Manual and drive-by-wire double-control hydraulic braking system for vehicle and control method thereof

Abstract

The invention discloses a manual control and drive-by-wire control hydraulic braking system for a vehicle and a control method of the manual control and drive-by-wire control hydraulic braking system. Comprising a 24V storage battery, a low-voltage power switch, a starting switch, a low-voltage power distribution module, a vehicle control unit, a mode change-over switch, a parking release switch, a power battery, a high-voltage power distribution module, a motor controller, a DCDC converter, a first electric cabinet, an automatic driving module, a second electric cabinet, a remote control device, a hydraulic oil tank, a motor, a coupler, a gear pump, a high-voltage filter and a multifunctional prefill valve. The device comprises a double-loop pedal valve, a control valve set, a brake tail lamp switch, a pressure switch, a four-way connector, a transfer case, a front steering drive axle, a rear steering drive axle, a brake tail lamp, an energy accumulator, an emergency stop switch, a front safety contact edge and a rear safety contact edge. The brake control function of the vehicle in various control modes such as manual control, manual remote control and automatic driving is achieved, controllability is high, and the multi-mode brake control requirement of the vehicle is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle braking systems, in particular to a vehicle artificial and wire-controlled double-controlled hydraulic braking system and a control method thereof. BACKGROUND

[0002] With the development of unmanned technology, in the case of relatively fixed lines, unmanned vehicles have replaced manned vehicles, but in some cases, manual driving control is still needed to perform corresponding actions; in such working conditions, the vehicle needs to support manual control and wire control for vehicle steering, braking, etc. The existing passenger vehicles supporting unmanned driving or light-load unmanned vending vehicles, distribution vehicles, etc. The braking unit is a wire-controlled hydraulic braking unit supporting pedal control. The commercial vehicles supporting unmanned driving, such as tractors and sanitation vehicles, have a brake unit that supports pedal-controlled wire-controlled pneumatic brake units. Whether it is a wire-controlled hydraulic brake unit or a wire-controlled pneumatic brake unit, the brake medium needs to be matched with the brake. The conventional wire-controlled hydraulic brake unit supports DOT3 or DOT4 brake fluid, but not the conventional mineral hydraulic oil. Engineering machinery, underground vehicles, etc. Vehicles using multi-disc wet brakes have mineral hydraulic oil as the brake medium. If such vehicles require wire-controlled braking, conventional wire-controlled hydraulic brake units cannot be used, and components need to be selected according to requirements to complete wire control development.

[0003] Vehicles using mineral hydraulic oil as the brake medium have a brake system that shares the oil source with hydraulic steering and other hydraulic actuators. Brake control is achieved by operating the brake control valve.

[0004] The brake control valve is a mechanical pedal valve, that is, the pedal and the control valve are integrated. Different pedal angles result in different oil pressures output by the control valve, and different vehicle braking forces. The mechanical pedal valve has high versatility and low cost. If such a brake control valve is to complete wire control, the conventional method is to add an electric push rod mechanism to replace the human foot. When wire control is needed, the brake or brake release is achieved by controlling the extension or retraction of the electric push rod. To achieve precise control of braking, the electric push rod motor needs to use a servo motor, and the motor needs to be equipped with a servo driver. The cost of the servo motor and the servo driver is relatively high, and the complete mechanism has high installation requirements. Different vehicle models need to be designed and installed with corresponding supports, which has poor versatility.

[0005] The brake control valve is another electric control valve, the electronic pedal valve transmits an electric signal to a brake special controller, the brake special controller outputs an electric current to the electric control valve, different pedal angles correspond to different oil hydraulic pressures output by the electric control valve, and the vehicle braking force is different; the brake control system has a relatively high cost due to the adjustable brake pressure to adapt to different types of vehicles; if the brake control valve needs to complete the brake-by-wire control, the brake special controller needs to be changed into a multifunctional controller capable of communication control, and the cost of the brake control system is further increased.

[0006] Common special vehicles without a cab and supporting unmanned driving have a relatively low speed when unmanned, and a conventional method is to implement a parking brake when the vehicle speed is 0 by means of motor reverse dragging, and to implement a service brake only in an emergency situation with an obstacle; in order to reduce the brake cost, a general vehicle controller is used to control an on-off valve group to realize brake control. In this brake control mode, if a pedal is added, the vehicle braking force cannot be adjusted based on control requirements when manually driving, and the driving comfort is poor. SUMMARY

[0007] The present application aims at overcoming the shortcomings of the prior art and providing a hydraulic brake system for manual and brake-by-wire dual control of a vehicle.

[0008] Another object of the present application is to provide a control method of the hydraulic brake system for manual and brake-by-wire dual control of a vehicle.

[0009] The present application mainly solves the problems of the existing hydraulic brake system for manual and brake-by-wire dual control of an unmanned vehicle, which limits the use occasions and has a high cost when used for unmanned driving.

