Brake control device

Abstract

The invention discloses a brake control device. A brake control apparatus according to an embodiment of the present invention may include: a first valve group including at least one valve disposed in a hydraulic circuit for supplying hydraulic pressure required for braking a vehicle; the first valve driving circuit is used for driving valves included in the first valve group; a first reverse voltage prevention element disposed between the power supply of the first valve drive circuit and the first valve drive circuit to block a reverse voltage generated on the power supply side of the first valve drive circuit; a second valve group including at least one valve disposed in the hydraulic circuit and not included in the first valve group; the second valve driving circuit is used for driving valves included in the second valve group; and a second reverse voltage prevention element disposed between the power supply of the second valve drive circuit and the second valve drive circuit so as to block a reverse voltage generated on the power supply side of the second valve drive circuit.

Description

Technical Field

[0001] The present invention relates to a brake control device, and more particularly, to a brake control device for controlling a hydraulic circuit for supplying hydraulic pressure required for braking a vehicle. Background Art

[0002] As the performance of vehicle autonomous driving improves, the requirements for vehicle safety and reliability are also increasing. Therefore, various technologies are being introduced to ensure the fail-safe function of vehicles. For example, redundancy is applied to various systems in the vehicle, and components are repeatedly configured to ensure that the system function can be maintained even if some of the multiple components fail.

[0003] The braking system, which is directly related to vehicle safety, also adopts a redundant design. However, in the redundant design of conventional vehicle braking control-related systems, most of them only have a duplicate structure in the Electronic Control Unit (ECU). Therefore, this redundant design has the following problems: when a common mode fault occurs between the main ECU and the redundant ECU, the entire system loses its function. In order to solve these problems and minimize the loss or reduction of the entire system function, it is necessary to develop a structure that can control the actuator circuit itself separately. Summary of the invention

[0004] Problem that the invention aims to solve

[0005] The present invention aims to solve the problems of the above-mentioned prior art. The purpose of the present invention is to provide a brake control device, which will not transmit the influence of the failure to the remaining drive circuits when a part of the multiple valve drive circuits fails due to overvoltage or short circuit. The multiple valve drive circuits are used to respectively drive multiple valve groups configured in the hydraulic circuit.

[0006] In addition, another object of the present invention is to provide a brake control device which will not transmit the fault to the remaining drive circuits when a part of the multiple valve drive circuits fails due to overvoltage or short circuit, thereby preventing the overall loss of braking force. The multiple valve drive circuits are used to respectively drive multiple valve groups configured in a hydraulic circuit that supplies brake hydraulic pressure during vehicle driving.

[0007] In addition, another object of the present invention is to provide a braking control device, which achieves redundancy and economy at the same time by connecting a separation structure between multiple valve drive circuits and a separation structure between multiple parking drive circuits, wherein the multiple valve drive circuits are used to respectively drive multiple valve groups configured in a hydraulic circuit that supplies brake hydraulic pressure during vehicle driving, and the multiple parking drive circuits are used to respectively drive multiple parking brake motors that respectively generate the braking force required when the vehicle is parked.

[0008] Problems of the present invention are not limited to the problems mentioned above, and those skilled in the art will clearly understand other problems not mentioned through the following description.

[0009] Means used to solve problems

[0010] According to one aspect of the present invention, a braking control device is provided, which includes: a first valve group, including at least one valve configured in a hydraulic circuit for supplying hydraulic pressure required for vehicle braking; a first valve drive circuit, used to drive the valve included in the first valve group; a first reverse voltage prevention element, configured between the power supply of the first valve drive circuit and the first valve drive circuit to block the reverse voltage generated on the power supply side of the first valve drive circuit; a second valve group, including at least one valve configured in the hydraulic circuit and not included in the first valve group; a second valve drive circuit, used to drive the valve included in the second valve group; and a second reverse voltage prevention element, configured between the power supply of the second valve drive circuit and the second valve drive circuit to block the reverse voltage generated on the power supply side of the second valve drive circuit.

[0011] In the brake control device according to one aspect of the present invention, a fault occurring in the first valve drive circuit may not be transmitted to the second valve drive circuit, and a fault occurring in the second valve drive circuit may not be transmitted to the first valve drive circuit.

[0012] In the brake control device according to one aspect of the present invention, the first valve group may include half of the plurality of valves arranged in the hydraulic circuit, and the second valve group may include the remaining half of the plurality of valves arranged in the hydraulic circuit.

[0013] In the brake control device according to one aspect of the present invention, at least one of the first reverse voltage prevention element and the second reverse voltage prevention element may be configured as a diode.

[0014] In the brake control device according to one aspect of the present invention, at least one of the first reverse voltage prevention element and the second reverse voltage prevention element may be configured as a Metal-Oxide-Semiconductor Field-Effect Transistor (MOSFET).

[0015] According to one aspect of the present invention, the braking control device may also include: a first backup valve drive circuit, which drives the valve included in the first valve group when the first valve drive circuit fails; and a first backup reverse voltage prevention element, which is arranged between the power supply of the first backup valve drive circuit and the first backup valve drive circuit to block the reverse voltage generated on the power supply side of the first backup valve drive circuit.

[0016] According to one aspect of the present invention, the braking control device may also include: a second backup valve drive circuit, which drives the valve included in the second valve group when the second valve drive circuit fails; and a second backup reverse voltage prevention element, which is arranged between the power supply of the second backup valve drive circuit and the second backup valve drive circuit to block the reverse voltage generated on the power supply side of the second backup valve drive circuit.

[0017] In a brake control device according to one aspect of the present invention, a fault occurring in the first backup valve drive circuit may not be transmitted to the second backup valve drive circuit, and a fault occurring in the second backup valve drive circuit may not be transmitted to the first backup valve drive circuit.

[0018] According to one aspect of the present invention, the braking control device may further include: a motor including a first winding and a second winding and generating a hydraulic pressure supplied to the hydraulic circuit; a first motor drive circuit for controlling the power supplied to the first winding; and a second motor drive circuit for controlling the power supplied to the second winding.

[0019] According to one aspect of the present invention, the braking control device may also include: a first motor reverse voltage prevention element, configured between the first motor drive circuit and the power supply to block the reverse voltage generated in the first motor drive circuit; and a second motor reverse voltage prevention element, configured between the second motor drive circuit and the power supply to block the reverse voltage generated in the second motor drive circuit.

