Redundant braking system, control method thereof and vehicle

Abstract

The invention relates to a redundant braking system, a control method thereof and a vehicle. The redundant braking system comprises an electric control actuating valve, a chassis controller, a backup controller, a front axle control module and a rear axle control module. An air inlet of the electric control actuating valve is connected with an air source through a pipeline, an air outlet of the electric control actuating valve is connected with the backup ABS electromagnetic valve unit through a pipeline, the backup ABS electromagnetic valve unit is connected to the backup controller through a wire harness, and an air outlet of the backup ABS electromagnetic valve unit is connected to the front axle control module and the rear axle control module through pipelines. The electric control actuating valve is connected to the chassis controller through a wire harness, and the backup controller is controlled and connected by the chassis controller. The braking force is large, the braking distance is short, and the braking efficiency is good; the anti-lock adjusting function is achieved; independent brake control can be realized; and an L4 + automatic driving technology is supported.

Description

Technical Field

[0001] The present invention relates to the field of commercial vehicle automatic driving, and in particular to a redundant braking system and a control method thereof, and a vehicle. Background Art

[0002] At present, the automatic driving of vehicles is basically at the level of L2 or below, and its characteristic is that the vehicle can be equipped with a safety officer who can participate in the control of the vehicle in an emergency. The redundant braking solution is to use a dual-circuit backup of front-axle and rear-axle pneumatic brakes or an emergency braking backup solution of spring energy storage brakes; the dual-circuit backup of front-axle and rear-axle pneumatic brakes means that the front-axle brakes and rear-axle brakes in the main braking system should be independent of each other. When one of the circuits fails, the pneumatic brakes of the other circuit are still able to brake the vehicle, which can slow down or stop the vehicle; the emergency braking of spring energy storage brakes means that when the service brakes fail, the parking brakes can be applied to the rear axle by operating the parking hand valve or the electronic parking switch, so that the vehicle can slow down or stop.

[0003] Both the dual-circuit pneumatic brakes on the front and rear axles and the emergency brake backup solutions with spring energy storage have the following disadvantages:

[0004] a. Poor backup braking performance. The above two solutions can only brake the front axle or the rear axle, and the braking force of a single axle is weak, and the theoretical braking performance can only reach 30% of the main braking.

[0005] b. The backup brake does not have ABS anti-lock function. The braking force of the spring energy storage brake comes from the thrust of the spring to actuate the brake. The braking force cannot be adjusted and there is a risk of wheel locking.

[0006] c. Backup braking can only ensure that the vehicle has the ability to slow down or stop, and does not support the vehicle's ability to continue to drive safely after the main brake fails.

[0007] d. Backup braking does not meet functional safety requirements. Summary of the invention

[0008] The purpose of the present invention is to provide a redundant braking system and its control method and vehicle to address the deficiencies in the prior art, so as to meet the braking safety requirements of autonomous driving vehicles and provide a backup for service brakes. When the main brakes of the vehicle fail, the redundant braking system acts as an independent control system to control the vehicle's service brakes, so that the vehicle can brake, decelerate or stop.

[0009] The present invention is achieved by adopting the following technical solutions:

[0010] A redundant braking system includes an electronically controlled actuating valve, a chassis controller, a backup controller, a front axle control module, and a rear axle control module;

[0011] The air inlet of the electronically controlled actuating valve is connected to the air source through a pipeline, the air outlet of the electronically controlled actuating valve is connected to the backup ABS solenoid valve unit through a pipeline, the backup ABS solenoid valve unit is connected to the backup controller through a wiring harness, and the air outlet of the backup ABS solenoid valve unit is connected to the front axle control module and the rear axle control module through a pipeline; the electronically controlled actuating valve is connected to the chassis controller through a wiring harness, and the backup controller is controlled and connected by the chassis controller.