[0010] The technical scheme of the present application is as follows: a hydraulic brake system for manual and brake-by-wire dual control of a vehicle, which is characterized in that it comprises a 24V storage battery, a low-voltage power switch, a starting switch, a low-voltage power distribution and control module, a vehicle controller, a mode switching switch, a parking release switch, a power battery, a high-voltage power distribution module, a motor controller, a DCDC converter, a first electric control box, an automatic driving module, a second electric control box, a remote control device, a hydraulic oil tank, a motor, a shaft coupling, a gear pump, a high-pressure filter, a multifunctional liquid filling valve, a double-circuit pedal valve, a control valve group, a brake tail lamp switch, a pressure switch, a four-way joint, a transfer case, a front steering drive axle, a rear steering drive axle, a brake tail lamp, a first accumulator, a second accumulator, a third accumulator, a first emergency stop switch, a second emergency stop switch, a third emergency stop switch, a front safety touch edge, and a rear safety touch edge. The 24V battery, low-voltage power supply switch, starting switch, mode switching switch, power battery, hydraulic oil tank, motor, gear pump, high-pressure filter, multifunctional liquid filling valve, control valve group, four-way joint, transfer case, front steering drive axle, rear steering drive axle, brake tail light, first accumulator, second accumulator, third accumulator, first emergency stop switch, second emergency stop switch, front safety touch edge, rear safety touch edge are connected with the vehicle frame respectively; The mode switching switch, parking release switch, first electric control box, second electric control box, double-circuit pedal valve, third emergency stop switch, touch screen of the automatic driving module are installed in the vehicle cab; The low-voltage power distribution and control module, vehicle controller, high-voltage power distribution module, motor controller, DCDC converter are installed in the first electric control box; The domain controller, switch, electric control box of the automatic driving module are installed in the second electric control box; The sensor and wireless communication unit of the automatic driving module are connected with the vehicle frame; One end of the shaft coupling is connected with the motor output shaft, and the other end is connected with the gear pump input shaft; The brake tail light switch is installed on the AL port of the control valve group; The pressure switch is installed on the PL port of the multifunctional liquid filling valve; The oil outlet of the hydraulic oil tank is communicated with the oil inlet of the gear oil pump through a pipeline; The oil outlet of the gear oil pump is communicated with the oil inlet of the high-pressure filter through a high-pressure pipeline; The oil outlet of the high-pressure filter is communicated with the P port of the multifunctional liquid filling valve through a high-pressure pipeline; The O port of the multifunctional liquid filling valve is communicated with the P port of the hydraulic steering system of the vehicle through a high-pressure pipeline; The T port of the multifunctional liquid filling valve is communicated with the four-way joint through a high-pressure pipeline; The T port of the hydraulic steering system is communicated with the four-way joint through a high-pressure pipeline; The four-way joint is communicated with the oil return port of the hydraulic oil tank through a high-pressure pipeline; One P1 port of the control valve group is communicated with the oil port of the first accumulator through a high-pressure pipeline and the A1 port of the multifunctional liquid filling valve; One P2 port of the control valve group is communicated with the oil port of the second accumulator through a high-pressure pipeline and the A2 port of the multifunctional liquid filling valve; The A3 port of the multifunctional liquid filling valve is communicated with the oil port of the third accumulator through a high-pressure pipeline; The PB port of the multifunctional liquid filling valve is communicated with the parking brake oil port of the transfer case through a high-pressure pipeline; The A1 port of the control valve group is communicated with the service brake oil port of the front steering drive axle through a high-pressure pipeline; The A2 port of the control valve group is communicated with the service brake oil port of the rear steering drive axle through a high-pressure pipeline; The T port of the control valve group is communicated with the four-way joint through a high-pressure pipeline; The P1 port of the double-circuit pedal valve is communicated with another P1 port of the control valve group through a high-pressure pipeline; The B1 port of the double-circuit pedal valve is communicated with the B1 port of the control valve group through a high-pressure pipeline; The T1 port of the double-circuit pedal valve is communicated with the T1 port of the control valve group through a high-pressure pipeline; The P2 port of the double-circuit pedal valve is communicated with another P2 port of the control valve group through a high-pressure pipeline; The B2 port of the double-circuit pedal valve is communicated with the B2 port of the control valve group through a high-pressure pipeline; The T2 port of the double-circuit pedal valve is communicated with the T2 port of the control valve group through a high-pressure pipeline; The power battery is high-voltage electrically connected with a high-voltage power distribution module through a high-voltage line; the high-voltage power distribution module is high-voltage electrically connected with a motor controller and a DCDC converter through a high-voltage line; the motor controller is electrically connected with a motor through a high-voltage and low-voltage line; The 24V storage battery is electrically connected with a low-voltage power distribution and control module; the low-voltage power switch, the starting switch, the vehicle controller, the mode switching switch, the parking release switch, the high-voltage power distribution module, the motor controller, the DCDC converter, the automatic driving module, the remote control device, the multifunctional liquid filling valve, the control valve group, the brake tail lamp switch, the pressure switch, the brake tail lamp, the first emergency stop switch, the second emergency stop switch, the third emergency stop switch, the front safety touch edge and the rear safety touch edge are electrically connected with the low-voltage power distribution and control module; the vehicle controller, the motor controller, the DCDC converter, the automatic driving module and the remote control device are connected with the vehicle CAN line through a CAN line; The low-voltage power switch is used for on-off control between the 24V storage battery and the low-voltage power distribution and control module; The starting switch is used for work awakening of the vehicle controller and the DCDC converter and on-off control of the power battery high-voltage discharge circuit; The mode switching switch is used for mode switching of manual driving, remote control driving and automatic driving; The parking release switch is used for manual release control of the parking brake in manual driving; The remote control device is used for manual remote control of the vehicle; The first emergency stop switch, the second emergency stop switch and the third emergency stop switch are used for brake stop control of the vehicle in an emergency state; The front safety touch edge and the rear safety touch edge are used for brake stop control when the vehicle collides with an obstacle.