[0020] In the brake control device according to one aspect of the present invention, a fault occurring in the first motor drive circuit may not be transmitted to the second motor drive circuit, and a fault occurring in the second motor drive circuit may not be transmitted to the first motor drive circuit.

[0021] According to one aspect of the present invention, the braking control device may further include: a first parking brake motor, which is separately arranged from the hydraulic circuit and generates a part of the braking force required when the vehicle is parked; a first parking drive circuit, which is used to drive the first parking brake motor; a second parking brake motor, which is separately arranged from the hydraulic circuit and the first parking brake motor and generates a part of the braking force required when the vehicle is parked; and a second parking drive circuit, which is used to drive the second parking brake motor.

[0022] According to one aspect of the present invention, the braking control device may further include: a first parking reverse voltage prevention element, which is arranged between the power supply of the first parking drive circuit and the first parking drive circuit to block the reverse voltage generated on the power supply side of the first parking drive circuit; and a second parking reverse voltage prevention element, which is arranged between the power supply of the second parking drive circuit and the second parking drive circuit to block the reverse voltage generated on the power supply side of the second parking drive circuit.

[0023] In the brake control device according to one aspect of the present invention, a fault occurring in the first parking drive circuit may not be transmitted to the second parking drive circuit, and a fault occurring in the second parking drive circuit may not be transmitted to the first parking drive circuit.

[0024] According to one aspect of the present invention, the braking control device may further include: a first backup parking drive circuit, which drives the first parking brake motor when the first parking drive circuit fails, or the first backup parking drive circuit drives the first parking brake motor together with the first parking drive circuit; and a second backup parking drive circuit, which drives the second parking brake motor when the second parking drive circuit fails, or the second backup parking drive circuit drives the second parking brake motor together with the second parking drive circuit.

[0025] According to one aspect of the present invention, the braking control device may further include: a first backup parking reverse voltage prevention element, which is arranged between the power supply of the first backup parking drive circuit and the first backup parking drive circuit to block the reverse voltage generated on the power supply side of the first backup parking drive circuit; and a second backup parking reverse voltage prevention element, which is arranged between the power supply of the second backup parking drive circuit and the second backup parking drive circuit to block the reverse voltage generated on the power supply side of the second backup parking drive circuit.

[0026] In the brake control device according to one aspect of the present invention, a fault occurring in the first backup parking drive circuit may not be transmitted to the second backup parking drive circuit, and a fault occurring in the second backup parking drive circuit may not be transmitted to the first backup parking drive circuit.

[0027] According to another aspect of the present invention, a brake control device is provided, which includes: a first valve group including at least one valve arranged in a hydraulic circuit for supplying hydraulic pressure required for vehicle braking; a first valve drive circuit for driving the valve included in the first valve group; a first parking brake motor, which is arranged separately from the hydraulic circuit and generates a part of the braking force required when the vehicle is parked; a first parking drive circuit for driving the first parking brake motor; a first reverse voltage prevention element, which is configured to connect the first valve drive circuit and the first parking drive circuit in parallel with a power supply and prevent reverse voltage generated in the first valve drive circuit or the first parking drive circuit a second valve group including at least one valve configured in the hydraulic circuit and not included in the first valve group; a second valve drive circuit for driving the valve included in the second valve group; a second parking brake motor that is separately provided from the hydraulic circuit and the first parking brake motor and generates a portion of the braking force required when the vehicle is parked; a second parking drive circuit for driving the second parking brake motor; and a second reverse voltage prevention element configured to connect the second valve drive circuit and the second parking drive circuit in parallel with the power supply and prevent the reverse voltage generated in the second valve drive circuit or the second parking drive circuit from being transmitted to the power supply.

[0028] In the brake control device according to another aspect of the present invention, a fault occurring in the first valve drive circuit may not be transmitted to the second valve drive circuit, and a fault occurring in the second valve drive circuit may not be transmitted to the first valve drive circuit.

[0029] In a brake control apparatus according to another aspect of the present invention, the first valve group may include half of the plurality of valves arranged in the hydraulic circuit, and the second valve group may include the remaining half of the plurality of valves arranged in the hydraulic circuit.

[0030] In a brake control device according to another aspect of the present invention, at least one of the first reverse voltage prevention element and the second reverse voltage prevention element may be configured as a diode.

[0031] In a brake control device according to another aspect of the present invention, at least one of the first reverse voltage prevention element and the second reverse voltage prevention element may be configured as a metal oxide semiconductor field effect transistor.

[0032] According to another aspect of the present invention, the braking control device may further include: a first backup valve drive circuit, which drives the valve included in the first valve group when the first valve drive circuit fails; and a first backup parking drive circuit, which drives the first parking brake motor when the first parking drive circuit fails, or the first backup parking drive circuit drives the first parking brake motor together with the first parking drive circuit.

[0033] According to another aspect of the present invention, the braking control device may also include a first backup reverse voltage prevention element, which is configured to connect the first backup valve drive circuit and the first backup parking drive circuit in parallel with the power supply and prevent the reverse voltage generated in the first backup valve drive circuit or the first backup parking drive circuit from being transmitted to the power supply.

[0034] According to another aspect of the present invention, the braking control device may further include: a second backup valve drive circuit, which drives the valve included in the second valve group when the second valve drive circuit fails; and a second backup parking drive circuit, which drives the second parking brake motor when the second parking drive circuit fails, or the second backup parking drive circuit drives the second parking brake motor together with the second parking drive circuit.

[0035] According to another aspect of the present invention, the braking control device may also include a second backup reverse voltage prevention element, which is configured to connect the second backup valve drive circuit and the second backup parking drive circuit in parallel with the power supply and prevent the reverse voltage generated in the second backup valve drive circuit or the second backup parking drive circuit from being transmitted to the power supply.

[0036] In a braking control device according to another aspect of the present invention, a fault occurring in the first backup valve drive circuit or the first backup parking drive circuit may not be transmitted to the second backup valve drive circuit and the second backup parking drive circuit, and a fault occurring in the second backup valve drive circuit or the second backup parking drive circuit may not be transmitted to the first backup valve drive circuit and the first backup parking drive circuit.

[0037] According to another aspect of the present invention, the braking control device may also include: a motor, including a first winding and a second winding and generating a hydraulic pressure supplied to the hydraulic circuit; a first motor drive circuit, used to control the power supplied to the first winding; and a second motor drive circuit, used to control the power supplied to the second winding.