[0012] As a further illustration of the invention, the backup ABS solenoid valve unit includes a front axle backup ABS solenoid valve and a rear axle backup ABS solenoid valve;

[0013] The air inlet of the front axle backup ABS solenoid valve is connected to the electronically controlled actuating valve through a pipeline, and the air outlet of the front axle backup ABS solenoid valve is connected to the front axle control module;

[0014] The air inlet of the rear axle backup ABS solenoid valve is connected to the electronically controlled actuating valve through a pipeline, and the air outlet of the rear axle backup ABS solenoid valve is connected to the rear axle control module.

[0015] As a further illustration of the invention, it also includes a front axle brake air chamber and a rear axle brake air chamber;

[0016] The front axle control module is connected to the front axle brake air chamber, and the rear axle control module is connected to the rear axle brake air chamber.

[0017] As a further illustration of the invention, it also includes an air pressure sensor unit; the air pressure sensor unit includes a front axle air pressure sensor and a rear axle air pressure sensor;

[0018] The front axle air pressure sensor is connected to the front axle brake air chamber through a pipeline, and is connected to the chassis controller through a wiring harness; the rear axle air pressure sensor is connected to the rear axle brake air chamber through a pipeline, and is connected to the chassis controller through a wiring harness.

[0019] As a further description of the invention, it also includes a backup wheel speed sensor unit; the backup wheel speed sensor unit includes a left front axle backup wheel speed sensor, a right front axle backup wheel speed sensor, a left rear axle backup wheel speed sensor, and a right rear axle backup wheel speed sensor;

[0020] The left front axle backup wheel speed sensor, the right front axle backup wheel speed sensor, the left rear axle backup wheel speed sensor, and the right rear axle backup wheel speed sensor are all connected to the backup controller through a wiring harness.

[0021] A control method for a redundant braking system, applied to any of the redundant braking systems described above, comprising:

[0022] When the main brake system works normally, the chassis controller sends an inhibition signal to the backup controller to put the backup controller into a dormant state, and the vehicle braking request is executed by the main brake system at this time;

[0023] When the main braking system is malfunctioning, the chassis controller sends an activation signal to the backup controller to put the backup controller into operation. At this time, the vehicle braking request is executed by the redundant braking system. The chassis controller controls the electronically controlled actuator valve to output two independent brake air pressures, so that the vehicle can perform service braking through the front axle control module and the rear axle control module, and the vehicle can slow down or stop.

[0024] As a further explanation of the invention, during the execution of the redundant braking system, the electronically controlled actuator valve inputs air pressure into the front axle control module and the rear axle control module and controls its outlet to output air pressure, thereby driving the front axle brake chamber and the rear axle brake chamber to operate, thereby realizing air pressure braking of the front axle and the rear axle.

[0025] As a further explanation of the invention, during the execution of the redundant braking system, the air pressure sensor unit will feed back the output air pressure value to the chassis controller, and the chassis controller will compare the air pressure request value and the air pressure feedback value to control the action of the electronically controlled actuator valve to achieve closed-loop control of the brake air pressure.

[0026] As a further explanation of the invention, during the execution of the redundant braking system, the backup wheel speed sensor unit detects the vehicle speed and sends the information to the backup controller; when the wheel slip rate reaches the set limit, the backup controller controls the backup ABS solenoid valve unit to adjust the air pressure to realize the vehicle's anti-lock braking function.

[0027] A vehicle comprises the redundant braking system described in any one of the above.

[0028] Compared with the prior art, the present invention has the following beneficial technical effects:

[0029] (1) Large braking force, short braking distance, and good braking performance. The present invention performs driving braking on the front axle and rear axle. After testing, the braking deceleration can reach more than 6m / s2. The braking deceleration is increased by 170% compared with the existing solution.

[0030] (2) Anti-lock braking adjustment function: The present invention monitors the wheel speed during the braking process and adjusts the brake air pressure through the backup controller and the backup ABS solenoid valve according to the limit set by the slip ratio, thereby realizing the ABS anti-lock braking adjustment function.