[0011] Further, the power battery outputs high-voltage direct current to the high-voltage power distribution module, the high-voltage power distribution module distributes the high-voltage direct current to the motor controller, the DCDC converter and the vehicle driving system and the high-voltage electrical equipment of the upper-mounted system; the motor controller outputs high-voltage alternating current to the motor to drive the motor to run, and simultaneously monitors the motor speed and rotation direction in real time through an encoder; the DCDC converter provides stable low-voltage direct current power supply to the low-voltage electrical components of the vehicle and charges the 24V storage battery.

[0012] Further, the multifunctional liquid filling valve is integrated with a parking release electromagnetic valve, which is used for flow direction control of the parking circuit oil, so as to realize parking brake release control; the control valve group is provided with two service brake control electromagnetic valves, which are used for electric control of the service brake; the control valve group is provided with two pressure reducing valves, which are used for setting the pressure of the brake oil in electric control of the service brake.

[0013] Further, the automatic driving module is composed of a domain controller, a sensor, a touch screen, a switch, an electric control box and a wireless communication unit; the sensor, the touch screen, the switch, the electric control box and the wireless communication unit are connected with the domain controller through connection lines; the electric control box is connected with the sensor, the touch screen, the switch and the wireless communication unit through connection lines. The domain controller is used for automatic driving operation path information storage, sensor data fusion processing, accurate control of vehicle automatic driving operation and intercommunication of operation related information. The sensor collects real-time position information and heading angle information of the vehicle and uploads them to the domain controller. The touch screen is used for input of vehicle automatic driving control parameters, display of operation path planning, operation related parameter information and fault information, and man-machine interaction. The switch is used for expansion of a network interface of the domain controller. The electric control box receives a 24V low-voltage storage battery power supply and is used for providing different voltage stabilized power supply requirements for the domain controller, the sensor, the touch screen, the switch and the wireless communication unit. The wireless communication unit is used for wireless network connection between the domain controller and a vehicle automatic driving scheduling module.

[0014] The control method of the vehicle hydraulic brake system with manual and drive-by-wire double control comprises the following steps: a low-voltage power supply switch is closed, a 24V storage battery provides 24V power supply for a starting switch, a vehicle controller, a mode switching switch, a parking release switch, a motor controller, a DCDC converter, an automatic driving module, a remote control device, a brake tail lamp switch and a pressure switch through a low-voltage power distribution and control module; the starting switch is closed, the vehicle controller, the motor controller and the DCDC converter are started and self-checked; after the self-checking is passed, the vehicle controller controls the high-voltage power distribution module to work and transports high-voltage direct current of a power battery to the motor controller, the DCDC converter, a vehicle driving system and high-voltage electrical equipment of an upper-mounted system; the vehicle controller enables the motor controller and the DCDC converter through a CAN line; the motor controller controls the motor to operate after receiving the enable instruction; the motor drives a gear pump to operate and pumps hydraulic oil in a hydraulic oil tank to a multifunctional liquid filling valve; when the pressure in the first accumulator, the second accumulator and the third accumulator is lower than a set lower limit pressure of liquid filling, high-pressure oil from the gear pump is preferentially filled into the first accumulator, the second accumulator and the third accumulator through the multifunctional liquid filling valve; when the pressure in the first accumulator, the second accumulator and the third accumulator reaches a set upper limit pressure of liquid filling, high-pressure oil from the gear pump flows to a hydraulic steering system of the vehicle through the O port of the multifunctional liquid filling valve; the DCDC converter works to provide stable power supply for low-voltage electrical components of the vehicle and simultaneously charges the 24V storage battery after receiving the enable instruction; The modes of the mode switching switch include manual mode, remote control mode and automatic mode, and the vehicle controller obtains the current driving mode of the vehicle through the signal state of the mode switching switch and only responds to the control instructions of the corresponding mode; If the vehicle is manually driven, when the manual driver places the parking release switch in the parking release position, the vehicle controller controls the parking release electromagnetic valve on the multifunctional liquid filling valve to act, the high-pressure oil in the third accumulator flows to the parking brake on the transfer case, the parking brake is released, synchronously, when the pressure switch detects the pressure change in the parking release circuit, a parking release signal is triggered to the vehicle controller, and the vehicle controller can control the vehicle to perform the forward and backward movement based on the manual control demand; when the manual driver needs to brake, the double-circuit pedal valve is stepped on, the high-pressure oil in the first accumulator and the second accumulator flows to the service brake of the front and rear drive axle through the double-circuit pedal valve and the control valve group, the vehicle performs the braking action, synchronously, when the brake tail light switch detects the pressure change in the braking circuit, a manual braking signal is triggered to the vehicle controller, and the vehicle controller controls the brake tail light to be on; cIf the vehicle is manually remotely controlled, the manual driver performs the vehicle parking brake and service brake control through the toggle switch on the remote control device based on the control demand; when the parking release switch on the remote control device is placed in the parking release position, the vehicle controller controls the parking release electromagnetic valve on the multifunctional liquid filling valve to act, and the parking brake is released; when the brake switch on the remote control device is placed in the brake position, the remote control device sends a brake signal to the vehicle controller, the vehicle controller controls the electromagnetic valve on the control valve group to act, the high-pressure oil in the first accumulator flows to the service brake of the front drive axle, the high-pressure oil in the second accumulator flows to the service brake of the rear drive axle, the vehicle performs the braking action, synchronously, the vehicle controller controls the brake tail light to be on; dIf the vehicle is in the automatic driving mode, the domain controller sends a parking release or service brake instruction to the vehicle controller based on the control demand; when the vehicle controller receives the parking release instruction, the vehicle controller controls the parking release electromagnetic valve on the multifunctional liquid filling valve to act, and the parking brake is released; when the vehicle controller receives the service brake instruction, the vehicle controller controls the electromagnetic valve on the control valve group to act, the vehicle performs the braking action, synchronously, the vehicle controller controls the brake tail light to be on; eIrrespective of the mode of the vehicle, when the first emergency stop switch, the second emergency stop switch, the third emergency stop switch, the front safety touch edge and the rear safety touch edge send a signal to the vehicle controller, the vehicle controller controls the electromagnetic valve on the control valve group to act, and the vehicle performs the braking action.

