Braking system suitable for low-speed unmanned vehicle

Abstract

The invention relates to the technical field of vehicle braking, in particular to a braking system suitable for a low-speed unmanned vehicle. The system comprises a system body, and the system body comprises an EBS-ESC controller, a front axle air cylinder, a rear axle air cylinder, a parking air cylinder, an EPB module, a two-position three-way solenoid valve, an air pressure switch, a gear ring, a wheel speed sensor, a composite brake chamber, an EBS dual-channel module, an air pressure sensor, an AEB relay valve, a whole vehicle controller, an EBS single-channel module, an ABS solenoid valve and a service brake chamber. Through the above method, if the EBS-ESC controller and the EPB module fail, the redundancy control can better intervene in the driving braking and the parking braking, so that the whole vehicle control of the unmanned vehicle in the driving process is ensured, and the occurrence of safety accidents is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle braking, and more specifically, to a braking system applicable to low-speed driverless vehicles. Background Art

[0002] Currently, driverless technology has reached the stage of public road testing, and some cities have started to open driverless tests in the taxi field. Although there are still many problems that cannot be solved temporarily for fully open roads in driverless vehicles, for closed or semi-closed road environments such as factory areas, mining areas, and airports, due to the relatively fixed usage scenarios, the variables within the scenarios are relatively fewer. Therefore, the amount of data generated by low-speed driverless vehicles after perceiving the environment is even less, and the difficulty of optimizing the algorithm for the entire driverless system is lower. Thus, driverless technology is expected to be implemented first.

[0003] If the EBS-ESC (Electronic Brake Systems-Electronic Stability Control) system of the vehicle fails and the driverless vehicle loses its braking ability, safety accidents may occur. Summary of the Invention

[0004] To solve the above technical problems, the present invention is solved by the following technical solutions.

[0005] A braking system applicable to low-speed driverless vehicles, which includes a system body. The system body includes an EBS-ESC controller, a front axle air storage tank, a rear axle air storage tank, a parking air storage tank, an EPB module, a two-position three-way solenoid valve, a pressure switch, a gear ring, a wheel speed sensor, a combined brake air chamber, an EBS dual-channel module, a pressure sensor, an AEB relay valve, a vehicle controller, an EBS single-channel module, an ABS solenoid valve, and a service brake air chamber; During default braking, the vehicle controller obtains the message information of the vehicle and sends it to the EBS-ESC controller. The EBS-ESC controller controls the EBS dual-channel module and the EBS single-channel module to conduct. The front axle air storage tank delivers compressed air to the service brake air chamber through the EBS single-channel module and the ABS solenoid valve. The rear axle air storage tank delivers compressed air to the combined brake air chamber through the EBS dual-channel module. The service brake air chamber and the combined brake air chamber drive the brake to generate braking force; During electronic parking braking, the vehicle controller obtains the message information of the vehicle and sends it to the EPB module. The exhaust solenoid valve inside the EPB module conducts. The compressed air in the combined brake air chamber is discharged from the exhaust port of the EPB module. The compressed spring in the combined brake air chamber pushes the push rod to drive the brake to generate parking braking force; During redundant service braking, the vehicle controller controls the solenoid valve inside the AEB relay valve to conduct. At this time, the compressed air in the parking air storage tank is respectively delivered to the EBS dual-channel module and the EBS single-channel module through the AEB relay valve. The EBS single-channel module conducts under the action of the compressed air. The compressed air in the front axle air storage tank passes through the EBS single-channel module and the ABS solenoid valve in sequence to reach the service brake air chamber. At the same time, the EBS dual-channel module conducts under the action of the compressed air. The compressed air in the rear axle air storage tank passes through the EBS dual-channel module to reach the compound brake air chamber. The service brake air chamber and the compound brake air chamber drive the brake to generate braking force. During redundant parking braking, the vehicle controller controls the two-way three-way solenoid valve to change its conduction direction. The compressed air in the EPB module is discharged through the two-way three-way solenoid valve. The EPB module conducts. The compressed air in the compound brake air chamber is discharged from the EPB module. The compression spring pushes the push rod to drive the brake to generate parking braking force.