[0038] According to another aspect of the present invention, the braking control device may also include: a first motor reverse voltage prevention element, configured between the first motor drive circuit and the power supply to block the reverse voltage generated in the first motor drive circuit; and a second motor reverse voltage prevention element, configured between the second motor drive circuit and the power supply to block the reverse voltage generated in the second motor drive circuit.

[0039] In the brake control device according to another aspect of the present invention, a fault occurring in the first motor drive circuit may not be transmitted to the second motor drive circuit, and a fault occurring in the second motor drive circuit may not be transmitted to the first motor drive circuit.

[0040] Effects of the Invention

[0041] Through the above configuration, the brake control device according to the present invention can prevent the impact of the failure from being transmitted to the remaining drive circuits even when a part of the multiple valve drive circuits fails due to overvoltage or short circuit. The multiple valve drive circuits are used to respectively drive multiple valve groups configured in the hydraulic circuit.

[0042] In addition, the brake control device according to the present invention prevents the fault from being transmitted to the remaining drive circuits even when a part of the multiple valve drive circuits fails due to overvoltage or short circuit, thereby preventing the overall loss of braking force. The multiple valve drive circuits are used to respectively drive multiple valve groups configured in a hydraulic circuit that supplies brake hydraulic pressure during vehicle driving.

[0043] In addition, the braking control device according to the present invention can achieve redundancy and economy at the same time by connecting the separation structure between multiple valve drive circuits and the separation structure between multiple parking drive circuits. The multiple valve drive circuits are used to respectively drive multiple valve groups configured in a hydraulic circuit that supplies brake hydraulic pressure when the vehicle is running, and the multiple parking drive circuits are used to respectively drive multiple parking brake motors that respectively generate the braking force required when the vehicle is parked.

[0044] It should be understood that the effects of the present invention are not limited to the above-mentioned effects, and include all effects that can be inferred from the configuration of the invention described in the detailed description of the present invention or the claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a diagram showing the configuration of a brake control device according to a first embodiment of the present invention.

[0046] Figure 2 1 is a diagram showing a case where a failure occurs due to an overvoltage or a short circuit in the first valve drive circuit of the brake control device according to the first embodiment of the present invention.

[0047] Figure 3 1 is a diagram showing a case where a failure occurs due to an overvoltage or a short circuit in the second valve drive circuit of the brake control device according to the first embodiment of the present invention.

[0048] Figure 4 is a diagram showing the configuration of a brake control device according to a second embodiment of the present invention.

[0049] Figure 5 1 is a diagram showing a case where a failure occurs due to an overvoltage or a short circuit in the first valve drive circuit of the brake control device according to the second embodiment of the present invention.

[0050] Figure 6 1 is a diagram showing a case where a failure occurs due to an overvoltage or a short circuit in the second valve drive circuit of the brake control device according to the second embodiment of the present invention. DETAILED DESCRIPTION

[0051] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement the present invention. The present invention can be embodied in many different forms and is not limited to the embodiments described herein. In order to clearly illustrate the present invention, parts not related to the description are omitted from the accompanying drawings, and the same reference numerals are assigned to the same or similar components throughout the specification.

[0052] The words and terms used in this specification and claims should not be interpreted as being limited to their usual or dictionary meanings, but should be interpreted as meanings and concepts corresponding to the technical ideas of the present invention in accordance with the principle that the inventor is able to define terms and concepts in order to best explain the invention.

[0053] In this specification, the terms "including" or "having" are used to illustrate the existence of features, numbers, steps, actions, constituent elements, parts or their combinations recorded in the specification, rather than excluding the existence or additional possibilities of one or more other features, numbers, steps, actions, constituent elements, parts or their combinations in advance.

[0054] Figure 1 is a diagram showing the configuration of a brake control device according to a first embodiment of the present invention.

[0055] The brake control device 100 according to the first embodiment of the present invention controls the supply of hydraulic pressure required for vehicle braking. The brake control device 100 can control the hydraulic pressure transmitted to the brakes provided on the vehicle wheels. The brakes receive the hydraulic pressure from the brake control device 100 and can convert the received hydraulic pressure into a mechanical friction force for braking.

[0056] Reference Figure 1 According to the first embodiment of the present invention, the brake control device 100 may include a first valve group 101a and a second valve group 101b, a first valve drive circuit 102a, a first reverse voltage prevention element 103a, a second valve drive circuit 104a and a second reverse voltage prevention element 105a arranged in a hydraulic circuit 101.

[0057] The hydraulic circuit 101 supplies the hydraulic pressure required for braking the vehicle. The hydraulic circuit 101 can be connected to the brakes provided on each wheel of the vehicle. The hydraulic circuit 101 can provide the brakes provided on each wheel of the vehicle with the hydraulic pressure required for generating the braking force. In the first embodiment of the present invention, the hydraulic circuit 101 may include a first valve group 101a and a second valve group 101b.

[0058] The first valve group 101a includes at least one valve arranged in the hydraulic circuit 101. In addition, the second valve group 101b includes at least one valve arranged in the hydraulic circuit 101 and not included in the first valve group 101a.

[0059] In the first embodiment of the present invention, the first valve group 101a includes half of the plurality of valves configured in the hydraulic circuit 101, and the second valve group 101b may include the remaining half of the plurality of valves configured in the hydraulic circuit 101. Of course, this is only an example, and the number of valves in the first valve group 101a and the number of valves in the second valve group 101b are not limited to the first embodiment of the present invention.

[0060] The first valve driving circuit 102a drives the valves included in the first valve group 101a. The first valve driving circuit 102a may include more than one switching element.

[0061] The first reverse voltage prevention element 103a is configured between the power supply of the first valve drive circuit and the first valve drive circuit 102a to block the reverse voltage generated on the power supply side of the first valve drive circuit. At this time, the reverse voltage may be caused by overvoltage or short circuit failure. The first reverse voltage prevention element 103a can be configured as any one of a diode and a metal-oxide-semiconductor field-effect transistor (MOSFET). On the other hand, the power supply of the first valve drive circuit can be the first power supply 10a.

[0062] The second valve driving circuit 104a drives the valves included in the second valve group 101b. The second valve driving circuit 104b may include more than one switching element.

[0063] The second reverse voltage prevention element 105a is configured between the power supply of the second valve drive circuit and the second valve drive circuit 104a to block the reverse voltage generated on the power supply side of the second valve drive circuit. At this time, the reverse voltage may be caused by overvoltage or short circuit failure. The second reverse voltage prevention element 105a can be configured as any one of a diode and a MOSFET. On the other hand, the power supply of the second valve drive circuit can be the first power supply 10a.

