 12. Furthermore, when either the first force sensor 11 or the second force sensor 12 fails, the controller 132 can use the remaining force sensor to control the third brake 130.

[0304] Alternatively, controller 132 can perform feedback control on the third brake 130 by using the first force sensor 11 as the primary sensor and the second force sensor 12 as the auxiliary force sensor. For example, controller 132 can control the third brake 130 in response to the output signal of the first force sensor 11. When it is detected that the first force sensor 11 is not working, controller 132 can control the third brake 130 in response to the output signal of the second force sensor 12.

[0305] The dual-type third force sensor 21 and fourth force sensor 22 disposed in the fourth brake 140 can be electrically or communicatively connected to the fourth brake 140. For example, the third force sensor 21 and fourth force sensor 22 can be electrically or communicatively connected to the controller 142 of the fourth brake 140.

[0306] The controller 142 can perform braking control or brake release control on the fourth brake 140 in response to a control signal from the first controller 1610.

[0307] In addition, the controller 142 can perform signal correlation analysis and / or feedback control in response to the output signals of the third force sensor 21 and the fourth force sensor 22.

[0308] Alternatively, controller 142 can perform feedback control on the fourth brake 140 by using the third force sensor 21 as the primary sensor and the fourth force sensor 22 as the auxiliary force sensor. For example, controller 142 can control the fourth brake 140 in response to the output signal of the third force sensor 21. When it is detected that the third force sensor 21 is not working, controller 142 can control the fourth brake 140 in response to the output signal of the fourth force sensor 22.

[0309] The first battery 1510 can supply power to the first controller 1610 via a power line. Additionally, the first battery 1510 can supply power to the pedal displacement sensor 30 and the pressure sensor 40 via the first controller 1610.

[0310] The second battery 1520 can supply power to the second controller 1620 via a power line. Additionally, the second battery 1520 can supply power to the pedal displacement sensor 30 and the pressure sensor 40 via the second controller 1620.

[0311] The first battery 1510 can supply power to the first brake 110 via the first controller 1610, that is, the controller 112 of the first brake 110. In addition, the second battery 1520 can supply power to the second brake 120 via the second controller 1620, that is, the controller 122 of the second brake 120.

[0312] The fifth force sensor 13 and the sixth force sensor 14, which are installed in the first brake 110, can receive power from the first battery 1510 via the first brake 110 through the power line.

[0313] The seventh force sensor 23 and the eighth force sensor 24, which are installed in the second brake 120, can receive power from the second battery 1520 via the power line through the second brake 120.

[0314] The first battery 1510 can supply power to the fourth controller 140 via power lines.

[0315] The third force sensor 21 and the fourth force sensor 22, which are installed in the fourth brake 140, can receive power from the first battery 1510 via the power line through the fourth brake 140.

[0316] The second battery 1520 can supply power to the third controller 130 via power lines.

[0317] The first force sensor 11 and the second force sensor 12, which are installed in the third brake 130, can receive power from the second battery 1520 via the power line through the third brake 130.

[0318] Pedal displacement sensor 30 and pedal force sensor 35 can be electrically or communicatively connected to a first controller 1610 and a second controller 1620. The first controller 1610 can output a signal for performing braking control or brake release control on the first brake 110 in response to the output signal of the pedal displacement sensor 30 and / or the pedal force sensor 35. The second controller 1620 can output a signal for performing braking control or brake release control on the second brake 120 in response to the output signal of the pedal displacement sensor 30 and / or the pedal force sensor 35. The first controller 1610 can output a signal for performing braking control or brake release control on the fourth brake 140 in response to the output signal of the pedal displacement sensor 30 and / or the pedal force sensor 35. The second controller 1620 can output a signal for performing braking control or brake release control on the third brake 130 in response to the output signal of the pedal displacement sensor 30 and / or the pedal force sensor 35.

[0319] For example, pedal displacement sensor 30 and pedal force sensor 35 can serve as redundancy for each other, so that if one sensor fails, the other sensor can provide a backup for the function.

[0320] according to Figure 8 As can be seen from the above configuration of the braking systems 1-7, the power sources of the first controller 1610, the first brake 110, and the fourth brake 140 are connected, and the power sources of the second controller 1620, the second brake 120, and the third brake 130 are also connected. Based on this cross-connection of power sources, even if either the first battery 1510 or the second battery 1520 fails, the braking systems 1-7 can stably perform braking control.