[0031] (3) Independent brake control. The present invention implements the vehicle's service brakes by controlling the electronically controlled actuator valve after the chassis controller detects that the main brake system has failed. The redundant brake system is a completely independent control system that has the same braking force as the main brake, ensuring that the vehicle has the ability to operate safely after the main brake fails.

[0032] (4) Support L4+ autonomous driving technology. The control process of the present invention is that the chassis controller controls the electronically controlled actuator valve to implement air pressure braking on the vehicle, and its ABS anti-lock adjustment function is realized by the backup controller, backup ABS solenoid valve and backup wheel speed sensor. The above process is all electronically controlled and automatically controlled. Compared with the existing L2 and below technologies that require safety personnel, this solution does not require safety personnel, and this technology supports L4+ autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the implementation mode will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present invention. For ordinary technicians in this field, other illustrations can be obtained based on these drawings without paying creative work.

[0034] Figure 1 is a schematic diagram of the structure of a redundant braking system provided by an embodiment of the present invention;

[0035] Figure 2 It is a flow chart of a control method of a redundant braking system provided by a certain embodiment of the present invention. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] It should be understood that the step numbers used in this document are only for convenience of description and are not intended to limit the order in which the steps are executed.

[0038] It should be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0039] The terms “include” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0040] The term "and / or" means and includes any and all possible combinations of one or more of the associated listed items.

[0041] See also Figure 1 , an embodiment of the present invention provides a redundant braking system, including an electronically controlled actuating valve, a chassis controller, a backup controller, a front axle control module, and a rear axle control module;

[0042] The air inlet of the electronically controlled actuator valve is connected to the air source through a pipeline, the air outlet of the electronically controlled actuator valve is connected to the backup ABS solenoid valve unit through a pipeline, the backup ABS solenoid valve unit is connected to the backup controller through a wiring harness, and the air outlet of the backup ABS solenoid valve unit is connected to the front axle control module and the rear axle control module through a pipeline; the electronically controlled actuator valve is connected to the chassis controller through a wiring harness, and the backup controller is controlled and connected by the chassis controller.

[0043] Further, the backup ABS solenoid valve unit includes a front axle backup ABS solenoid valve and a rear axle backup ABS solenoid valve;

[0044] The air inlet of the front axle backup ABS solenoid valve is connected to the electronically controlled actuating valve through a pipeline, and the air outlet of the front axle backup ABS solenoid valve is connected to the front axle control module;

[0045] The air inlet of the rear axle backup ABS solenoid valve is connected to the electronically controlled actuator valve through a pipeline, and the air outlet of the rear axle backup ABS solenoid valve is connected to the rear axle control module.

[0046] Further, the redundant brake system also includes a front axle brake air chamber and a rear axle brake air chamber;

[0047] The front axle control module is connected to the front axle brake air chamber, and the rear axle control module is connected to the rear axle brake air chamber.

[0048] Further, the redundant braking system further comprises an air pressure sensor unit; the air pressure sensor unit comprises a front axle air pressure sensor and a rear axle air pressure sensor;

[0049] The front axle air pressure sensor is connected to the front axle brake air chamber through a pipeline, and is connected to the chassis controller through a wiring harness; the rear axle air pressure sensor is connected to the rear axle brake air chamber through a pipeline, and is connected to the chassis controller through a wiring harness.

[0050] Furthermore, the redundant braking system also includes a backup wheel speed sensor unit; the backup wheel speed sensor unit includes a left front axle backup wheel speed sensor, a right front axle backup wheel speed sensor, a left rear axle backup wheel speed sensor, and a right rear axle backup wheel speed sensor;

[0051] The left front axle backup wheel speed sensor, the right front axle backup wheel speed sensor, the left rear axle backup wheel speed sensor, and the right rear axle backup wheel speed sensor are all connected to the backup controller through a wiring harness.