[0006] As a preferred solution of the present invention, the system body includes a power-on self-check module. After the vehicle is powered on, the system body obtains the self-check information of the EBS-ESC controller and the EPB module and reports the self-check information to the vehicle controller in the form of a message. After the EBS-ESC controller and the EPB module pass the self-check without faults, the vehicle controller conducts a fault check on the redundant braking in the vehicle stationary state. The vehicle controller sends instructions to the AEB relay valve and the two-way three-way solenoid valve, and the air pressure sensor and the air pressure switch feedback the completion of the instructions to check whether there are faults in the AEB relay valve, the two-way three-way solenoid valve and the redundant braking circuit.

[0007] As a preferred solution of the present invention, the vehicle controller requests the EPB module to release the parking brake. After the vehicle controller detects that the air pressure switch is disconnected, it is considered that the parking brake has been released. At this time, the vehicle controller controls the AEB relay valve to conduct. If the steady-state air pressure value of the air pressure sensor behind the AEB relay valve is above 4 bar, it is considered that the AEB relay valve and the redundant service braking circuit are normal. After completing the above operations, the vehicle controller continues to send instructions to make the two-way three-way solenoid valve conduct. After 1.0 s, the vehicle controller detects that the air pressure switch is connected, and it is considered that the two-way three-way solenoid valve and the redundant parking braking circuit are free of faults.

[0008] As a preferred solution of the present invention, the system body includes a battery, which is used to supply power to the EBS-ESC controller, the EPB module and the vehicle controller respectively.

[0009] As a preferred solution of the present invention, the system body includes an air compressor and an air treatment unit. The air compressor is used to generate compressed air and deliver it to the front axle air storage tank, the rear axle air storage tank, the parking air storage tank, the EBS dual-channel module and the EBS single-channel module after being processed by the air treatment unit.

[0010] As a preferred solution of the present invention, the system body further includes a check valve disposed between the parking air storage tank and the EPB module, and the check valve is used to connect the parking air storage tank and the EPB module.

[0011] As a preferred solution of the present invention, a yaw rate sensor is connected to the EBS-ESC controller, and the yaw rate sensor is used to measure the acceleration and turning speed of the vehicle in the lateral direction.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: In the present invention, when the EBS-ESC controller and the EPB module are normal, the EBS-ESC controller and the EPB module can better control the braking of the driverless vehicle during driving and parking. If the EBS-ESC controller and the EPB module fail, redundant control can better intervene in the driving braking and parking braking. During redundant driving braking, the vehicle controller controls the solenoid valve inside the AEB relay valve to conduct. At this time, the compressed air in the parking air storage tank is respectively delivered to the EBS dual-channel module and the EBS single-channel module through the AEB relay valve. The EBS single-channel module is conducted under the action of the compressed air, and the compressed air in the front axle air storage tank passes through the EBS single-channel module and the ABS solenoid valve to reach the service brake chamber. At the same time, the EBS dual-channel module is conducted under the action of the compressed air, and the compressed air in the rear axle air storage tank passes through the EBS dual-channel module to reach the compound brake chamber. The service brake chamber and the compound brake chamber drive the brake to generate braking force; during redundant parking braking, the vehicle controller controls the two-way three-way solenoid valve to change direction and conduct. The compressed air in the EPB module is discharged through the two-way three-way solenoid valve, the EPB module is conducted, the compressed air in the compound brake chamber is discharged from the EPB module, and the compression spring pushes the push rod to drive the brake to generate parking braking force. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, and do not constitute a limitation to the present invention.

[0014] Figure 1 It is a schematic diagram of the control principle of the system body in the present invention.

