Redundant braking system of pilotless automobile

Abstract

The invention discloses a redundant braking system of a pilotless automobile, relates to the technical field of braking systems of pilotless automobiles, and aims to solve the problems that a current automobile braking system has a failure risk and is easy to cause safety accidents. Comprising a brake pedal, a manual cylinder, a first electric cylinder, a second electric cylinder, a brake controller, a pedal travel sensor, a pressure sensor and a power supply. The brake pedal is connected with a vehicle body, the manual cylinder is connected with the brake pedal, the brake pedal is used for controlling the manual cylinder, the first electric cylinder and the second electric cylinder are both connected with the manual cylinder through a brake pipeline, and the first electric cylinder is connected with the first brake set through a brake pipeline to form a first brake loop. The second electric cylinder is connected with the second brake set through a brake pipeline to form a second brake loop, the brake controller is connected with the first electric cylinder and the second electric cylinder through power lines, the pedal travel sensor is electrically connected with the manpower cylinder and the brake controller, and the pressure sensor is electrically connected with the brake pipeline and the brake controller.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned vehicle braking systems, and particularly relates to a redundant braking system for an unmanned vehicle. BACKGROUND

[0002] With the progress of society, people's travel relies more and more on cars, and with the development of artificial intelligence technology, autonomous vehicles have gradually attracted attention and attention, and have gradually matured. Autonomous vehicles can achieve automated driving when unmanned.

[0003] However, the power source of the brake mechanism of the manually driven vehicle is the foot pressure, and vacuum assistance or other assistance systems are used. Under the assistance of the assistance system, it is very easy to step on the brake. Even if the auxiliary brake fails, stepping on more power can still ensure effective brake braking.

[0004] In the development of current vehicle braking technology, few general vehicles use pure electric, vacuum assistance and other non-artificial external forces as the main brake power mechanism, but as auxiliary power. The main reason is that the safety factor of these brake execution mechanisms is not high enough. The brake system of the unmanned vehicle uses pure electric or vacuum assistance and other non-artificial external forces as the brake power electric control brake execution mechanism, but the main brake mechanism in the unmanned mode is always in working condition and may fail. The vehicle cannot be effectively braked and will cause safety accidents. SUMMARY

[0005] The present application provides a redundant braking system for an unmanned vehicle, which solves the problem of failure risk of the current vehicle braking system and easy to cause safety accidents.

[0006] To achieve the above purpose, the technical scheme adopted by the present application is as follows:

[0007] A redundant braking system for an unmanned vehicle, comprising a brake pedal, a manual cylinder, a first electric cylinder, a second electric cylinder, a brake controller, a pedal stroke sensor, a pressure sensor and a power supply.

[0008] The brake pedal is connected with the vehicle body and is mainly used for the driver to step on the pedal to control the vehicle. At the same time, the brake pedal is also provided with a control mechanism connected with the main control computer of the unmanned vehicle. When automatic driving, the control mechanism is controlled by the main control computer of the unmanned vehicle, and the control of the brake pedal is further realized, thereby realizing the control of the vehicle.

[0009] The manual cylinder is connected with the brake pedal, and the brake pedal is used to control the manual cylinder. The manual cylinder drives and controls the braking of the unmanned vehicle.

[0010] The first electric cylinder and the manual cylinder are connected through a brake pipeline, and the first electric cylinder is connected with the first brake group through the brake pipeline to form a first brake circuit for brake control of a first brake wheel group of the automobile.

[0011] The second electric cylinder and the manual cylinder are connected through a brake pipeline, and the second electric cylinder is connected with the second brake group through the brake pipeline to form a second brake circuit for brake control of a second brake wheel group of the automobile.

[0012] The brake controller is connected with the first electric cylinder and the second electric cylinder through a power supply line, and the operation of the first electric cylinder and the second electric cylinder is controlled by the brake controller.

[0013] The pedal stroke sensor is electrically connected with the manual cylinder and the brake controller, and is used for detecting the stroke of the brake pedal and controlling the brake controller according to the stroke of the brake pedal.

[0014] The pressure sensor is electrically connected with the brake pipeline and the brake controller, and is used for detecting the hydraulic pressure in the brake pipeline of the manual cylinder, the first electric cylinder and the second electric cylinder to ensure normal operation.

[0015] The power supply is electrically connected with the brake controller, and is used for providing power required for brake, that is, the power supply can be used to provide power for the brake controller, the pedal stroke sensor, the pressure sensor and other brake systems, and can also provide power for other electric control systems.