[0015] The present application has the following advantages: 1.Combining the conventional manual driving hydraulic brake system with the low-cost drive-by-wire hydraulic brake system, the manual brake and the drive-by-wire brake are considered, the brake control function of the vehicle in the manual control, the manual remote control and the automatic driving mode and other control modes is realized, the controllability is relatively strong, and the multi-mode brake control demand of the vehicle is met. 2. The braking control circuit that combines manual braking and brake-by-wire braking uses highly versatile components, is low in cost, has strong expandability, and is easy to promote. Attached Figure Description

[0016] Figure 1 This is a hydraulic schematic diagram of the present invention; Figure 2 This is a top view schematic diagram of the installation of the hydraulic braking system of the present invention on a vehicle; Figure 3 This is a side view schematic diagram of the installation of the hydraulic braking system of the present invention on a vehicle; Figure 4 This is a schematic diagram of the installation of the hydraulic braking system of the present invention in the vehicle driver's cab; Figure 5 This is a schematic diagram of the installation of internal components of the first electrical control box of the present invention; Figure 6 This is a schematic diagram of the installation of internal components of the second electrical control box of the present invention.

[0017] In the diagram: 1 24V battery, 2 low-voltage power switch, 3 start switch, 4 low-voltage power distribution module, 5 vehicle controller, 6 mode switch, 7 parking release switch, 8 power battery, 9 high-voltage power distribution module, 10 motor controller, 11 12 DC-DC converter, 13 First electrical control box, 14 Automatic driving module, 15 Second electrical control box, 16 Remote control device, 17 Hydraulic oil tank, 18 Motor, 19 Gear pump, 20 High pressure filter, 21 Multi-function filling valve, 22 Dual-circuit pedal valve, 23 Control valve group, 24 Brake taillight switch, 25 Pressure switch, 26 Four-way connector, 27 Transfer case, 18 Front steering drive axle, 29 Rear steering drive axle, 30 Brake taillight, 31 First accumulator, 32 Second accumulator, 33 Third accumulator, 34 First emergency stop switch, 35 Second emergency stop switch, 36 Third emergency stop switch, 37 Front safety contact, 38 Rear safety contact, 131 Domain controller, 132 Sensor, 133 Touch screen, 134 Switch, 135 Electrical control box, 136 Wireless communication unit. Detailed Implementation

[0018] To better understand and implement this invention, the following detailed description is provided in conjunction with the accompanying drawings.