[0015] The names of the parts referred to by the respective numerical labels in the drawings are as follows: 1. EBS-ESC controller; 2. Battery; 3. Air compressor; 4. Air treatment unit; 5. Front axle air reservoir; 6. Rear axle air reservoir; 7. Parking air reservoir; 8. Check valve; 9. EPB module; 10. Two-position three-way solenoid valve; 11. Pressure switch; 12. Ring gear; 13. Wheel speed sensor; 14. Combined brake chamber; 15. EBS dual-channel module; 16. Pressure sensor; 17. AEB relay valve; 18. Vehicle controller; 19. EBS single-channel module; 20. ABS solenoid valve; 21. Service brake chamber; 22. Yaw rate sensor Detailed implementation mode

[0016] To further understand the content of the present invention, the present invention will be described in detail with reference to the accompanying drawings and embodiments. It should be understood that the embodiments are only for explaining the present invention and not for limiting it. Embodiment

[0017] As Figure 1 shown, this embodiment provides a braking system applicable to low-speed driverless vehicles, which is characterized in that: it includes a system body, and the system body includes an EBS-ESC controller 1, a front axle air reservoir 5, a rear axle air reservoir 6, a parking air reservoir 7, an EPB module 9, a two-position three-way solenoid valve 10, a pressure switch 11, a ring gear 12, a wheel speed sensor 13, a combined brake chamber 14, an EBS dual-channel module 15, a pressure sensor 16, an AEB relay valve 17, a vehicle controller 18, an EBS single-channel module 19, an ABS solenoid valve 20 and a service brake chamber 21; During default braking, the vehicle controller 18 acquires the message information of the vehicle and sends it to the EBS-ESC controller 1. The EBS-ESC controller 1 controls the EBS dual-channel module 15 and the EBS single-channel module 19 to conduct. The front axle air reservoir 5 conveys compressed air to the service brake chamber 21 through the EBS single-channel module 19 and the ABS solenoid valve 20. The rear axle air reservoir 6 conveys compressed air to the combined brake chamber 14 through the EBS dual-channel module 15. The service brake chamber 21 and the combined brake chamber 14 drive the brake to generate braking force; During wire-controlled parking braking, the vehicle controller 18 acquires the message information of the vehicle and sends it to the EPB module 9. The exhaust solenoid valve inside the EPB module 9 conducts. The compressed air in the combined brake chamber 14 is discharged from the exhaust port of the EPB module 9. The compressed spring in the combined brake chamber 14 pushes the push rod to drive the brake to generate parking braking force; During redundant service braking, the vehicle controller 18 controls the internal solenoid valve of the AEB relay valve 17 to conduct. At this time, the compressed air in the parking air reservoir 7 is respectively delivered to the EBS dual-channel module 15 and the EBS single-channel module 19 through the AEB relay valve 17. The EBS single-channel module 19 conducts under the action of the compressed air. The compressed air in the front axle air reservoir 5 successively passes through the EBS single-channel module 19 and the ABS solenoid valve 20 to reach the service brake chamber 21. At the same time, the EBS dual-channel module 15 conducts under the action of the compressed air. The compressed air in the rear axle air reservoir 6 passes through the EBS dual-channel module 15 to reach the compound brake chamber 14. The service brake chamber 21 and the compound brake chamber 14 drive the brake to generate braking force. During redundant parking braking, the vehicle controller 18 controls the two-way three-way solenoid valve 10 to commutate and conduct. The compressed air in the EPB module 9 is discharged through the two-way three-way solenoid valve 10. The EPB module 9 conducts. The compressed air in the compound brake chamber 14 is discharged from the EPB module 9. The compression spring pushes the push rod to drive the brake to generate parking braking force.

[0018] In this embodiment, when the EBS-ESC controller 1 and the EPB module 9 are normal, the EBS-ESC controller 1 and the EPB module 9 can better control the braking of the driverless vehicle during driving and parking. If the EBS-ESC controller 1 and the EPB module 9 fail, the redundant control can better intervene in the service braking and parking braking, so as to better ensure the braking of the driverless vehicle during driving and parking, and avoid the occurrence of safety accidents.