[0016] The application provides a redundant brake system of an unmanned vehicle, which is provided with two brake circuits, the two brake circuits are independently operated, and can be controlled through a brake pedal and a manual cylinder.

[0017] In the above structure, the first electric cylinder and the second electric cylinder are the same in structure, and each comprises an electric cylinder shell, an electric cylinder body, a sliding piston, a motor, a pushing device and a first elastic member, and the electric cylinder shell and the electric cylinder body are connected.

[0018] The sliding piston is slidably arranged in the electric cylinder body and can slide along the length direction of the electric cylinder body, and a through hole is arranged at the center position of the sliding piston.

[0019] The motor is arranged at one side of the electric cylinder shell, and the motor is used as a driving device to drive the sliding piston to slide in the electric cylinder body.

[0020] The pushing device is connected with the motor and passes through the through hole of the sliding piston, and an oil passage for oil is formed between the pushing device and the inner side wall of the through hole.

[0021] The first elastic member is arranged on one side of the electric cylinder body and connected with the end of the pushing device passing through the through hole. The first elastic member has a pre-pressure to enable the pushing device to have a force to return to the initial position.

[0022] The pushing device is connected with the motor and passes through the through hole of the sliding piston, and an oil passage for oil is formed between the pushing device and the inner side wall of the through hole. Meanwhile, the first and second inclined portions which can open or close the oil passage are formed between the pushing device and the inner side wall of the through hole, and the first and second inclined portions can open or close the oil passage with the movement of the pushing device.

[0023] Further, the first inclined portion is a first conical surface which gradually reduces towards the sliding piston, the second inclined portion is a second conical surface which gradually expands away from the sliding piston, and the third and fourth conical surfaces which cooperate with the first and second conical surfaces are arranged on the sliding piston, i.e. the trapezoidal circular ring block is outwardly convex on the sliding piston, and the trapezoidal circular groove is inwardly concave on the pushing device, and the circular ring and the circular groove form the oil passage.

[0024] The first elastic member has a pre-pressure to enable the fourth conical surface to be in close contact with the second conical surface to close the oil passage. When the pushing device moves to compress the first elastic member, the first and second inclined portions are both communicated, i.e. the oil passage is communicated.

[0025] Further, the pushing device is a ball screw pair, which comprises two bearings, a screw nut, a pushing rod and a guide pin.

[0026] The two bearings are arranged in the electric cylinder housing in a spaced manner, and the screw nut is arranged between the two bearings and supported in the electric cylinder housing by the two bearings.

[0027] The pushing rod is connected with the screw nut at one end and connected with the first elastic member at the other end passing through the through hole of the sliding piston. The pushing rod and the screw nut are connected by a steel ball in a threaded manner to form a ball screw structure.

[0028] The first and second inclined portions which can open or close the oil passage are further formed between the pushing rod and the inner side wall of the through hole. The pushing rod serves as a pushing mechanism to connect the motor and the sliding piston, and the pushing rod and the screw nut form a ball screw structure.

[0029] When the motor starts, the rolling nut is driven to rotate through the shaft coupling, and since the rolling nut and the push rod form a ball screw structure, the push rod can slowly move towards the first elastic member under the drive of the motor, so that the first inclined portion and the second inclined portion are both communicated, and the oil passage is opened, thereby starting the first electric cylinder or the second electric cylinder.

[0030] The push rod is further provided with a guide groove arranged along the axial direction of the push rod, and a guide pin is arranged on the housing of the electric cylinder, and one end of the guide pin is inserted into the guide groove, so that the push rod can only move along the axial direction of itself and cannot rotate around the axial direction of itself.

[0031] Further, the push rod is provided with an annular groove between the first inclined portion and the second inclined portion, the diameter of the annular groove is smaller than the inner diameter of the through hole, the annular groove is clamped in the through hole of the sliding piston, and the annular groove cooperates with the first inclined portion and the second inclined portion to control the oil passage.

[0032] Further, an oil outlet is formed on the electric cylinder body, and an oil inlet is formed on the electric cylinder housing, the oil inlet is connected with the manual cylinder through the brake pipeline, and the oil outlet and the oil inlet are arranged on the two sides of the piston respectively.

[0033] The electric cylinder is connected with the manual cylinder through the brake pipeline, the manual cylinder passes the hydraulic oil into the electric cylinder through the brake pipeline, when the electric cylinder starts, the hydraulic oil passes through the oil passage into the latter part of the electric cylinder and flows out from the oil outlet.