[0019] like Figure 1 , 2, 3, 4, 5, 6, a vehicle with artificial and line control double control hydraulic brake system, including 24V battery 1, low-voltage power switch 2, starting switch 3, low-voltage power distribution and control module 4, vehicle controller 5, mode switch 6, parking release switch 7, power battery 8, high-voltage power distribution module 9, motor controller 10, DCDC converter 11, the first electric control box 12, automatic driving module 13, the second electric control box 14, remote control device 15, hydraulic oil tank 16, motor 17, coupling 18, gear pump 19, high-pressure filter 20, multifunctional liquid filling valve 21, double-circuit pedal valve 22, control valve group 23, brake tail lamp switch 24, pressure switch 25, four-way joint 26, transfer case 27, front steering drive axle 28, rear steering drive axle 29, brake tail lamp 30, the first accumulator 31, the second accumulator 32, the third accumulator 33, the first emergency stop switch 34, the second emergency stop switch 35, the third emergency stop switch 36, front safety touch edge 37, rear safety touch edge 38; The multifunctional liquid filling valve 21 is integrated with a parking release electromagnetic valve, which is used for flow control of the parking circuit oil, so as to realize parking brake release control; the control valve group 23 is provided with two service brake control electromagnetic valves, which are used for electric control of service brake; the control valve group 23 is provided with two pressure reducing valves, which are used for setting the pressure of brake oil during electric control of service brake; The automatic driving module 13 is composed of domain controller 131, sensor 132, touch screen 133, switch 134, electric control box 135 and wireless communication unit 136; the sensor 132, touch screen 133, switch 134, electric control box 135 and wireless communication unit 136 are connected with the domain controller 131 through connection lines respectively; the electric control box 135 is connected with the sensor 132, touch screen 133, switch 134 and wireless communication unit 136 through connection lines respectively; The domain controller 131 is used for automatic driving running path information storage, sensor data fusion processing, accurate control of vehicle automatic driving running and intercommunication of running related information; the sensor 132 collects real-time vehicle position information and heading angle information and uploads them to the domain controller 131; the touch screen 133 is used for input of vehicle automatic driving control parameters, running path planning, display of running related parameter information and fault information, which is convenient for man-machine interaction; the switch 134 is used for expansion of the network interface of the domain controller 131; the electric control box 135 receives 24V low-voltage battery 1 power supply and provides different voltage stabilized power supply requirements for the domain controller 131, sensor 132, touch screen 133, switch 134 and wireless communication unit 136; the wireless communication unit 136 is used for wireless network connection between the domain controller 131 and the vehicle automatic driving scheduling module; The 24V battery 1, low-voltage power switch 2, starting switch 3, mode switching switch 6, power battery 8, hydraulic oil tank 16, motor 17, gear pump 19, high-pressure filter 20, multifunctional liquid filling valve 21, control valve group 23, four-way joint 26, transfer case 27, front steering drive axle 28, rear steering drive axle 29, brake tail lamp 30, first energy accumulator 31, second energy accumulator 32, third energy accumulator 33, first emergency stop switch 34, second emergency stop switch 35, front safety touch edge 37, rear safety touch edge 38 are respectively connected with the vehicle frame; the mode switching switch 6, parking release switch 7, first electric control box 12, second electric control box 14, third emergency stop switch 36, touch screen 133 are installed in the vehicle cab; the low-voltage power distribution and control module 4, vehicle controller 5, high-voltage power distribution module 9, motor controller 10, DCDC converter 11 are installed in the first electric control box 12; the domain controller 131, switch 134, electric control box 135 of the automatic driving module 13 are installed in the second electric control box 14; the sensor 132 and wireless communication unit 136 of the automatic driving module 13 are connected with the vehicle frame; the shaft coupling 18 is connected with the output shaft of the motor 17 at one end and connected with the input shaft of the gear pump 19 at the other end; the brake tail lamp switch 24 is installed on the AL port of the control valve group 23; the pressure switch 25 is installed on the PL port of the multifunctional liquid filling valve 21; The oil outlet of the hydraulic oil tank 16 is communicated with the oil inlet of the gear oil pump 19 through a pipeline; the oil outlet of the gear oil pump 19 is communicated with the oil inlet of the high-pressure filter 20 through a high-pressure pipeline; the oil outlet of the high-pressure filter 20 is communicated with the P port of the multifunctional liquid filling valve 21 through a high-pressure pipeline; the O port of the multifunctional liquid filling valve 21 is communicated with the P port of the hydraulic steering system on the vehicle through a high-pressure pipeline; the T port of the multifunctional liquid filling valve 21 is communicated with the four-way joint 26 through a high-pressure pipeline; the T port of the hydraulic steering system is communicated with the four-way joint 26 through a high-pressure pipeline; the four-way joint 26 is communicated with the oil return port of the hydraulic oil tank 16 through a high-pressure pipeline; one P1 port of the control valve group 23 is communicated with the oil port of the first accumulator 31 through a high-pressure pipeline and the A1 port of the multifunctional liquid filling valve 21; one P2 port of the control valve group 23 is communicated with the oil port of the second accumulator 32 through a high-pressure pipeline and the A2 port of the multifunctional liquid filling valve 21; the A3 port of the multifunctional liquid filling valve 21 is communicated with the oil port of the third accumulator 33 through a high-pressure pipeline; the PB port of the multifunctional liquid filling valve 21 is communicated with the parking brake oil port on the transfer case through a high-pressure pipeline; the A1 port of the control valve group 23 is communicated with the service brake oil port of the front drive axle 28 through a high-pressure pipeline; the A2 port of the control valve group 23 is communicated with the service brake oil port of the rear drive axle 29 through a high-pressure pipeline; the T port of the control valve group 23 is communicated with the four-way joint 26 through a high-pressure pipeline; the P1 port of the dual-circuit pedal valve 22 is communicated with the other P1 port of the control valve group 23 through a high-pressure pipeline; the B1 port of the dual-circuit pedal valve 22 is communicated with the B1 port of the control valve group 23 through a high-pressure pipeline; the T1 port of the dual-circuit pedal valve 22 is communicated with the T1 port of the control valve group 23 through a high-pressure pipeline; the P2 port of the dual-circuit pedal valve 22 is communicated with the other P2 port of the control valve group 23 through a high-pressure pipeline; the B2 port of the dual-circuit pedal valve 22 is communicated with the B2 port of the control valve group 23 through a high-pressure pipeline; the T2 port of the dual-circuit pedal valve 22 is communicated with the T2 port of the control valve group 23 through a high-pressure pipeline; The power battery 8 is high-voltage electrically connected with the high-voltage power distribution module 9 through a high-voltage line; the high-voltage power distribution module 9 is high-voltage electrically connected with the motor controller 10 and the DCDC converter 11 through a high-voltage line; the motor controller 10 is electrically connected with the motor 17 through a high-voltage and low-voltage line; The power battery 8 outputs high-voltage direct current to the high-voltage power distribution module 9, and the high-voltage power distribution module 9 distributes the high-voltage direct current to the motor controller 10, the DCDC converter 11, and the high-voltage electrical equipment of the vehicle driving system and the upper-mounted system; the motor controller 10 outputs high-voltage alternating current to the motor 17 to drive the motor 17 to run, and simultaneously monitors the rotation speed and rotation direction of the motor 17 in real time through an encoder; the DCDC converter 11 provides stable low-voltage direct current power supply to the low-voltage electrical components of the vehicle while charging the 24V storage battery 1; 24V battery 1 is electrically connected with low-voltage power distribution and control module 4; low-voltage power switch 2, starting switch 3, vehicle controller 5, mode switching switch 6, parking release switch 7, high-voltage power distribution module 9, motor controller 10, DCDC converter 11, automatic driving module 13, remote control device 15, multifunctional liquid filling valve 21, control valve group 23, brake tail light switch 24, pressure switch 25, brake tail light 30, first emergency stop switch 34, second emergency stop switch 35, third emergency stop switch 36, front safety touch edge 37, rear safety touch edge 38 are electrically connected with low-voltage power distribution and control module 4; vehicle controller 5, motor controller 10, DCDC converter 11, automatic driving module 13, remote control device 15 are connected with vehicle CAN line through CAN line; Low-voltage power switch 2 is used for on-off control of the electrical connection between 24V battery 1 and low-voltage power distribution and control module 4; starting switch 3 is used for work awakening of vehicle controller 5 and DCDC converter 11 and on-off control of high-voltage discharge circuit of power battery 8; mode switching switch 6 is used for mode switching of manual driving, remote control driving and automatic driving; parking release switch 7 is used for manual release control of parking brake in manual driving; remote control device 15 is used for manual remote control of vehicle; first emergency stop switch 34, second emergency stop switch 35, third emergency stop switch 36 are used for brake stop control of vehicle in emergency state; front safety touch edge 37, rear safety touch edge 38 are used for brake stop control of vehicle when collision with obstacle occurs; a kind of hydraulic brake system for vehicle manual and line control dual control of the application is formed.