[0019] Specifically, the system body includes a power-on self-check module. After the vehicle is powered on, the system body obtains the self-check information of the EBS-ESC controller 1 and the EPB module 9 and reports the self-check information to the vehicle controller 18 in the form of a message. If there is no fault in the self-check of the EBS-ESC controller 1 and the EPB module 9, the vehicle controller 18 conducts a fault check on the redundant braking in the vehicle stationary state. The vehicle controller 18 issues instructions to the AEB relay valve 17 and the two-way three-way solenoid valve 10, and the air pressure sensor 16 and the air pressure switch 11 feedback the completion of the instructions to check whether there are faults in the AEB relay valve 17, the two-way three-way solenoid valve 10 and the redundant braking circuit.

[0020] Specifically, the vehicle controller 18 requests the EPB module 9 to release the parking brake. After the vehicle controller 18 detects that the air pressure switch 11 is disconnected, it is considered that the parking brake has been released. At this time, the vehicle controller 18 controls the AEB relay valve 17 to conduct. If the steady-state air pressure value of the air pressure sensor 16 after the AEB relay valve 17 is above 4 bar, it is considered that the AEB relay valve 17 and the redundant service brake circuit are normal. After completing the above operations, the vehicle controller 18 continues to issue an instruction to make the two-way three-way solenoid valve 10 conduct. After 1.0 s, when the vehicle controller 18 detects that the air pressure switch 11 is connected, it is considered that the two-way three-way solenoid valve 10 and the redundant parking brake circuit are fault-free.

[0021] Specifically, the system body includes a storage battery 2, and the storage battery 2 is used to supply power to the EBS-ESC controller 1, the EPB module 9, and the vehicle controller 18 respectively.

[0022] Specifically, the system body includes an air compressor 3 and an air treatment unit 4. The air compressor 3 is used to generate compressed air, which is processed by the air treatment unit 4 and then conveyed to the front axle air storage tank 5, the rear axle air storage tank 6, the parking air storage tank 7, the EBS dual-channel module 15, and the EBS single-channel module 19.

[0023] Specifically, the system body further includes a one-way valve 8 disposed between the parking air storage tank 7 and the EPB module 9. The one-way valve 8 is used to connect the parking air storage tank 7 and the EPB module 9.

[0024] Specifically, a yaw rate sensor 22 is connected to the EBS-ESC controller 1. The yaw rate sensor 22 is used to measure the acceleration and turning speed of the vehicle in the lateral direction.

[0025] In summary, the above are only the preferred embodiments of the present invention. All equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope of the patent of the present invention.

Claims

1. A braking system applicable to low-speed driverless vehicles, characterized in that: It includes a system body which includes an EBS-ESC controller (1), a front axle air reservoir (5), a rear axle air reservoir (6), a parking air reservoir (7), an EPB module (9), a two-position three-way solenoid valve (10), a pressure switch (11), a ring gear (12), a wheel speed sensor (13), a combined brake chamber (14), an EBS dual-channel module (15), a pressure sensor (16), an AEB relay valve (17), a vehicle controller (18), an EBS single-channel module (19), an ABS solenoid valve (20), and a service brake chamber (21); During default braking, the vehicle controller (18) obtains the message information of the vehicle and sends it to the EBS-ESC controller (1). The EBS-ESC controller (1) controls the EBS dual-channel module (15) and the EBS single-channel module (19) to conduct. The front axle air reservoir (5) delivers compressed air to the service brake chamber (21) through the EBS single-channel module (19) and the ABS solenoid valve (20). The rear axle air reservoir (6) delivers compressed air to the combined brake chamber (14) through the EBS dual-channel module (15). The service brake chamber (21) and the combined brake chamber (14) drive the brake to generate braking force; During by-wire parking braking, the vehicle controller (18) obtains the message information of the vehicle and sends it to the EPB module (9). The internal exhaust solenoid valve of the EPB module (9) conducts. The compressed air in the combined brake chamber (14) is discharged from the exhaust port of the EPB module (9). The compressed spring in the combined brake chamber (14) pushes the push rod to drive the brake to generate parking braking force; During redundant service braking, the vehicle controller (18) controls the internal solenoid valve of the AEB relay valve (17) to conduct. At this time, the compressed air in the parking air reservoir (7) is delivered to the EBS dual-channel module (15) and the EBS single-channel module (19) respectively through the AEB relay valve (17). The EBS single-channel module (19) conducts under the action of compressed air. The compressed air in the front axle air reservoir (5) reaches the service brake chamber (21) successively through the EBS single-channel module (19) and the ABS solenoid valve (20). At the same time, the EBS dual-channel module (15) conducts under the action of compressed air. The compressed air in the rear axle air reservoir (6) reaches the combined brake chamber (14) through the EBS dual-channel module (15). The service brake chamber (21) and the combined brake chamber (14) drive the brake to generate braking force; During redundant parking braking, the vehicle controller (18) controls the two-position three-way solenoid valve (10) to change its direction and conduct. The compressed air in the EPB module (9) is discharged through the two-position three-way solenoid valve (10). The EPB module (9) conducts. The compressed air in the combined brake chamber (14) is discharged from the EPB module (9). The compressed spring pushes the push rod to drive the brake to generate parking braking force.