[0064] According to the brake control device 100 of the first embodiment of the present invention, the first reverse voltage prevention element 103a and the second reverse voltage prevention element 105a are separately and independently configured. Due to this configuration, a fault due to overvoltage or short circuit between the power supply of the first valve drive circuit and the first valve drive circuit 102a is not transmitted to the second valve drive circuit 104a. In addition, a fault due to overvoltage or short circuit between the power supply of the second valve drive circuit and the second valve drive circuit 104a is not transmitted to the first valve drive circuit 102a.

[0065] Figure 2 1 is a diagram showing a case where a failure occurs due to an overvoltage or a short circuit in the first valve drive circuit of the brake control device according to the first embodiment of the present invention.

[0066] Reference Figure 2, shows a case where a fault occurs in the first valve drive circuit 102a. More specifically, it shows a case where a fault occurs between the first power supply 10a and the first valve drive circuit 102a due to overvoltage or short circuit. The first reverse voltage prevention element 103a blocks such a fault from being transmitted to the first power supply 10a side.

[0067] On the other hand, the second valve drive circuit 104a is separated from the first valve drive circuit 102a, and a second reverse voltage prevention element 105a independent of the first reverse voltage prevention element 103a is provided between the second valve drive circuit 104a and the first power supply 10a, so that a fault occurring between the first power supply 10a and the first valve drive circuit 102a will not be transmitted to the second valve drive circuit 104a.

[0068] Figure 3 1 is a diagram showing a case where a failure occurs due to an overvoltage or a short circuit in the second valve drive circuit of the brake control device according to the first embodiment of the present invention.

[0069] Reference Figure 3 , showing a case where a fault occurs in the second valve drive circuit 104a. More specifically, showing a case where a fault occurs between the first power supply 10a and the second valve drive circuit 104a due to overvoltage or short circuit. The second reverse voltage prevention element 105a blocks such a fault from being transmitted to the first power supply 10a side.

[0070] On the other hand, the second valve drive circuit 104a is separated from the first valve drive circuit 102a, and a second reverse voltage prevention element 105a independent of the first reverse voltage prevention element 103a is provided between the second valve drive circuit 104a and the first power supply 10a, so that a fault occurring between the first power supply 10a and the second valve drive circuit 104a will not be transmitted to the first valve drive circuit 102a.

[0071] As described above, according to the present invention, even if any one of the first valve drive circuit 102a and the second valve drive circuit 104a fails due to overvoltage or short circuit, the other one will not be affected by the failure. Therefore, the fail safe performance can be improved, and the safety and reliability related to the supply of brake fluid pressure can be improved.

[0072] The brake control device 100 according to the first embodiment of the present invention may further include a first backup valve drive circuit 102b, a first backup reverse voltage prevention element 103b, a second backup valve drive circuit 104b and a second backup reverse voltage prevention element 105b.

[0073] When the first valve driving circuit 102a fails, the first backup valve driving circuit 102b drives the valve included in the first valve group 101a. The first backup valve driving circuit 102b can also drive the valve included in the first valve group 101a simultaneously with the first valve driving circuit 102a or replace the first valve driving circuit 102a. The first backup valve driving circuit 102b can include more than one switch element.

[0074] The first standby reverse voltage prevention element 103b is configured between the power supply of the first standby valve drive circuit and the first standby valve drive circuit 102b to block the reverse voltage generated on the power supply side of the first standby valve drive circuit. At this time, the reverse voltage may be caused by overvoltage or short circuit failure. The first standby reverse voltage prevention element 103b can be configured as any one of a diode and a MOSFET. The power supply of the first standby valve drive circuit 102b can be the second power supply 10b.

[0075] When the second valve drive circuit 104a fails, the second backup valve drive circuit 104b drives the valve included in the second valve group 101b. The second backup valve drive circuit 104b can also drive the valve included in the second valve group 101b simultaneously with the second valve drive circuit 104a or replace the second valve drive circuit 104a. The second backup valve drive circuit 104b can include more than one switch element.

[0076] The second standby reverse voltage prevention element 105b is configured between the power supply of the second standby valve drive circuit and the second standby valve drive circuit 104b to block the reverse voltage generated on the power supply side of the second standby valve drive circuit. At this time, the reverse voltage may be caused by overvoltage or short circuit failure. The second standby reverse voltage prevention element 105b can be configured as any one of a diode and a MOSFET. The power supply of the second standby valve drive circuit 104b can be the second power supply 10b.

[0077] As described with respect to the first valve drive circuit 102a and the second valve drive circuit 104a, the first backup valve drive circuit 102b and the second backup valve drive circuit 104b are separated from each other, and a reverse voltage prevention element is independently provided between the first backup valve drive circuit 102b and the power supply and between the second backup valve drive circuit 104b and the power supply, respectively. Therefore, a fault occurring in the first backup valve drive circuit 102b is not transmitted to the second backup valve drive circuit 104b, and a fault occurring in the second backup valve drive circuit 104b is not transmitted to the first backup valve drive circuit 102b.

[0078] The brake control device 100 according to the first embodiment of the present invention may further include a motor 106, a first motor drive circuit 107a, a first motor reverse voltage prevention element 108a, a second motor drive circuit 107b and a second motor reverse voltage prevention element 108b.

[0079] The motor 106 includes a first winding 106a and a second winding 106b, and generates hydraulic pressure supplied to the hydraulic circuit 101. For example, the motor 106 may be an actuator of a pump for generating hydraulic pressure.

[0080] The first motor driving circuit 107a controls the power supplied to the first winding 106a. The first motor driving circuit 107a may include one or more switching elements.

[0081] The first motor reverse voltage prevention element 108a is configured between the first motor drive circuit 107a and the power supply to block the reverse voltage generated in the first motor drive circuit 107a. At this time, the power supply of the first motor drive circuit 107a can be the first power supply 10a. In addition, the first motor reverse voltage prevention element 108a can prevent the fault caused by overvoltage or short circuit from being transmitted to the first power supply 10a side. The first motor reverse voltage prevention element 108a can be configured as any one of a diode and a MOSFET.

[0082] The second motor driving circuit 107b controls the power supplied to the second winding 106b. The second motor driving circuit 107b may include more than one switching element.