[0020] The hydraulic brake system of the application is used for vehicles, wherein the hydraulic oil tank 16 is used for storing hydraulic oil; the gear pump 19 pressurizes the hydraulic oil in the hydraulic oil tank 16 and sends the pressurized hydraulic oil to the multifunctional filling valve 21; when the pressure in the first accumulator 31, the second accumulator 32 and the third accumulator 33 is lower than the set lower limit pressure of filling, the high-pressure oil from the gear pump flows to the first accumulator 31, the second accumulator 32 and the third accumulator 33 through the multifunctional filling valve 21 to fill the first accumulator 31, the second accumulator 32 and the third accumulator 33; when the pressure in the first accumulator 31, the second accumulator 32 and the third accumulator 33 reaches the set upper limit pressure of filling, the high-pressure oil from the gear pump flows to the hydraulic steering system of the vehicle through the O port of the multifunctional filling valve 21; when the manual double-circuit pedal valve 22 is stepped on, the high-pressure oil in the first accumulator 31 and the second accumulator 32 flows to the service brake of the front steering drive axle 28 and the rear steering drive axle 29 through the double-circuit pedal valve 22 and the control valve group 23 respectively, and the vehicle performs braking action; when the brake-by-wire instruction is received by the vehicle controller 5, the vehicle controller 5 controls the electromagnetic valve of the control valve group 23 to act, the high-pressure oil in the first accumulator 31 flows to the service brake of the front steering drive axle 28, the high-pressure oil in the second accumulator 32 flows to the service brake of the rear steering drive axle 29, the vehicle performs braking action, and synchronously, the vehicle controller 5 controls the brake tail light 30 to be lit.