[0052] For corresponding Figure 2 A control method for a redundant braking system, applied to any of the redundant braking systems described above, comprises the following steps: first, a vehicle controller receives a deceleration request, and a chassis controller determines a working state of a main braking system;

[0053] When the main brake system works normally, the chassis controller sends an inhibition signal to the backup controller, making the backup controller in a dormant state. At this time, the vehicle braking request is executed by the main brake system; it can be understood that the main brake system sends a braking request to the brake EBS system, and the main brake EBS system executes braking, and the vehicle slows down or stops;

[0054] When the main braking system is malfunctioning, the chassis controller sends an activation signal to the backup controller, putting the backup controller into working state. At this time, the vehicle braking request is executed by the redundant braking system, and the chassis controller controls the electronically controlled actuator valve to output two independent brake air pressures, so that the vehicle can implement service braking through the front axle control module and the rear axle control module, and the vehicle can slow down or stop.

[0055] During the execution of the redundant braking system, the electronically controlled actuator valve inputs air pressure into the front axle control module and the rear axle control module and controls their outlets to output air pressure, thereby driving the front axle brake chamber and the rear axle brake chamber to operate and realize air pressure braking of the front axle and the rear axle.

[0056] During the execution of the redundant braking system, the air pressure sensor unit feeds back the output air pressure value to the chassis controller. The chassis controller compares the air pressure request value and the air pressure feedback value to control the action of the electronically controlled actuator valve and realize closed-loop control of the brake air pressure.

[0057] During the execution of the redundant braking system, the backup wheel speed sensor unit detects the vehicle speed and sends the information to the backup controller; when the wheel slip rate reaches the set limit, the backup controller controls the backup ABS solenoid valve unit to adjust the air pressure to realize the vehicle's anti-lock braking function.

[0058] An embodiment of the present invention further provides a vehicle, comprising the above-mentioned redundant braking system, in particular an autonomous driving vehicle.

[0059] In summary, the advantages of the redundant braking system and control method of the autonomous driving vehicle in the embodiments of the present invention are as follows:

[0060] (1) Large braking force, short braking distance, and good braking performance. The redundant braking system in the embodiment of the present invention is a driving brake for the front axle and the rear axle. After testing, the braking deceleration can reach more than 6m / s2. The braking deceleration is increased by 170% compared with the existing solution.

[0061] (2) Anti-lock braking adjustment function. The redundant braking system in the embodiment of the present invention monitors the wheel speed during the braking process and adjusts the brake air pressure through the backup controller and the backup ABS solenoid valve according to the limit set by the slip ratio, thereby realizing the ABS anti-lock braking adjustment function.

[0062] (3) Independent brake control. The redundant brake system in the embodiment of the present invention is implemented by the chassis controller to control the electronically controlled actuator valve to apply service brakes to the vehicle after the chassis controller detects that the main brake system fails. The redundant brake system is a completely independent control system with the same braking force as the main brake, which can ensure that the vehicle has the ability to operate safely after the main brake fails.

[0063] (4) Supporting L4+ autonomous driving technology. The control process of the redundant braking system in the embodiment of the present invention is that the chassis controller controls the electronically controlled actuator valve to implement air pressure braking on the vehicle, and its ABS anti-lock adjustment function is realized by the backup controller, backup ABS solenoid valve and backup wheel speed sensor. The above process is all electronically controlled and automatically controlled. Compared with the existing L2 and below technologies that require safety personnel, this solution does not require safety personnel, and this technology supports L4+ autonomous driving.

[0064] It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. In addition, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0065] The terms "first", "second", etc. in the present invention are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0066] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0067] The above description is only an implementation mode of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A redundant braking system, characterized in that: Includes electronically controlled actuator valve, chassis controller, backup controller, front axle control module, and rear axle control module; The air inlet of the electronically controlled actuating valve is connected to the air source through a pipeline, the air outlet of the electronically controlled actuating valve is connected to the backup ABS solenoid valve unit through a pipeline, the backup ABS solenoid valve unit is connected to the backup controller through a wiring harness, and the air outlet of the backup ABS solenoid valve unit is connected to the front axle control module and the rear axle control module through a pipeline; the electronically controlled actuating valve is connected to the chassis controller through a wiring harness, and the backup controller is controlled and connected by the chassis controller.