[0083] The second motor reverse voltage prevention element 108b is configured between the second motor drive circuit 107b and the power supply to block the reverse voltage generated in the second motor drive circuit 107b. At this time, the power supply of the second motor drive circuit 107b can be the second power supply 10b. In addition, the second motor reverse voltage prevention element 108b can prevent the fault caused by overvoltage or short circuit from being transmitted to the second power supply 10b side. The second motor reverse voltage prevention element 108b can be configured as any one of a diode and a MOSFET.

[0084] Due to the completely separate structure of the drive circuit of each winding of the motor 106, a fault occurring in the first motor drive circuit 107a is not transmitted to the second motor drive circuit 107b, and a fault occurring in the second motor drive circuit 107b is not transmitted to the first motor drive circuit 107a. Therefore, the safety and reliability of the motor control can be ensured.

[0085] According to the first embodiment of the present invention, the brake control device 100 may further include a first parking brake motor 109a, a first parking drive circuit 110a, a first parking reverse voltage prevention element 111a, a second parking brake motor 109b, a second parking drive circuit 112a and a second parking reverse voltage prevention element 113a.

[0086] The first parking brake motor 109a is separately provided from the hydraulic circuit 101 and generates a part of the braking force required when the vehicle is parked. The power generated by the first parking brake motor 109a can be converted into the friction force required for the parking brake to work. For example, the first parking brake motor 109a can be configured in an electric parking brake (EPB). As an example, the first parking brake motor 109a can supply the parking brake force to the left wheel portion of the vehicle.

[0087] The first parking drive circuit 110a drives the first parking brake motor 109a. The first parking drive circuit 110a may include more than one switching element.

[0088] The first parking reverse voltage prevention element 111a is configured between the power supply of the first parking drive circuit and the first parking drive circuit 110a to block the reverse voltage generated on the power supply side of the first parking drive circuit. At this time, the power supply of the first parking drive circuit can be the first power supply 10a. In addition, the first parking reverse voltage prevention element 111a can prevent a fault caused by overvoltage or short circuit from being transmitted to the first power supply 10a side. The first parking reverse voltage prevention element 111a can be configured as any one of a diode and a MOSFET.

[0089] The second parking brake motor 109b is provided separately from the hydraulic circuit 101 and generates a part of the braking force required when the vehicle is parked. The power generated by the second parking brake motor 109b can be converted into the friction force required for the parking brake to work. For example, the second parking brake motor 109b can be configured in an electronic parking brake. As an example, the second parking brake motor 109b can supply the parking brake force to part of the right wheel of the vehicle.

[0090] The second parking drive circuit 112a drives the second parking brake motor 109b. The second parking drive circuit 112a may include more than one switching element.

[0091] The second parking reverse voltage prevention element 113a is configured between the power supply of the second parking drive circuit and the second parking drive circuit 112a to block the reverse voltage generated on the power supply side of the second parking drive circuit. At this time, the power supply of the second parking drive circuit can be the first power supply 10a. In addition, the second parking reverse voltage prevention element 113a can prevent the fault caused by overvoltage or short circuit from being transmitted to the first power supply 10a side. The second parking reverse voltage prevention element 113a can be configured as any one of a diode and a MOSFET.

[0092] In the case of the brake control device 100 according to the first embodiment of the present invention, the first parking drive circuit 110a and the second parking drive circuit 112a are separated from each other, and the first parking reverse voltage prevention element 111a and the second parking reverse voltage prevention element 113a are independently provided. Therefore, even if any one of the first parking drive circuit 110a and the second parking drive circuit 112a fails due to overvoltage or short circuit, the other will not be affected by the failure.

[0093] In other words, a fault occurring in the first parking drive circuit 110a is not transmitted to the second parking drive circuit 112a, and a fault occurring in the second parking drive circuit 112a is not transmitted to the first parking drive circuit 110a. Therefore, fail-safe performance can be improved, and safety and reliability related to the supply of brake hydraulic pressure can be improved.

[0094] The brake control device 100 according to the first embodiment of the present invention may further include a first backup parking drive circuit 110b, a first backup parking reverse voltage prevention element 111b, a second backup parking drive circuit 112b and a second backup parking reverse voltage prevention element 113b.

[0095] The first backup parking drive circuit 110b drives the first parking brake motor 109a when the first parking drive circuit 110a fails, or drives the first parking brake motor 109a together with the first parking drive circuit 110a. The first backup parking drive circuit 110b may include more than one switching element.

[0096] The first standby parking reverse voltage prevention element 111b is configured between the power supply of the first standby parking drive circuit and the first standby parking drive circuit 110b to block the reverse voltage generated on the power supply side of the first standby parking drive circuit. At this time, the power supply of the first standby parking drive circuit can be the second power supply 10b. In addition, the first standby parking reverse voltage prevention element 111b can prevent a fault caused by overvoltage or short circuit from being transmitted to the second power supply 10b side. The first standby parking reverse voltage prevention element 111b can be configured as any one of a diode and a MOSFET.

[0097] The second backup parking drive circuit 112b drives the second parking brake motor 109b when the second parking drive circuit 112a fails or together with the second parking drive circuit 112a. The second backup parking drive circuit 112b may include more than one switching element.

[0098] The second standby parking reverse voltage prevention element 113b is configured between the power supply of the second standby parking drive circuit and the second standby parking drive circuit 112b to block the reverse voltage generated on the power supply side of the second standby parking drive circuit. At this time, the power supply of the second standby parking drive circuit can be the second power supply 10b. In addition, the second standby parking reverse voltage prevention element 113b can prevent the fault caused by overvoltage or short circuit from being transmitted to the second power supply 10b side. The second parking reverse voltage prevention element 113b can be configured as any one of a diode and a MOSFET.

[0099] In the case of the brake control device 100 according to the first embodiment of the present invention, the first backup parking drive circuit 110b and the second backup parking drive circuit 112b are separated from each other, and the first backup parking reverse voltage prevention element 111b and the second backup parking reverse voltage prevention element 113b are independently provided. Therefore, even if any one of the first backup parking drive circuit 110b and the second backup parking drive circuit 112b fails due to overvoltage or short circuit, the other will not be affected by the failure.

[0100] In other words, a fault occurring in the first backup parking drive circuit 110b is not transmitted to the second backup parking drive circuit 112b, and a fault occurring in the second backup parking drive circuit 112b is not transmitted to the first backup parking drive circuit 110b. Therefore, fail-safe performance can be improved, and safety and reliability related to the supply of brake hydraulic pressure can be improved.