[0321] For example, when the first battery 1510 or the second battery 1520 fails, the braking system 1-7 can stably perform braking control based on braking control of the two brakes with cross-connection by means of the normally functioning battery and the controller that receives power from the corresponding battery.

[0322] In addition, according to Figure 8 The above-described configuration of the braking systems 1-7, in which two force sensors are installed in each of the first brake 110, the second brake 120, the third brake 130 and the fourth brake 140, achieves redundancy, so that when any one force sensor fails, the remaining force sensor can be used to control the corresponding brake.

[0323] Figure 9 This is a view showing the configuration of a braking system (e.g., braking system 1) according to an embodiment.

[0324] Reference Figure 9The braking system 1-8 may include caliper-type electromechanical brakes and drum-type electromechanical brakes.

[0325] The braking system 1-8 may include: a first brake 110 and a second brake 120, which are caliper-type electromechanical brakes; a third brake 130 and a fourth brake 140, which are drum-type electromechanical brakes; a fifth force sensor 13 disposed in the first brake 110; a seventh force sensor 23 disposed in the second brake 120; a first force sensor 11 disposed in the third brake 130; a third force sensor 21 disposed in the fourth brake 140; a first battery 1510 and a second battery 1520, the first battery 1510 corresponding to a first power supply device 1510 and the second battery 1520 corresponding to a second power supply device 1520, the first power supply device and the second power supply device being two independent power supply devices; a first controller 1610 and a second controller 1620 configured to control at least one component of the braking system 1-8; and a pedal force sensor 35 for the brake pedal 31, the pedal force sensor 35 being configured to output a signal corresponding to the force applied to the brake pedal 31 by the pedal displacement sensor 30 and / or the brake pedal 31.

[0326] The first brake 110 may include a controller 112, the second brake 120 may include a controller 122, the third brake 130 may include a controller 132, and the fourth brake 140 may include a controller 142.

[0327] The first brake 110 may be electrically or communicatively connected to the first controller 1610. For example, the controller 112 of the first brake 110 may be electrically or communicatively connected to the first controller 1610. The controller 112 of the first brake 110 may receive control signals from the first controller 1610 and perform braking control or brake release control on the first brake 110.

[0328] The second brake 120 can be electrically or communicatively connected to the second controller 1620. For example, the controller 122 of the second brake 120 can be electrically or communicatively connected to the second controller 1620. The controller 122 of the second brake 120 can receive control signals from the second controller 1620 and perform braking control or brake release control on the second brake 120.

[0329] The third brake 130 can be electrically or communicatively connected to the second controller 1620. For example, the controller 132 of the third brake 130 can be electrically or communicatively connected to the second controller 1620. The controller 132 of the third brake 130 can receive control signals from the second controller 1620 and perform braking control or brake release control on the third brake 130.

[0330] The fourth brake 140 may be electrically or communicatively connected to the first controller 1610. For example, the controller 142 of the fourth brake 140 may be electrically or communicatively connected to the first controller 1610. The controller 142 of the fourth brake 140 may receive control signals from the first controller 1610 and perform braking control or brake release control on the fourth brake 140.

[0331] The fifth force sensor 13, which is disposed in the first brake 110, can be electrically or communicatively connected to the first brake 110. For example, the fifth force sensor 13 can be electrically or communicatively connected to the controller 112 of the first brake 110.

[0332] The controller 112 of the first brake 110 can perform braking control or brake release control on the first brake 110 in response to a control signal from the first controller 1610, and perform feedback control in response to the output signal of the fifth force sensor 13.

[0333] The seventh force sensor 23, which is disposed in the second brake 120, can be electrically or communicatively connected to the second brake 120. For example, the seventh force sensor 23 can be electrically or communicatively connected to the controller 122 of the second brake 120.

[0334] The controller 122 of the second brake 120 can perform braking control or brake release control on the second brake 120 in response to the control signal from the second controller 1620, and perform feedback control in response to the output signal of the seventh force sensor 23.

[0335] The first force sensor 11, which is disposed in the third brake 130, can be electrically or communicatively connected to the third brake 130. For example, the first force sensor 11 can be electrically or communicatively connected to the controller 132 of the third brake 130.