[0034] Further, the manual cylinder comprises a manual cylinder body, a piston assembly, a liquid storage tank, a push rod, a rack and a foot spring. The manual cylinder body is provided with a liquid discharge hole for discharging the hydraulic oil in the manual cylinder body and passing into the brake pipeline. The manual cylinder body is further provided with a liquid supply hole and a compensation hole.

[0035] The piston assembly is slidably arranged in the manual cylinder body, and the piston assembly can slide with the depression of the brake pedal.

[0036] The liquid storage tank is connected to the manual cylinder body and communicates with the manual cylinder body, and the liquid storage tank and the manual cylinder body communicate through the liquid supply hole and the compensation hole. The liquid storage tank is used for storing hydraulic oil.

[0037] The push rod is connected to the brake pedal and the manual cylinder body, and the push rod is in contact with the piston assembly in the manual cylinder body. When the brake pedal is depressed, the push rod pushes the piston assembly, and the hydraulic oil is pushed into the brake pipeline for work.

[0038] The rack is connected with the push rod and is arranged around the push rod, and the rack can move along the axial direction of the push rod with the movement of the push rod.

[0039] The foot feeling spring is arranged on the side of the rack away from the push rod, and the foot feeling spring connects the rack and the cylinder body of the human power cylinder, and the foot feeling spring is used for pushing the rack, and then pushing the push rod to make the brake pedal be in the lifted state.

[0040] Further, the piston assembly comprises a front piston, a rear piston, a second elastic member, a front leather cup and a rear leather cup. The front piston is slidingly arranged in the human power cylinder body, the rear piston is slidingly arranged in the human power cylinder body, and the rear piston is connected with the front piston, and the rear piston is arranged on the side of the front piston close to the rack, and there is a certain air gap S between the rear piston and the rack.

[0041] The second elastic member is arranged between the front piston and the human power cylinder body, and the second elastic member has a pre-pressure to push the front piston.

[0042] The front leather cup is arranged on the front piston, and under the pre-pressure of the second elastic member, the front leather cup is located between the liquid supply hole and the compensation hole of the human power cylinder in communication with the liquid storage tank, when the brake pedal is stepped on, the front leather cup moves with the front piston, blocks the compensation hole, and pushes the hydraulic oil in the human power cylinder into the brake pipeline, so as to realize braking.

[0043] The rear leather cup is arranged on the rear piston. The front leather cup and the rear leather cup seal between the front piston and the human power cylinder body, and between the rear piston and the human power cylinder body, so as to ensure the normal use of the human power cylinder.

[0044] Further, the side of the rear piston close to the rack is provided with a plug-in hole, and the rack is provided with a plug-in part matched with the plug-in hole, and there is a certain air gap S between the end surface of the plug-in part and the bottom surface of the plug-in hole under the pre-pressure of the foot feeling spring. The setting of the plug-in hole and the plug-in groove can make the rack push the rear piston more stably, and avoid misalignment.

[0045] Further, the human power cylinder further comprises a gear, the gear is arranged on the human power cylinder body, and the gear can rotate around its own axis, the gear is engaged with the rack, and the pedal stroke sensor and the rotating shaft of the gear are connected, so that the pedal stroke sensor can obtain the stroke signal of the brake pedal through the rotating angle of the gear, so as to determine whether the unmanned vehicle brakes and the braking degree.

[0046] Compared with the prior art, the beneficial effects of the present application are that:

[0047] The redundancy brake system of the unmanned vehicle provided by the present application is directly driven by the motor through the transmission device to drive the piston of the electric cylinder, the working time is short, and the brake response is fast.

[0048] The present application is divided into two sets of independent brake circuits to brake and control the vehicle, and ideal front and rear brake power distribution can be realized, the reliability of the brake system is high, and the failure protection ability is strong. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 A structure diagram of a redundancy braking system of an unmanned vehicle provided by the present application;

[0050] Figure 2 A structure diagram of a manual cylinder and a brake pedal of a redundancy braking system of an unmanned vehicle provided by the present application;

[0051] Figure 3 A structure diagram of a first electric cylinder or a second electric cylinder of a redundancy braking system of an unmanned vehicle provided by the present application;

[0052] Figure 4 A structure diagram of a manual cylinder and a brake pedal of a redundancy braking system of an unmanned vehicle provided by the present application; Figure 3 A structure diagram of a manual cylinder and a brake pedal of a redundancy braking system of an unmanned vehicle provided by the present application;

[0053] Reference signs: 1-brake pedal; 2-fixing pin; 3-manual cylinder; 4-pedal stroke sensor; 5-pressure sensor; 6-first electric cylinder; 7-second electric cylinder; 8-brake controller; 9-power supply; 10-left front brake; 11-right front brake; 12-right rear brake; 13-left rear brake;