[0101] In the first embodiment of the present invention, the first power source 10a and the second power source 10b can be configured independently of each other. For example, the first power source 10a and the second power source 10b can be configured as independent batteries, respectively. Different from this, the first power source 10a and the second power source 10b can also be configured as the same power source. For example, the first power source 10a and the second power source 10b can be configured as a single battery.

[0102] In addition, in the first embodiment of the present invention, the first valve drive circuit 102a, the first reverse voltage prevention element 103a, the second valve drive circuit 104a, the second reverse voltage prevention element 105a, the first motor drive circuit 107a, the first motor reverse voltage prevention element 108a, the first parking drive circuit 110a, the first parking reverse voltage prevention element 111a, the second parking drive circuit 112a and the second parking reverse voltage prevention element 113a can be configured in the first electronic control unit A1. In this case, the first electronic control unit A1 can be a main electronic control unit.

[0103] In addition, the first backup valve drive circuit 102b, the first backup reverse voltage prevention element 103b, the second backup valve drive circuit 104b, the second backup reverse voltage prevention element 105b, the second motor drive circuit 107b, the second motor reverse voltage prevention element 108b, the first backup parking drive circuit 110b, the first backup parking reverse voltage prevention element 111b, the second backup parking drive circuit 112b and the second backup parking reverse voltage prevention element 111b can be configured in the second electronic control unit A2. In this case, the second electronic control unit A2 can be a redundant electronic control unit.

[0104] Figure 4 is a diagram showing the configuration of a brake control device according to a second embodiment of the present invention.

[0105] The brake control device 200 according to the second embodiment of the present invention controls the supply of hydraulic pressure required for vehicle braking. The brake control device 200 can control the hydraulic pressure transmitted to the brakes provided on the vehicle wheels. Unless there are special circumstances, the contents of each configuration description of the first embodiment of the present invention can also be applied to the second embodiment of the present invention.

[0106] Reference Figure 4 According to the second embodiment of the present invention, the brake control device 200 may include a first valve group 201a and a second valve group 201b, a first valve drive circuit 202a, a first parking brake motor 209a, a first parking drive circuit 210a, a first reverse voltage prevention element 203a, a second valve drive circuit 204a, a second parking brake motor 209b, a second parking drive circuit 212a and a second reverse voltage prevention element 205a.

[0107] The first valve group 201a includes at least one valve configured in the hydraulic circuit 201. In addition, the second valve group 201b includes at least one valve configured in the hydraulic circuit 201 and not included in the first valve group 201a. For example, the first valve group 201a includes half of the plurality of valves configured in the hydraulic circuit 201, and the second valve group 201b may include the remaining half of the plurality of valves configured in the hydraulic circuit 101.

[0108] The first parking brake motor 209a is provided separately from the hydraulic circuit 201 and generates a part of the braking force required when the vehicle is parked. In addition, the second parking brake motor 209b is provided separately from the hydraulic circuit 201 and the first parking brake motor 209a and generates a part of the braking force required when the vehicle is parked.

[0109] The first valve driving circuit 202a drives the valves included in the first valve group 201a. The first parking driving circuit 210a drives the first parking brake motor 209a.

[0110] The first reverse voltage preventing element 203a is configured to connect the first valve driving circuit 202a and the first parking driving circuit 210a in parallel with a power source and prevent a reverse voltage generated in the first valve driving circuit 202a or the first parking driving circuit 210a from being transmitted to the power source. In this case, the power source may be the first power source 20a.

[0111] The second valve driving circuit 204a drives the valves included in the second valve group 201b. The second parking driving circuit 212a drives the second parking brake motor 209b.

[0112] The second reverse voltage preventing element 205a is configured to connect the second valve driving circuit 204a and the second parking driving circuit 212a to the power supply in parallel and prevent the reverse voltage generated in the second valve driving circuit 204a or the second parking driving circuit 212a from being transmitted to the power supply. In this case, the power supply may be the first power supply 20a.

[0113] According to the brake control device 200 of the second embodiment of the present invention, the first valve drive circuit 202a and the second valve drive circuit 204a are separated from each other, and the first reverse voltage prevention element 203a and the second reverse voltage prevention element 205a are configured separately and independently from each other. Due to this configuration, a fault occurring in the first valve drive circuit 202a is not transmitted to the second valve drive circuit 204a, and a fault occurring in the second valve drive circuit 204a is not transmitted to the first valve drive circuit 202a.

[0114] In addition, in the case of the second embodiment of the present invention, the first valve drive circuit 202a and the first parking drive circuit 210a are connected to the first reverse voltage prevention element 203a, and the second valve drive circuit 204a and the second parking drive circuit 212a are connected to the second reverse voltage prevention element 205a, so the number of reverse voltage prevention elements can be reduced compared with the first embodiment of the present invention. Therefore, space efficiency and economy can be improved.

[0115] Figure 5 1 is a diagram showing a case where a failure occurs due to an overvoltage or a short circuit in the first valve drive circuit of the brake control device according to the second embodiment of the present invention.

[0116] Reference Figure 5 , shows a case where a fault occurs in the first valve drive circuit 202a. More specifically, a case where a fault occurs between the first power supply 20a and the first valve drive circuit 202a due to an overvoltage or a short circuit is shown. The first reverse voltage prevention element 203a prevents such a fault from being transmitted to the first power supply 20a side.

[0117] On the other hand, the second valve drive circuit 204a is separated from the first valve drive circuit 202a, and a second reverse voltage prevention element 205a independent of the first reverse voltage prevention element 203a is provided between the second valve drive circuit 204a and the first power supply 20a, so that a fault occurring between the first power supply 20a and the first valve drive circuit 202a will not be transmitted to the second valve drive circuit 204a.

[0118] However, in the case of the second embodiment of the present invention, the first valve drive circuit 202a and the first parking drive circuit 210a are connected to the first reverse voltage prevention element 203a, and there is no configuration for blocking the transmission of the reverse voltage between the first valve drive circuit 202a and the first parking drive circuit 210a. Therefore, a fault occurring in the first valve drive circuit 202a due to an overvoltage or a short circuit, etc., can be transmitted to the first parking drive circuit 210a side.

[0119] Figure 6 1 is a diagram showing a case where a failure occurs due to an overvoltage or a short circuit in the second valve drive circuit of the brake control device according to the second embodiment of the present invention.