[0336] The controller 132 of the third brake 130 can perform braking control or brake release control on the third brake 130 in response to a control signal from the second controller 1620, and perform feedback control in response to the output signal of the first force sensor 11.

[0337] The third force sensor 21, which is disposed in the fourth brake 140, can be electrically or communicatively connected to the fourth brake 140. For example, the third force sensor 21 can be electrically or communicatively connected to the controller 142 of the fourth brake 140.

[0338] The controller 142 can perform braking control or brake release control on the fourth brake 140 in response to a control signal from the first controller 1610, and perform feedback control in response to the output signal of the third force sensor 21.

[0339] The third brake 130 and the fourth brake 140 can be directly connected to each other (electrically or communicatively), that is, the controller 132 of the third brake 130 and the controller 142 of the fourth brake 140 can be directly connected to each other.

[0340] Therefore, when the first force sensor 11 malfunctions, the controller 132 of the third brake 130 can control the third brake 130 in response to the output signal from the third force sensor 21. For example, when the first force sensor 11 malfunctions, the controller 132 of the third brake 130 can receive the output signal of the third force sensor 21 from the controller 142 of the fourth brake 140.

[0341] Furthermore, when the third force sensor 21 malfunctions, the controller 142 of the fourth brake 140 can control the fourth brake 140 in response to the output signal from the first force sensor 11. For example, when the third force sensor 21 malfunctions, the controller 142 of the fourth brake 140 can receive the output signal of the first force sensor 11 from the controller 132 of the third brake 130.

[0342] The first battery 1510 can supply power to the first controller 1610 via a power line. Additionally, the first battery 1510 can supply power to the pedal displacement sensor 30 and the pressure sensor 40 via the first controller 1610.

[0343] The second battery 1520 can supply power to the second controller 1620 via a power line. Additionally, the second battery 1520 can supply power to the pedal displacement sensor 30 and the pressure sensor 40 via the second controller 1620.

[0344] The first battery 1510 can supply power to the first brake 110 via the first controller 1610, that is, the controller 112 of the first brake 110. In addition, the second battery 1520 can supply power to the second brake 120 via the second controller 1620, that is, the controller 122 of the second brake 120.

[0345] The fifth force sensor 13, which is installed in the first brake 110, can receive power from the first battery 1510 via the first brake 110 through the power line.

[0346] The seventh force sensor 23, which is installed in the second brake 120, can receive power from the second battery 1520 via the power line through the second brake 120.

[0347] The first battery 1510 can supply power to the fourth controller 140 via power lines.

[0348] The third force sensor 21, which is located in the fourth brake 140, can receive power from the first battery 1510 via the power line through the fourth brake 140.

[0349] The second battery 1520 can supply power to the third controller 130 via power lines.

[0350] The first force sensor 11, which is located in the third brake 130, can receive power from the second battery 1520 via the power line through the third brake 130.

[0351] Pedal displacement sensor 30 and pedal force sensor 35 can be electrically or communicatively connected to a first controller 1610 and a second controller 1620. The first controller 1610 can output a signal for performing braking control or brake release control on the first brake 110 in response to the output signal of the pedal displacement sensor 30 and / or the pedal force sensor 35. The second controller 1620 can output a signal for performing braking control or brake release control on the second brake 120 in response to the output signal of the pedal displacement sensor 30 and / or the pedal force sensor 35. The first controller 1610 can output a signal for performing braking control or brake release control on the fourth brake 140 in response to the output signal of the pedal displacement sensor 30 and / or the pedal force sensor 35. The second controller 1620 can output a signal for performing braking control or brake release control on the third brake 130 in response to the output signal of the pedal displacement sensor 30 and / or the pedal force sensor 35.

[0352] For example, pedal displacement sensor 30 and pedal force sensor 35 can serve as redundancy for each other, so that if one sensor fails, the other sensor can provide a backup for the function.

[0353] according to Figure 9 As can be seen from the above configuration of the braking systems 1-8, the power sources of the first controller 1610, the first brake 110, and the fourth brake 140 are connected, and the power sources of the second controller 1620, the second brake 120, and the third brake 130 are also connected. Due to this cross-connection of power sources, even if either the first battery 1510 or the second battery 1520 fails, the braking systems 1-8 can stably perform braking control.