[0054] 301-push rod; 302-locking nut; 303-rack; 304-end cover; 305-gear; 306-foot feeling spring; 307-limiting column; 308-rear piston; 309-rear leather bowl; 310-manual cylinder body; 311-liquid supply hole; 312-compensation hole; 313-second rebounding piece; 314-front piston; 315-front leather bowl; 316-liquid discharge hole; 317-liquid storage tank; 318-plug-in hole; 319-plug-in part; S-empty stroke;

[0055] 601-motor; 602-coupling; 603-retaining ring; 604-rolled screw nut; 605-bearing; 606-push rod; 607-first sealing ring; 608-oil inlet; 609-oil inlet cavity; 610-guiding pin; 611-second sealing ring; 612-leather bowl; 613-sliding piston; 614-oil outlet; 615-first rebounding piece; 616-oil outlet cavity; 617-electric cylinder body; 618-electric cylinder shell; 619-guiding groove;

[0056] 701-first conical surface; 702-second conical surface; 703-third conical surface; 704-fourth conical surface; 705-annular groove. DETAILED DESCRIPTION

[0057] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0058] In the description of the present application, it needs to be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0059] The terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0060] In the description of the present application, it needs to be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In addition, when describing pipelines or channels, "connected" and "connected" in the present application have the meaning of conducting. The specific meaning needs to be understood in combination with the context.

[0061] In the embodiments of the present application, the words "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design presented as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Rather, the use of "exemplary" or "for example" is intended to present concepts in a concrete manner. The term "one embodiment" or "an embodiment" means that at least one embodiment of the present application has been described.

[0062] With the progress of society, people's travel relies more and more on cars, and with the development of artificial intelligence technology, autonomous vehicles have gradually attracted attention and attention, and gradually matured. The autonomous vehicle can realize automatic driving when unmanned.

[0063] However, the power source of the brake mechanism of the manually driven vehicle is the foot pressure, and the vacuum booster or other booster system is adopted. Under the assistance of the booster system, the foot brake is very easy. Even if the auxiliary brake fails, the foot brake can still ensure effective brake braking.

[0064] In the current development of vehicle braking technology, vehicles rarely use pure electric or vacuum-assisted braking as active braking mechanisms, but rather as auxiliary braking mechanisms. The main reason is that the safety factor of these brake actuators is not high enough. The braking system of unmanned vehicles uses pure electric or vacuum-assisted braking as an electrically controlled brake actuator. However, the main brake mechanism is always in operation in unmanned mode and may fail. The inability to effectively brake the vehicle could cause a safety accident.

[0065] Therefore, the present invention provides an unmanned redundant braking system that uses two independent braking circuits to control vehicle braking, achieving ideal front and rear braking force distribution, high braking system reliability, and fast braking response. The technical solution of the present invention is described in detail below with reference to the accompanying drawings.

[0066] like Figure 1 As shown, a redundant braking system for an unmanned vehicle includes a brake pedal 1, a fixing pin 2, a manual cylinder 3, a pedal travel sensor 4, a pressure sensor 5, a first electric cylinder 6, a second electric cylinder 7, a brake line, a brake controller 8, a power supply 9, a left front brake 10, a right front brake 11, a right rear brake 12 and a left rear brake 13.

[0067] The brake pedal 1 is the braking control of the car, and a control mechanism connected to the main control computer of the unmanned car is provided on the brake pedal 1, so that the brake pedal 1 can be controlled by both manual braking and the main control computer of the car.

[0068] The manual cylinder 3 is connected to the brake pedal 1 and is actuated by the brake pedal 1 to control the manual cylinder 3 to increase the system pressure, thereby controlling the operation of the entire brake pipeline to achieve braking.

[0069] The first electric cylinder 6 and the second electric cylinder 7 are both connected to the manual cylinder 3 through the brake pipe, and the first electric cylinder 6 is connected to the first brake group through the brake pipe to form a first brake circuit, and the second electric cylinder 7 is connected to the second brake through the brake pipe to form a second brake circuit.

[0070] The two braking circuits can ensure that the brakes of the two braking circuits do not interfere with each other, and the brake wheels of the two braking circuits are independent of each other, providing corresponding braking force according to different wheels and providing braking force according to different road conditions, thereby achieving a reasonable distribution of braking force. At the same time, when one circuit fails, the other circuit still has the ability to brake. The two braking circuits are redundant to ensure the safe driving of the driverless car.