[0021] The control method of the steering system of the application is used for manually and brake-by-wire double-controlled steering of vehicles, and specifically includes the following steps: First step, close low-voltage power switch 2, 24V battery 1 through low-voltage distribution and control module to the starting switch 3, vehicle controller 5, mode switch 6, parking release switch 7, motor controller 10, DCDC converter 11, automatic driving module 13, remote control device 15, brake tail lamp switch 24, pressure switch 25 provide 24V power supply; close starting switch 3, vehicle controller 5, motor controller 10, DCDC converter 11 start and self-check; After passing the self-check, the vehicle controller 5 controls the high-voltage distribution module 9 to work to deliver the high-voltage direct current of the power battery 8 to the motor controller 10, DCDC converter 11 and vehicle driving system, the high-voltage electrical equipment of the upper-mounted system; The vehicle controller 5 controls the motor controller 10 and DCDC converter 11 through CAN line to enable; After receiving the enable instruction, the motor controller 10 controls the motor 17 to run; The motor 17 drives the gear pump 19 to run to pump the hydraulic oil in the hydraulic oil tank 16 to the multifunctional liquid filling valve 21; When the pressure in the first accumulator 31, the second accumulator 32 and the third accumulator 33 is lower than the set lower limit pressure of liquid filling, the high-pressure oil from the gear pump 19 flows to the first accumulator 31, the second accumulator 32 and the third accumulator 33 through the multifunctional liquid filling valve 21 to fill the first accumulator 31, the second accumulator 32 and the third accumulator 33; When the pressure in the first accumulator 31, the second accumulator 32 and the third accumulator 33 reaches the set upper limit pressure of liquid filling, the high-pressure oil from the gear pump 19 flows to the vehicle hydraulic steering system through the O port of the multifunctional liquid filling valve 21; After receiving the enable instruction, the DCDC converter 11 works to provide stable power supply for the low-voltage electrical components on the vehicle and simultaneously charges the 24V battery 1; Second step, the mode of the mode switch 6 includes manual, remote control and automatic three modes, the vehicle controller 5 obtains the current vehicle driving mode through the signal state of the mode switch 6 and only responds to the control instruction of the corresponding mode; If manual driving is enabled, manual remote control and automatic driving are ineffective, and the vehicle controller 5 executes the manual driving command. When the parking release switch 7 is manually placed in the parking release position, the parking release switch 7 sends a parking release signal to the vehicle controller 5. The vehicle controller 5 then controls the parking release solenoid valve on the multi-function filling valve 21 to operate, and the high-pressure oil in the third accumulator 33 flows to the parking brake on the transfer case 27, releasing the parking brake. Simultaneously, when the pressure switch 25 detects a change in the parking release circuit pressure, it triggers a parking release signal to the vehicle controller 5. At this time, the vehicle controller 5 can control the vehicle to perform forward and reverse actions based on manual control needs. When manual driving requires braking, the dual-circuit pedal valve 22 is pressed. The high-pressure oil in the first accumulator 31 and the second accumulator 32 flows to the service brakes of the forward steering drive axle 28 and the rear steering drive axle 29 after passing through the dual-circuit pedal valve 22 and the control valve group 23, respectively. The vehicle performs braking action. Simultaneously, when the brake taillight switch 24 detects the change in brake circuit pressure, it triggers a manual braking signal to the vehicle controller 5. The vehicle controller 5 controls the brake taillight 30 to light up. Thirdly, if it is manual remote driving, manual driving and automatic driving are invalid, and the vehicle controller 5 executes the manual remote driving command; the driver executes the vehicle parking brake and service brake control by using the toggle switch on the remote control device 15 based on control needs; when the parking release switch on the remote control device 15 is in the parking release position, the remote control device 15 sends a parking release signal to the vehicle controller 5, and the vehicle controller 5 controls the parking release solenoid valve on the multi-function filling valve 21 to operate, and the high-pressure oil in the third accumulator 33 flows to the parking brake on the transfer case 27, releasing the parking brake. Simultaneously, the pressure switch 25 detects the parking release. When the circuit pressure changes, a parking release signal is triggered to the vehicle controller 5. At this time, the vehicle controller 5 can control the vehicle to perform forward and reverse actions based on the manual remote control requirements. When the brake switch on the remote control device 15 is in the brake position, the remote control device 15 sends a brake signal to the vehicle controller 5. The vehicle controller 5 controls the solenoid valve on the control valve group 23 to operate. The high-pressure oil in the first accumulator 31 flows forward to turn the service brake of the drive axle 28, and the high-pressure oil in the second accumulator 32 flows backward to turn the service brake of the drive axle 29. The vehicle performs a braking action. Simultaneously, the vehicle controller 5 controls the brake taillight 30 to light up. Fourth, if it is in autonomous driving mode, manual driving and manual remote control driving are invalid, and the vehicle controller 5 executes the autonomous driving command; the domain controller 131 sends a parking release or service brake command to the vehicle controller 5 based on control needs; when the vehicle controller 5 receives the parking release command, it controls the parking release solenoid valve on the multi-function filling valve 21 to act, and the parking brake is released; when the vehicle controller 5 receives the service brake command, it controls the solenoid valve on the control valve group 23 to act, and the vehicle performs the braking action. Simultaneously, the vehicle controller 5 controls the brake taillight 30 to light up. In the fifth step, no matter what mode the vehicle is in, when the first emergency stop switch 34, the second emergency stop switch 35, the third emergency stop switch 36, the front safety touch edge 37 and the rear safety touch edge 38 give signals to the vehicle controller 5, the vehicle controller 5 controls the electromagnetic valve of the control valve group 23 to act, and the vehicle executes the braking action.

[0022] It should be understood that the technical features not described in detail in the specification are all prior art. Although the embodiments of the present application are described above in conjunction with the drawings, the present application is not limited to the above specific embodiments, and the above specific embodiments are only illustrative and not restrictive. Those skilled in the art can make more forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims. These are all within the protection scope of the present application.