2. The redundant braking system according to claim 1, characterized in that: The backup ABS solenoid valve unit includes a front axle backup ABS solenoid valve and a rear axle backup ABS solenoid valve; The air inlet of the front axle backup ABS solenoid valve is connected to the electronically controlled actuating valve through a pipeline, and the air outlet of the front axle backup ABS solenoid valve is connected to the front axle control module; The air inlet of the rear axle backup ABS solenoid valve is connected to the electronically controlled actuating valve through a pipeline, and the air outlet of the rear axle backup ABS solenoid valve is connected to the rear axle control module.

3. The redundant braking system according to claim 2, characterized in that: It also includes a front axle brake air chamber and a rear axle brake air chamber; The front axle control module is connected to the front axle brake air chamber, and the rear axle control module is connected to the rear axle brake air chamber.

4. The redundant braking system according to claim 3, characterized in that: Also includes an air pressure sensor unit; the air pressure sensor unit includes a front axle air pressure sensor and a rear axle air pressure sensor; The front axle air pressure sensor is connected to the front axle brake air chamber through a pipeline, and is connected to the chassis controller through a wiring harness; the rear axle air pressure sensor is connected to the rear axle brake air chamber through a pipeline, and is connected to the chassis controller through a wiring harness.

5. The redundant braking system according to claim 4, characterized in that: It also includes a backup wheel speed sensor unit; the backup wheel speed sensor unit includes a left front axle backup wheel speed sensor, a right front axle backup wheel speed sensor, a left rear axle backup wheel speed sensor, and a right rear axle backup wheel speed sensor; The left front axle backup wheel speed sensor, the right front axle backup wheel speed sensor, the left rear axle backup wheel speed sensor, and the right rear axle backup wheel speed sensor are all connected to the backup controller through a wiring harness.

6. A control method for a redundant braking system, characterized in that: A redundant braking system as claimed in any one of claims 1 to 5, comprising: When the main brake system works normally, the chassis controller sends an inhibition signal to the backup controller to put the backup controller into a dormant state, and the vehicle braking request is executed by the main brake system at this time; When the main braking system is malfunctioning, the chassis controller sends an activation signal to the backup controller to put the backup controller into operation. At this time, the vehicle braking request is executed by the redundant braking system. The chassis controller controls the electronically controlled actuator valve to output two independent brake air pressures, so that the vehicle can perform service braking through the front axle control module and the rear axle control module, and the vehicle can slow down or stop.

7. The control method of the redundant braking system according to claim 6, characterized in that: During the execution of the redundant braking system, the electronically controlled actuator valve inputs air pressure into the front axle control module and the rear axle control module and controls its outlet to output air pressure, thereby driving the front axle brake chamber and the rear axle brake chamber to operate and realize air pressure braking of the front axle and the rear axle.

8. The control method of the redundant braking system according to claim 7, characterized in that: During the execution of the redundant braking system, the air pressure sensor unit feeds back the output air pressure value to the chassis controller, and the chassis controller compares the air pressure request value and the air pressure feedback value to control the action of the electronically controlled actuator valve to achieve closed-loop control of the brake air pressure.

9. The control method of the redundant braking system according to claim 8, characterized in that: During the execution of the redundant braking system, the backup wheel speed sensor unit detects the vehicle speed and sends the information to the backup controller; when the wheel slip rate reaches the set limit, the backup controller controls the backup ABS solenoid valve unit to adjust the air pressure to realize the vehicle's anti-lock braking function.

10. A vehicle, characterized in that: Comprising a redundant braking system as claimed in any one of claims 1 to 5.

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