[0071] The brake controller 8 is connected to the first electric cylinder 6 and the second electric cylinder 7 via a power line. The brake controller 8 is used to control the operation of the first electric cylinder 6 and the second electric cylinder 7 .

[0072] The brake controller 8 is further connected to the pedal stroke sensor 4 via a signal line. The pedal stroke sensor 4 is used to detect the pedal stroke of the brake pedal 1 .

[0073] The pressure sensor 5 is electrically connected to the brake pipeline and the brake controller 8 . The pressure sensor 5 is used to detect the hydraulic pressure in the brake pipeline of the manual cylinder 3 and the first electric cylinder 6 and the second electric cylinder 7 .

[0074] The power supply 9 is electrically connected to the brake controller 8 , and the power supply 9 is used to provide the power required for braking.

[0075] In some embodiments of the present application, the power supply 9 is the main power supply of the driverless car, which is powered by the main power supply of the car. At the same time, the power supply 9 also supplies power to other electronic control systems.

[0076] In some other embodiments of the present application, the power supply 9 is an independent power supply that only supplies power to the braking system. In addition, there is a main power supply that supplies power to the entire unmanned vehicle. In this way, when there is a problem with the main power supply, the braking system can still operate to ensure safety.

[0077] like Figure 2 As shown, the first electric cylinder 6 and the second electric cylinder 7 have the same structure, both including an electric cylinder housing 618 , an electric cylinder body 617 , a sliding piston 613 , a motor 601 , a pushing device and a first resilient member 615 .

[0078] The electric cylinder body 617 and the electric cylinder housing 618 are connected, and a second sealing ring 611 is provided at the connection. The sliding piston 613 is slidably provided in the electric cylinder body 617. A leather cup 612 is also provided between the sliding piston 613 and the electric cylinder body 617 to seal the gap between the sliding piston 613 and the electric cylinder body 617. A through hole is provided in the sliding piston 613, and the motor 601 is used to drive the sliding piston 613 to slide.

[0079] The motor 601 is disposed on one side of the electric cylinder housing 618 . The motor 601 serves as a driving device for driving the sliding piston 613 to slide in the electric cylinder body 617 .

[0080] The pushing device is connected to the motor 601 and passes through the through hole of the sliding piston 613 , and an oil channel for oil to pass through is formed between the pushing device and the inner side wall of the through hole.

[0081] The first resilient member 615 is disposed at one end of the interior of the electric cylinder body 617 , and the first resilient member 615 is connected to one end of the pushing device passing through the through hole.

[0082] The first inclined part 710 and the second inclined part 720 can open or close the oil passage with the movement of the pushing device.

[0083] The first resilient member 615 has a pre-pressure, and under the action of the pre-pressure of the first resilient member 615, the first inclined part 710 can be in a closed state, and the sliding piston 613 can abut against the end surface of the electric cylinder shell 618.

[0084] In some embodiments of the present application, the first resilient member 615 can be a spring, which is simple in structure and stable in work. In some other embodiments of the present application, the first resilient member 615 can be a spring piece or other components with equivalent elastic function.

[0085] In some embodiments of the present application, as shown in Figure 3 The first inclined part 710 includes a first conical surface 701 gradually narrowing towards the sliding piston 613, the second inclined part 720 includes a second conical surface 702 gradually expanding away from the sliding piston 613, the first inclined part 710 further includes a third conical surface 703 arranged on the sliding piston 613 and matched with the first conical surface 701, and the second inclined part further includes a fourth conical surface 704 arranged on the sliding piston and matched with the second conical surface 702.

[0086] The pre-pressure of the first resilient member 615 makes the second conical surface 702 fit with the fourth conical surface 704, and the pre-pressure also makes the sliding piston 613 abut against the end surface of the electric cylinder shell 618.

[0087] Further, the pushing rod 606 is provided with an annular groove 705 between the first inclined part 710 and the second inclined part 720, and the diameter of the annular groove 705 is smaller than the inner diameter of the through hole of the sliding piston 613.

[0088] Further, the electric cylinder shell 618 is provided with an oil outlet 614, and the electric cylinder shell 618 is provided with an oil inlet 608, the oil inlet 608 is hydraulically connected with the manpower cylinder 3 through a brake pipeline, and the oil inlet 608 and the oil outlet 614 are arranged on two sides of the sliding piston 613 respectively.

[0089] The side of the sliding piston 613 close to the oil inlet 608 and the surface of the electric cylinder shell 618 and the pushing rod 606 form an oil inlet cavity 609, the oil inlet cavity 609 is used for temporarily storing the hydraulic oil entering from the oil inlet 608, and the oil inlet cavity 609 is connected with the manpower cylinder 3 through the oil inlet 608.