[0354] For example, when the first battery 1510 or the second battery 1520 fails, the braking system 1-8 can stably perform braking control based on braking control of the two brakes with cross-connection by means of the normally functioning battery and the controller that receives power from the corresponding battery.

[0355] Figure 10This is a flowchart of the operation of the control braking system 1 (and / or controller 160) according to an embodiment.

[0356] Reference Figure 10 The braking system 1 can operate the third brake 130 and the fourth brake 140 as electromechanical brakes when it receives an output signal from the pedal displacement sensor 30 of the vehicle's brake pedal 31 (step 1010).

[0357] The braking system 1 can control the braking force of the third brake 130 in response to the output signals of the first force sensor 11 and the second force sensor 12 based on the operation of the third brake 130, and control the braking force of the fourth brake 140 in response to the output signals of the third force sensor 21 and the fourth force sensor 22 based on the operation of the fourth brake 140 (step 1020).

[0358] For example, the fourth brake 140, which is an electromechanical brake, can operate in response to a control signal from the first controller 1610 that receives power from the first power supply device 1510. For example, the first controller 1610 can output a control signal to the controller 142 of the fourth brake 140.

[0359] Furthermore, the third brake 130, which is an electromechanical brake, can operate in response to a control signal from the second controller 1620, which receives power from the second power supply unit 1520. For example, the second controller 1620 can output a control signal to the controller 132 of the third brake 130.

[0360] The first controller 1610 can be electrically or communicatively connected to the third brake 130 and the fourth brake 140, and the second controller 1620 can be electrically or communicatively connected to the third brake 130 and the fourth brake 140.

[0361] Therefore, when the first controller 1610 or the first power supply 1510 fails, the third brake 130 and the fourth brake 140 can operate in response to the control signal of the second controller 1620. Furthermore, when the second controller 1620 or the second power supply 1520 fails, the third brake 130 and the fourth brake 140 can operate in response to the control signal of the first controller 1610.

[0362] In addition, Figure 10In addition to the embodiments described above, when either the first force sensor 11 or the second force sensor 12 malfunctions and becomes inoperable, the braking system 1 can control the third brake 130 in response to the output signal of the remaining force sensor. Furthermore, when either the third force sensor 21 or the fourth force sensor 22 fails to operate, the braking system 1 can operate the fourth brake 140 in response to the output signal of the remaining force sensor.

[0363] The braking system 1 and the method for controlling the braking system 1 according to the above embodiments can provide a new structure that can integrate hydraulic brakes and electromechanical brakes and ensure redundancy.

[0364] Furthermore, the braking system 1 and the method for controlling the braking system 1 according to the above embodiments can improve the stability of the braking system by means of a configuration of dual force sensors and dual power supply devices.

[0365] Furthermore, the disclosed embodiments can be implemented in the form of a recording medium storing computer-executable instructions. The instructions can be stored as program code, and when executed by a processor, the instructions can generate program modules to perform the steps of the disclosed embodiments. The recording medium can be implemented as a computer-readable recording medium.

[0366] Computer-readable recording media can include all kinds of recording media that store instructions that can be interpreted by a computer. For example, computer-readable recording media can be read-only memory (ROM), random access memory (RAM), magnetic tape, magnetic disk, flash memory, optical data storage devices, etc.

[0367] Machine-readable storage media may be provided in the form of non-transitory storage media, wherein the term “non-transitory” simply means that the storage medium is a tangible device and does not include signals (e.g., electromagnetic waves), but the term does not distinguish between the location where data is stored semi-permanently in the storage medium and the location where data is temporarily stored in the storage medium.

[0368] The disclosed embodiments have been described so far with reference to the accompanying drawings. Those skilled in the art will understand that this disclosure may be practiced in forms different from the disclosed embodiments without altering the technical spirit and essential characteristics of the disclosure. Therefore, it should be understood that the disclosed embodiments are for illustrative purposes only and not intended to limit in all respects.