2. The braking system for a low-speed driverless vehicle according to claim 1, wherein: The system body includes a power-on self-check module. After the vehicle is powered on, the system body obtains the self-check information of the EBS-ESC controller (1) and the EPB module (9) and reports the self-check information to the vehicle controller (18) in the form of a message. If there is no fault in the self-check of the EBS-ESC controller (1) and the EPB module (9), the vehicle controller (18) checks for faults in the redundant braking in the vehicle stationary state. The vehicle controller (18) issues commands to the AEB relay valve (17) and the two-way three-way solenoid valve (10), and the air pressure sensor (16) and the air pressure switch (11) feedback the completion of the commands to check whether there are faults in the AEB relay valve (17), the two-way three-way solenoid valve (10), and the redundant braking circuit.

3. The braking system for a low-speed driverless vehicle according to claim 2, characterized in that: The vehicle controller (18) requests the EPB module (9) to release the parking brake. After the vehicle controller (18) detects that the air pressure switch (11) is disconnected, it is considered that the parking brake has been released. At this time, the vehicle controller (18) controls the AEB relay valve (17) to conduct. If the steady-state air pressure value of the air pressure sensor (16) after the AEB relay valve (17) is above 4 bar, it is considered that the AEB relay valve (17) and the redundant service braking circuit are normal. After completing the above operations, the vehicle controller (18) continues to issue commands to make the two-way three-way solenoid valve (10) conduct. After 1.0 s, the vehicle controller (18) detects that the air pressure switch (11) is connected, and it is considered that the two-way three-way solenoid valve (10) and the redundant parking braking circuit are fault-free.

4. A braking system applicable to a low-speed driverless vehicle according to claim 1, characterized in that: The system body includes a battery (2), and the battery (2) is used to supply power to the EBS-ESC controller (1), the EPB module (9), and the vehicle controller (18) respectively.

5. A braking system for a low-speed driverless vehicle according to claim 1, characterized in that: The system body includes an air compressor (3) and an air treatment unit (4). The air compressor (3) is used to generate compressed air and after being processed by the air treatment unit (4), it is delivered to the front axle air storage tank (5), the rear axle air storage tank (6), the parking air storage tank (7), the EBS dual-channel module (15), and the EBS single-channel module (19).

6. The braking system for a low-speed driverless vehicle according to claim 1, characterized in that: The system body also includes a one-way valve (8) provided between the parking air storage tank (7) and the EPB module (9), and the one-way valve (8) is used to connect the parking air storage tank (7) and the EPB module (9).

7. A braking system for a low-speed driverless vehicle according to claim 1, characterized in that: A yaw rate sensor (22) is connected to the EBS-ESC controller (1), and the yaw rate sensor (22) is used to measure the acceleration and turning speed of the vehicle in the lateral direction.

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