[0090] The sliding piston 613 is close to the oil outlet 614 side and the electric cylinder cylinder body 617 to form an oil outlet cavity 616, the oil outlet cavity 616 is used to temporarily store the hydraulic oil flowing from the oil inlet cavity 609 to the oil outlet cavity 616 through the oil channel, and the oil outlet cavity 616 is hydraulically connected with the corresponding first brake group or second brake group through the oil outlet 614.

[0091] In some embodiments of the present application, as shown in Figure 2 The inner part of the electric cylinder shell 618 is a cylindrical hollow structure, including a first cylindrical cavity, a second cylindrical cavity and a third cylindrical cavity with increasing inner diameters.

[0092] The inner wall between the first cylindrical cavity and the second cylindrical cavity extends radially inward to form a partition with a central hole.

[0093] The third cylindrical cavity is formed with a shaft shoulder adjacent to the second cylindrical cavity, and a retainer ring 603 is installed below the third cylindrical cavity.

[0094] The outer surface of the electric cylinder shell 618 close to the sliding piston 613 end is radially inwardly retracted to form a boss, and a first sealing ring 607 is arranged in the inner ring groove of the partition between the first cylindrical cavity and the second cylindrical cavity of the electric cylinder shell 618, which mainly plays a sealing role.

[0095] Further, the pushing device includes two bearings 605, a rolled nut 604, a pushing rod 606 and a guide pin 610, wherein the rolled nut 604, the pushing rod 606 and the steel ball constitute a ball screw pair.

[0096] The two bearings 605 are arranged at intervals in the electric cylinder shell 618, and are arranged at the shaft shoulder and the retainer ring 603 inside the electric cylinder shell 618, the rolled nut 604 is arranged between the two bearings 605, and the two bearings 605 axially position the rolled nut 604.

[0097] The motor 601 of the first electric cylinder 6 and the second electric cylinder 7 and the rolled nut 604 are connected through the shaft coupling 602, the rolled nut 604 is driven to rotate by the motor 601 through the shaft coupling 602, and since the rolled nut 604 and the pushing rod 606 push the steel ball, the pushing rod is driven to move by the rolled nut 604, one end of the pushing rod 606 is connected with the rolled nut 604, and the other end passes through the through hole of the sliding piston 613 and is connected with the first elastic member 615.

[0098] The push rod 606 is further provided with a guide groove 619 arranged along the axial direction of the push rod 606, and the guide pin 610 is arranged on the electric cylinder housing and detachably connected, one end of the guide pin 610 being inserted into the guide groove 619, so that the push rod 606 can only move along the axial direction and cannot rotate around the axial direction.

[0099] In some embodiments of the present application, the push rod 606 has a two-section structure of the first conical surface 701, the annular groove 705 and one end of the second conical surface 702, and the two-section structure is detachably connected.

[0100] Further, as Figure 4 shown, the manual cylinder 3 includes a manual cylinder body 310, a piston assembly, a liquid storage tank 317, a push rod 301, a rack 303 and a foot feeling spring 306.

[0101] The manual cylinder body 310 is provided with a liquid discharge hole 316, and the manual cylinder 3 is connected with a brake pipeline through the liquid discharge hole 316. The piston assembly is slidingly arranged in the manual cylinder body 310, and the manual cylinder body is further provided with a liquid supply hole and a compensation hole.

[0102] The manual cylinder body 310 is a hollow cylinder body, one end of which is closed, and the other end is sealed by an end cover 304. The end cover 304 can be connected on the manual cylinder body 310 by bolts or buckles, or connected by other ways.

[0103] The liquid storage tank 317 and the manual cylinder body 310 are communicated through the liquid supply hole 311 and the compensation hole 312.

[0104] The push rod 301 connects the brake pedal 1 and the manual cylinder body 310, and the push rod 301 is connected with the brake pedal 1 through the fixing pin 2. The rack 303 and the push rod 301 are threadedly connected, and are locked by the lock nut 302, so that the rack 303 moves along the axial direction with the push rod 301.

[0105] The foot feeling spring 306 is arranged on the side of the rack 303 away from the push rod 301, and the foot feeling spring 306 connects the rack 303 and the manual cylinder body 310. The foot feeling spring 306 is mainly used to keep the feeling of the driver's foot pedal.