[0120] Reference Figure 6 , shows a case where a fault occurs in the second valve drive circuit 204a. More specifically, a case where a fault occurs between the first power supply 20a and the second valve drive circuit 204a due to overvoltage or short circuit is shown. The second reverse voltage prevention element 205a prevents such a fault from being transmitted to the first power supply 20a side.

[0121] On the other hand, the first valve drive circuit 202a is separated from the second valve drive circuit 204a, and a first reverse voltage prevention element 203a independent of the second reverse voltage prevention element 205a is provided between the first valve drive circuit 202a and the first power supply 20a, so that a fault occurring between the first power supply 20a and the second valve drive circuit 204a will not be transmitted to the first valve drive circuit 202a.

[0122] However, in the case of the second embodiment of the present invention, the second valve drive circuit 204a and the second parking drive circuit 212a are connected to the second reverse voltage prevention element 205a, and there is no configuration for blocking the transmission of the reverse voltage between the second valve drive circuit 204a and the second parking drive circuit 212a. Therefore, a fault occurring in the second valve drive circuit 204a due to an overvoltage or a short circuit, etc., can be transmitted to the second parking drive circuit 212a side.

[0123] According to the second embodiment of the present invention, the braking control device 200 may also include a first backup valve drive circuit 202b, a first backup parking drive circuit 210b, a first backup reverse voltage prevention element 203b, a second backup valve drive circuit 204b, a second backup parking drive circuit 212b and a second backup reverse voltage prevention element 205b.

[0124] The first backup valve driving circuit 202b drives the valve included in the first valve group 201a or drives the valve included in the first valve group 201a together with the first valve driving circuit 202b when the first valve driving circuit 202a fails. The first backup parking driving circuit 210b drives the first parking brake motor 209a or drives the first parking brake motor 209a together with the first parking driving circuit 210a when the first parking driving circuit 210a fails.

[0125] The first backup reverse voltage preventing element 203b is configured to connect the first backup valve driving circuit 102b and the first backup parking driving circuit 210b in parallel with a power source and prevent the reverse voltage generated in the first backup valve driving circuit 202b or the first backup parking driving circuit 210b from being transmitted to the power source. In this case, the power source may be the second power source 20b.

[0126] The second backup valve driving circuit 204b drives the valve included in the second valve group 201b or drives the valve included in the second valve group 201b together with the second valve driving circuit 204b when the second valve driving circuit 204a fails. The second backup parking driving circuit 212b drives the second parking brake motor 209b or drives the second parking brake motor 209b together with the second parking driving circuit 212a when the second parking driving circuit 212a fails.

[0127] The second backup reverse voltage preventing element 205b is configured to connect the second backup valve driving circuit 204b and the second backup parking driving circuit 212b to the power supply in parallel, and prevent the reverse voltage generated in the second backup valve driving circuit 204b or the second backup parking driving circuit 212b from being transmitted to the power supply. At this time, the power supply may be the second power supply 20b.

[0128] According to the brake control device 200 of the second embodiment of the present invention, the first backup valve drive circuit 202b and the second backup valve drive circuit 204b are separated from each other, and the first backup reverse voltage prevention element 203b and the second backup reverse voltage prevention element 205b are separated from each other and independently configured. Due to this configuration, a fault occurring in the first backup valve drive circuit 202b is not transmitted to the second backup valve drive circuit 204b, and a fault occurring in the second backup valve drive circuit 204b is not transmitted to the first backup valve drive circuit 202b.

[0129] Furthermore, in the case of the second embodiment of the present invention, the first backup valve driving circuit 202b and the first backup parking driving circuit 210b are connected to the first backup reverse voltage preventing element 203b, and the second backup valve driving circuit 204b and the second backup parking driving circuit 212b are connected to the second backup reverse voltage preventing element 205b, so the number of reverse voltage preventing elements can be reduced compared to the first embodiment of the present invention. Therefore, space efficiency and economy can be improved.

[0130] The brake control device 200 according to the second embodiment of the present invention may further include a motor 206 having a first winding 206a and a second winding 206b, a first motor drive circuit 207a, a first motor reverse voltage prevention element 208a, a second motor drive circuit 207b, and a second motor reverse voltage prevention element 208b. These configurations are the same as those described in relation to the first embodiment of the present invention, and thus detailed descriptions thereof are omitted.

[0131] On the other hand, as described in the description of the first embodiment of the present invention, in the braking control device 200 according to the second embodiment of the present invention, the first reverse voltage prevention element 203a, the first backup reverse voltage prevention element 203b, the second reverse voltage prevention element 205a, the second backup reverse voltage prevention element 205b, the first motor reverse voltage prevention element 208a and the second motor reverse voltage prevention element 208b can be configured as any one of a diode and a MOSFET.

[0132] In the second embodiment of the present invention, the first power source 20a and the second power source 20b can be configured independently of each other. For example, the first power source 20a and the second power source 20b can be configured as batteries independent of each other. Differently, the first power source 20a and the second power source 20b can also be configured as the same power source. For example, the first power source 20a and the second power source 20b can be configured as a single battery.

[0133] In addition, in the second embodiment of the present invention, the first valve drive circuit 202a, the first reverse voltage prevention element 203a, the second valve drive circuit 204a, the second reverse voltage prevention element 205a, the first motor drive circuit 207a, the first motor reverse voltage prevention element 208a, the first parking drive circuit 210a and the second parking drive circuit 212a can be configured in the first electronic control unit B1. In this case, the first electronic control unit B1 can be a main electronic control unit.

[0134] In addition, the first backup valve driving circuit 202b, the first backup reverse voltage preventing element 203b, the second backup valve driving circuit 204b, the second backup reverse voltage preventing element 205b, the second motor driving circuit 207b, the second motor reverse voltage preventing element 208b, the first backup parking driving circuit 210b and the second backup parking driving circuit 212b can be configured in the second electronic control unit B2. In this case, the second electronic control unit B2 can be a redundant electronic control unit.

[0135] Although the embodiments of the present invention have been described, the concept of the present invention is not limited to the embodiments presented in this specification, and those skilled in the art who understand the concept of the present invention can easily propose other embodiments within the scope of the same concept by adding, changing, deleting, adding, etc. to the constituent elements. However, this will also be considered to fall within the scope of the concept of the present invention.