Claims

1. A braking system, wherein, include: Electromechanical brakes are linked to the vehicle's wheels. A first force sensor and a second force sensor are configured to detect the clamping force of the electromechanical brake. An electromechanical brake controller is configured to control the electromechanical brake in response to an output signal from at least one of a first force sensor and a second force sensor. One or more controllers are configured to output at least one control signal to the electromechanical brake controller for controlling the electromechanical brake, and The first power source and the second power source are configured to supply power to at least one of the one or more controllers and the electromechanical brake controller; The first force sensor and the second force sensor are connected to the first power source and the second power source via the electromechanical brake controller to receive power from at least one of the first power source and the second power source through the electromechanical brake controller.

2. The braking system according to claim 1, wherein, The electromechanical brake controller is configured to control the electromechanical brake based on a comparison between the output signal of the first force sensor and the output signal of the second force sensor.

3. The braking system according to claim 1, wherein, The electromechanical brake controller is configured to: The electromechanical brake is controlled in response to the output signal of the first force sensor. When the first force sensor fails to function, the electromechanical brake is controlled in response to the output signal of the second force sensor.

4. The braking system according to claim 1, wherein, The wheel associated with the electromechanical brake is the first rear wheel. The braking system also includes: Other electromechanical brakes associated with the second rear wheel, and Other electromechanical brake controllers configured to control the other electromechanical brakes; The first power source is configured to supply power to the one or more controllers, the electromechanical brake controller, and the other electromechanical brake controllers. The second power source is configured to supply power to the electromechanical brake controller and the other electromechanical brake controllers.

5. The braking system according to claim 1, wherein, The wheel associated with the electromechanical brake is the first rear wheel. The braking system also includes: Other electromechanical brakes associated with the second rear wheel, and Other electromechanical brake controllers configured to control the other electromechanical brakes; The one or more controllers include: The first controller is configured to output a first control signal to the other electromechanical brake controller for controlling the other electromechanical brakes, and The second controller is configured to output a second control signal to the electromechanical brake controller for controlling the electromechanical brake.

6. The braking system according to claim 5, wherein, The first power source is configured to supply power to the first controller, the electromechanical brake controller, and the other electromechanical brake controllers. The second power source is configured to supply power to the second controller, the electromechanical brake controller, and the other electromechanical brake controllers.

7. The braking system according to claim 5, wherein, The first power source is configured to supply power to the first controller and the other electromechanical brake controllers. The second power source is configured to supply power to the second controller and the electromechanical brake controller.

8. The braking system according to claim 1, wherein, The wheel associated with the electromechanical brake is the rear wheel. The braking system also includes: Hydraulic brakes, associated with the front wheels of the vehicle, and A liquid pressure supply device is configured to supply hydraulic pressure to generate braking force in the hydraulic brake; The one or more controllers are configured to, in response to the output signal of at least one of a pedal displacement sensor of the brake pedal and a pressure sensor configured to sense the hydraulic pressure supplied by the liquid pressure supply device, output at least one control signal to the electromechanical brake controller for controlling the electromechanical brake, and output another control signal to the liquid pressure supply device for supplying the hydraulic pressure.

9. The braking system according to claim 1, wherein, The wheel associated with the electromechanical brake is the rear wheel. The braking system also includes: Other electromechanical brakes are associated with the front wheels of the vehicle. Two additional force sensors are configured to detect the clamping force of the other electromechanical brakes associated with the front wheels, and Other electromechanical brake controllers are configured to control the other electromechanical brakes associated with the front wheels in response to the output signal of at least one of the two other force sensors; The one or more controllers are configured to, in response to the output signal of at least one of a pedal displacement sensor and a pedal force sensor of the brake pedal, output at least one control signal to the electromechanical brake controller associated with the rear wheel for controlling the electromechanical brake associated with the rear wheel, and output another control signal to the other electromechanical brake controller associated with the front wheel for controlling the other electromechanical brake associated with the front wheel.

10. A method for controlling a braking system, wherein, The braking system includes: Electromechanical brakes, linked to the rear wheels of the vehicle, and The first force sensor and the second force sensor are configured to receive power from at least one of the first power source and the second power source via an electromechanical brake controller, and to detect the clamping force of at least one of the electromechanical brakes. The method for controlling the braking system includes the following steps: The electromechanical brake is controlled in response to the output signal of the brake pedal displacement sensor. The braking force of the electromechanical brake is controlled in response to the output signal of at least one of the first force sensor and the second force sensor.

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