[0106] The piston assembly includes a front piston 314, a rear piston 308, a second elastic member 313, a front leather cup 315 and a rear leather cup 309, wherein the front piston 314 and the rear piston 308 are connected with each other, and a certain air gap S is arranged between the rear piston 308 and the rack 303.

[0107] A second elastic member 313 is arranged between the front piston 314 and the human power cylinder 310, and a front leather cup 315 is arranged on the front piston 314. Under the pre-pressure of the second elastic member 313, the front leather cup 315 is located between the liquid supply hole 311 and the compensation hole 312 on the human power cylinder 3.

[0108] The rear leather cup 309 is arranged on the rear piston 308. The front leather cup 315 and the rear leather cup 309 both have a sealing function and can move with the front piston 314 and the rear piston 308. Meanwhile, a limiting column 307 is arranged on the human power cylinder 310 to limit the rear piston.

[0109] Further, a plug-in hole 318 is arranged on the side of the rear piston 308 close to the rack 303, and a plug-in part 319 is arranged on the end of the rack 303 close to the rear piston 308, which cooperates with the plug-in hole 318. Under the pre-pressure of the foot feeling spring 306, the end surface of the plug-in part 319 and the bottom surface of the plug-in hole 318 are apart by a free stroke S.

[0110] In some embodiments of the present application, the plug-in part 319 and the plug-in hole 318 cooperate with each other, both of which are cylindrical, and the cooperation is simple.

[0111] Further, the human power cylinder 3 further comprises a gear 305, which is arranged on the end cover 304 through a rotating shaft, and the gear 305 can rotate around the rotating shaft. The gear 305 is engaged with the rack 303, and the pedal stroke sensor 4 and the rotating shaft of the gear 305 are connected, so that the pedal stroke sensor 4 can obtain the stroke signal of the brake pedal 1 through the rotation angle of the gear 305, to control the brake system.

[0112] In some embodiments of the present application, the first brake group is the brakes of the two rear wheels, i.e. the right rear brake 12 and the left rear brake 13, and the second brake group is the brakes of the two front wheels, i.e. the left front brake 10 and the right front brake 11.

[0113] In some other embodiments of the present application, the first brake group can be the brakes of the two front wheels, i.e. the left front brake 10 and the right front brake 11, and the second brake group can be the brakes of the two rear wheels, i.e. the right rear brake 12 and the left rear brake 13; or the first brake group can be the left front brake 10 and the right rear brake 12, and the second brake group can be the right front brake 11 and the left rear brake 13; or the first brake group can be the right front brake 11 and the left rear brake 13, and the second brake group can be the left front brake 10 and the right rear brake 12.

[0114] Further, the brake controller 8 is further connected with at least one automobile electronic control system which can actively send a brake request.

[0115] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other variations of the disclosed embodiments by reviewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0116] Although the present application has been described with reference to specific features and embodiments thereof, it is apparent that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely illustrative of the present application as defined by the appended claims and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art may make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, the present application is intended to encompass such modifications and variations as fall within the scope of the claims of the present application and their equivalents.

[0117] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A redundant braking system for an unmanned vehicle, characterized in that: include: A brake pedal, wherein the brake pedal is provided with a control mechanism connected to the main control computer of the driverless car; A manual cylinder connected to a brake pedal, the manual cylinder being controlled by the brake pedal; a first electric cylinder, wherein the first electric cylinder is connected to the manual cylinder via a brake line, and the first electric cylinder is connected to the first brake group via the brake line to form a first brake circuit; a second electric cylinder, the second electric cylinder being connected to the manual cylinder via a brake line, and the second electric cylinder being connected to a second brake assembly via a brake line to form a second brake circuit; a brake controller connected to the first electric cylinder and the second electric cylinder via a power line, and configured to control the operation of the first electric cylinder and the second electric cylinder; a pedal travel sensor, the pedal travel sensor being electrically connected to the manual cylinder and the brake controller, and being used to detect the travel of the brake pedal; a pressure sensor electrically connected to the brake line and the brake controller, for detecting the hydraulic pressure in the brake line between the manual cylinder and the first and second electric cylinders; as well as a power supply, electrically connected to the brake controller, for providing power required for braking; in The first electric cylinder and the second electric cylinder have the same structure and both include: Electric cylinder housing; an electric cylinder body, the electric cylinder body being connected to the electric cylinder housing; A sliding piston, the sliding piston being slidably disposed in the cylinder body of the electric cylinder, and a through hole being opened at the center of the sliding piston; A motor, which is provided on one side of the electric cylinder housing and is used to drive the sliding piston to slide; a pushing device, the pushing device being connected to the motor and passing through the through hole of the sliding piston, and an oil channel for oil to pass through is formed between the pushing device and the inner side wall of the through hole; a first resilient member, the first resilient member being disposed at one end of the interior of the electric cylinder body and connected to one end of the pushing device passing through the through hole; A first inclined portion and a second inclined portion that can open or close the oil channel are also formed between the pushing device and the inner side wall of the through hole. The first inclined portion and the second inclined portion can open or close the oil channel as the pushing device moves.