Claims

1. A brake control device, wherein: include: A first valve group includes at least one valve arranged in a hydraulic circuit for supplying hydraulic pressure required for vehicle braking; a first valve driving circuit, used for driving the valve included in the first valve group; a first reverse voltage preventing element disposed between a power supply of the first valve driving circuit and the first valve driving circuit to block a reverse voltage generated on the power supply side of the first valve driving circuit; a second valve group, comprising at least one valve configured in the hydraulic circuit and not included in the first valve group; a second valve driving circuit, configured to drive the valves included in the second valve group; and The second reverse voltage preventing element is arranged between the power supply of the second valve driving circuit and the second valve driving circuit to block the reverse voltage generated on the power supply side of the second valve driving circuit.

2. The brake control device according to claim 1, wherein: The first valve group includes half of the plurality of valves arranged in the hydraulic circuit, and the second valve group includes the remaining half of the plurality of valves arranged in the hydraulic circuit.

3. The brake control device according to claim 1, wherein: At least one of the first reverse voltage prevention element and the second reverse voltage prevention element is configured as a diode or a metal oxide semiconductor field effect transistor.

4. The brake control device according to claim 1, wherein: Also includes: a first backup valve driving circuit, which drives the valve included in the first valve group when the first valve driving circuit fails; as well as The first backup reverse voltage preventing element is arranged between the power supply of the first backup valve driving circuit and the first backup valve driving circuit to block the reverse voltage generated on the power supply side of the first backup valve driving circuit.

5. The brake control device according to claim 4, wherein: Also includes: a second backup valve driving circuit, which drives the valve included in the second valve group when the second valve driving circuit fails; as well as The second backup reverse voltage preventing element is arranged between the power supply of the second backup valve driving circuit and the second backup valve driving circuit to block the reverse voltage generated on the power supply side of the second backup valve driving circuit.

6. The brake control device according to claim 1, wherein: Also includes: a motor including a first winding and a second winding and generating a hydraulic pressure supplied to the hydraulic circuit; a first motor drive circuit for controlling power supplied to the first winding; as well as The second motor drive circuit is configured to control the power supplied to the second winding.

7. The brake control device according to claim 6, wherein: Also includes: a first motor reverse voltage prevention element, arranged between the first motor drive circuit and a power source to block a reverse voltage generated in the first motor drive circuit; as well as The second motor reverse voltage prevention element is arranged between the second motor drive circuit and a power source to block a reverse voltage generated in the second motor drive circuit.

8. The brake control device according to claim 1, wherein: Also includes: a first parking brake motor, which is disposed separately from the hydraulic circuit and generates a portion of the braking force required when the vehicle is parked; a first parking drive circuit, configured to drive the first parking brake motor; a second parking brake motor, which is disposed separately from the hydraulic circuit and the first parking brake motor and generates a part of the braking force required when the vehicle is parked; as well as The second parking drive circuit is used to drive the second parking brake motor.

9. The brake control device according to claim 8, wherein: Also includes: a first parking reverse voltage prevention element, arranged between the power supply of the first parking drive circuit and the first parking drive circuit to block a reverse voltage generated on the power supply side of the first parking drive circuit; as well as The second parking reverse voltage preventing element is disposed between the power supply of the second parking drive circuit and the second parking drive circuit to block a reverse voltage generated on the power supply side of the second parking drive circuit.

10. The brake control device according to claim 8, wherein: Also includes: a first backup parking drive circuit, which drives the first parking brake motor when the first parking drive circuit fails, or the first backup parking drive circuit drives the first parking brake motor together with the first parking drive circuit; as well as A second backup parking drive circuit drives the second parking brake motor when the second parking drive circuit fails, or the second backup parking drive circuit drives the second parking brake motor together with the second parking drive circuit.

11. The brake control device according to claim 10, wherein: Also includes: a first backup parking reverse voltage prevention element, arranged between the power supply of the first backup parking drive circuit and the first backup parking drive circuit to block a reverse voltage generated on the power supply side of the first backup parking drive circuit; as well as The second backup parking reverse voltage preventing element is disposed between the power supply of the second backup parking drive circuit and the second backup parking drive circuit to block a reverse voltage generated on the power supply side of the second backup parking drive circuit.

12. A brake control device, wherein: include: A first valve group includes at least one valve arranged in a hydraulic circuit for supplying hydraulic pressure required for vehicle braking; a first valve driving circuit, used for driving the valve included in the first valve group; a first parking brake motor, which is disposed separately from the hydraulic circuit and generates a portion of the braking force required when the vehicle is parked; a first parking drive circuit, configured to drive the first parking brake motor; a first reverse voltage prevention element configured to connect the first valve drive circuit and the first parking drive circuit in parallel with a power source and prevent a reverse voltage generated in the first valve drive circuit or the first parking drive circuit from being transmitted to the power source; a second valve group, comprising at least one valve configured in the hydraulic circuit and not included in the first valve group; a second valve driving circuit, configured to drive the valve included in the second valve group; a second parking brake motor, which is disposed separately from the hydraulic circuit and the first parking brake motor and generates a part of the braking force required when the vehicle is parked; a second parking drive circuit, configured to drive the second parking brake motor; and A second reverse voltage prevention element is configured to connect the second valve drive circuit and the second parking drive circuit in parallel with a power source and prevent a reverse voltage generated in the second valve drive circuit or the second parking drive circuit from being transferred to the power source.

13. The brake control device according to claim 12, wherein: Also includes: a first backup valve driving circuit, which drives the valve included in the first valve group when the first valve driving circuit fails; a first backup parking drive circuit, which drives the first parking brake motor when the first parking drive circuit fails, or the first backup parking drive circuit drives the first parking brake motor together with the first parking drive circuit; and The first backup reverse voltage preventing element is configured to connect the first backup valve driving circuit and the first backup parking driving circuit in parallel with a power source and prevent a reverse voltage generated in the first backup valve driving circuit or the first backup parking driving circuit from being transmitted to the power source.

14. The brake control device according to claim 13, wherein: Also includes: a second backup valve driving circuit, which drives the valve included in the second valve group when the second valve driving circuit fails; a second backup parking drive circuit, which drives the second parking brake motor when the second parking drive circuit fails, or the second backup parking drive circuit drives the second parking brake motor together with the second parking drive circuit; and The second backup reverse voltage preventing element is configured to connect the second backup valve driving circuit and the second backup parking driving circuit in parallel with a power source and prevent a reverse voltage generated in the second backup valve driving circuit or the second backup parking driving circuit from being transmitted to the power source.

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