2. The redundant braking system for an unmanned vehicle according to claim 1, characterized in that: The first inclined portion is a first conical surface that gradually decreases in a direction approaching the sliding piston, and the second inclined portion is a second conical surface that gradually increases in a direction away from the sliding piston. The sliding piston is provided with a third conical surface and a fourth conical surface that cooperate with the first conical surface and the second conical surface, respectively. The first resilient member is used to fit the fourth conical surface to the second conical surface.

3. The redundant braking system for an unmanned vehicle according to claim 2, characterized in that: The pushing device is a ball screw pair, comprising: Two bearings, the two bearings are spaced apart and arranged inside the electric cylinder housing; A thread rolling nut is arranged between the two bearings, and the thread rolling nut is supported by the two bearings in the electric cylinder housing; a push rod, one end of which is connected to the rolling nut, the other end of which passes through the through hole of the sliding piston and is connected to the first resilient member, and the push rod and the rolling nut are connected by a steel ball thread to form a ball screw structure; The first inclined portion and the second inclined portion are formed between the push rod and the inner side wall of the through hole, which can open or close the oil channel, and the push rod is provided with a guide groove, which is arranged along the axial direction of the push rod; A guide pin is provided on the electric cylinder housing, and one end of the guide pin is inserted into the guide groove, so that the push rod can only move along the axial direction and cannot rotate around the axial direction.

4. The redundant braking system for an unmanned vehicle according to claim 3, characterized in that: The push rod is provided with an annular groove between the first inclined portion and the second inclined portion, and the diameter of the annular groove is smaller than the inner diameter of the through hole.

5. The redundant braking system for an unmanned vehicle according to claim 1, characterized in that: An oil outlet is provided on the cylinder body of the electric cylinder, and an oil inlet is provided on the housing of the electric cylinder. The oil inlet is connected to the manual cylinder via a brake pipeline. The oil outlet and the oil inlet are respectively arranged on both sides of the piston.

6. The redundant braking system for an unmanned vehicle according to claim 1, characterized in that: The manpower cylinder comprises: A manual cylinder body, wherein the manual cylinder body is provided with a drainage hole, the manual cylinder body is connected to the brake pipeline through the drainage hole, and the manual cylinder body is also provided with a liquid supply hole and a compensation hole; A piston assembly, the piston assembly being slidably disposed in the cylinder body of the manual cylinder; A liquid storage tank, the liquid storage tank is connected to the cylinder body of the manual cylinder, and the liquid storage tank and the cylinder body of the manual cylinder are connected through a liquid supply hole and a compensation hole; A push rod connecting the brake pedal and the manual cylinder; a rack connected to the push rod and moving along the axial direction with the push rod; A foot-sensing spring is provided on a side of the rack away from the push rod, and the foot-sensing spring connects the rack and the body of the manpower cylinder.

7. The redundant braking system for an unmanned vehicle according to claim 6, characterized in that: The piston assembly comprises: A front piston, the front piston being slidably disposed inside the cylinder body of the manual cylinder; A rear piston is slidably disposed inside the manpower cylinder body and is connected to the front piston, with an idle stroke S being provided between the rear piston and the rack; a second resilient member, the second resilient member being disposed between the front piston and the body of the manual cylinder; A front leather cup, the front leather cup being arranged on the front piston and being located between the passage communicating with the manual cylinder and the liquid storage tank under the pre-pressure of the second rebound member; A rear leather cup is arranged on the rear piston.

8. The redundant braking system for an unmanned vehicle according to claim 7, characterized in that: A plug-in hole is provided on the side of the rear piston close to the rack, and a plug-in part that matches the plug-in hole is provided on the rack. Under the preload of the foot-feeling spring, there is an idle stroke S between the end face of the plug-in part and the bottom face of the plug-in hole.

9. The redundant braking system for an unmanned vehicle according to claim 6, characterized in that: The manual cylinder also includes: A gear is meshed with the rack, and the pedal travel sensor is connected to the rotating shaft of the gear, so that the pedal travel sensor can obtain a travel signal of the brake pedal through the rotation angle of the gear.

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