Claims

1. A vehicle-mounted hydraulic braking system with both manual and drive-by-wire control, characterized in that, It includes a 24V battery, low-voltage power switch, start switch, low-voltage power distribution and control module, vehicle controller, mode switch, parking release switch, power battery, high-voltage power distribution module, motor controller, DC-DC converter, first electrical control box, autonomous driving module, second electrical control box, remote control device, hydraulic oil tank, motor, coupling, gear pump, high-pressure filter, multi-function filling valve, dual-circuit pedal valve, control valve group, brake taillight switch, pressure switch, four-way connector, transfer case, front steering drive axle, rear steering drive axle, brake taillight, first accumulator, second accumulator, third accumulator, first emergency stop switch, second emergency stop switch, third emergency stop switch, front safety contact, and rear safety contact. The 24V battery, low-voltage power switch, start switch, mode switching switch, power battery, hydraulic tank, motor, gear pump, high-pressure filter, multi-functional filling valve, control valve group, four-way connector, transfer case, front steering drive axle, rear steering drive axle, brake taillight, first accumulator, second accumulator, third accumulator, first emergency stop switch, second emergency stop switch, front safety contact, and rear safety contact are respectively connected to the vehicle frame; the mode switching switch, parking release switch, first electrical control box, second electrical control box, dual-circuit pedal valve, third emergency stop switch, and automatic driving mode are all connected. The touchscreen of the module is installed in the vehicle's driver's cab; the low-voltage power distribution and control module, vehicle controller, high-voltage power distribution module, motor controller, and DC-DC converter are installed in the first electrical control box; the domain controller, switch, and electrical control box of the autonomous driving module are installed in the second electrical control box; the sensors and wireless communication unit of the autonomous driving module are connected to the vehicle frame; one end of the coupling is connected to the motor output shaft, and the other end is connected to the gear pump input shaft; the brake taillight switch is installed on the AL port of the control valve group; the pressure switch is installed on the PL port of the multi-functional filling valve. The outlet of the hydraulic oil tank is connected to the inlet of the gear oil pump via a pipeline; the outlet of the gear oil pump is connected to the inlet of the high-pressure filter via a high-pressure pipeline; the outlet of the high-pressure filter is connected to the P port of the multi-functional filling valve via a high-pressure pipeline; the O port of the multi-functional filling valve is connected to the P port of the vehicle's hydraulic steering system via a high-pressure pipeline; the T port of the multi-functional filling valve is connected to a four-way connector via a high-pressure pipeline; the T port of the hydraulic steering system is connected to the four-way connector via a high-pressure pipeline; the four-way connector is connected to the return port of the hydraulic oil tank via a high-pressure pipeline; one P1 port of the control valve assembly is connected to the oil port of the first accumulator via a high-pressure pipeline to the A1 port of the multi-functional filling valve; one P2 port of the control valve assembly is connected to the oil port of the second accumulator via a high-pressure pipeline to the A2 port of the multi-functional filling valve; the A3 port of the multi-functional filling valve is connected to the oil port of the third accumulator via a high-pressure pipeline; the multi-functional filling valve... The PB port of the functional filling valve is connected to the parking brake port on the transfer case via a high-pressure pipeline; the A1 port of the control valve group is connected to the service brake port of the front steering drive axle via a high-pressure pipeline; the A2 port of the control valve group is connected to the service brake port of the rear steering drive axle via a high-pressure pipeline; the T port of the control valve group is connected to the four-way connector via a high-pressure pipeline; the P1 port of the dual-circuit pedal valve is connected to the other P1 port of the control valve group via a high-pressure pipeline; the B1 port of the dual-circuit pedal valve is connected to the B1 port of the control valve group via a high-pressure pipeline; the T1 port of the dual-circuit pedal valve is connected to the T1 port of the control valve group via a high-pressure pipeline; the P2 port of the dual-circuit pedal valve is connected to the other P2 port of the control valve group via a high-pressure pipeline; the B2 port of the dual-circuit pedal valve is connected to the B2 port of the control valve group via a high-pressure pipeline; the T2 port of the dual-circuit pedal valve is connected to the T2 port of the control valve group via a high-pressure pipeline. The power battery is connected to the high-voltage power distribution module via a high-voltage line; the high-voltage power distribution module is connected to the motor controller and the DC-DC converter via a high-voltage line; the motor controller is connected to the motor via high- and low-voltage lines. The 24V battery is electrically connected to the low-voltage power distribution and control module; the low-voltage power switch, start switch, vehicle controller, mode switch, parking release switch, high-voltage power distribution module, motor controller, DC-DC converter, autonomous driving module, remote control device, multi-functional filling valve, control valve group, brake taillight switch, pressure switch, brake taillight, first emergency stop switch, second emergency stop switch, third emergency stop switch, front safety contact, and rear safety contact are electrically connected to the low-voltage power distribution and control module; the vehicle controller, motor controller, DC-DC converter, autonomous driving module, and remote control device are connected to the vehicle CAN bus via a CAN bus. The low-voltage power switch is used to control the on / off connection between the 24V battery and the low-voltage power distribution and control module. The start switch is used to wake up the vehicle controller and DC-DC converter, as well as to control the on / off state of the high-voltage discharge circuit of the power battery. The mode switching switch is used to switch between manual driving, remote driving and automatic driving modes; The parking release switch is used for manual release control of the parking brake during manual driving; The remote control device is used for manual remote control of the vehicle; The first emergency stop switch, the second emergency stop switch, and the third emergency stop switch are used for braking and stopping control of the vehicle in an emergency. The front and rear safety contact edges are used for braking and stopping control when the vehicle collides with an obstacle.

2. The vehicle-mounted hydraulic braking system with both manual and drive-by-wire control according to claim 1, characterized in that, The power battery outputs high-voltage DC power to the high-voltage power distribution module, which distributes the high-voltage DC power to the motor controller, DC-DC converter, vehicle drive system, and high-voltage electrical equipment in the superstructure system. The motor controller outputs high-voltage AC power to the motor to drive the motor, and simultaneously monitors the motor speed and direction of rotation in real time through an encoder. The DC-DC converter provides a stable low-voltage DC power supply to the vehicle's low-voltage electrical components while charging the 24V battery.

3. The vehicle-mounted hydraulic braking system with both manual and drive-by-wire control according to claim 1, characterized in that, The multi-functional filling valve integrates a parking release solenoid valve for controlling the flow direction of the parking circuit fluid, thereby realizing the parking brake release control; the control valve group is equipped with two service brake control solenoid valves for electric control of the service brake; the control valve group is equipped with two pressure reducing valves for setting the pressure of the brake fluid when the service brake is electrically controlled.

4. A vehicle-mounted hydraulic braking system with both manual and drive-by-wire control according to claim 1, characterized in that, The autonomous driving module consists of a domain controller, sensors, a touch screen, a switch, an electronic control box, and a wireless communication unit; the sensors, touch screen, switch, electronic control box, and wireless communication unit are connected to the domain controller via connecting cables; the electronic control box is connected to the sensors, touch screen, switch, and wireless communication unit via connecting cables. The domain controller is used for storing autonomous driving operation path information, fusion processing of sensor data, precise control of vehicle autonomous driving operation, and communication of operation-related information. The sensors collect the vehicle's position and heading angle information in real time and upload it to the domain controller. The touchscreen is used for inputting vehicle autonomous driving control parameters, planning operating paths, displaying operating-related parameter information and fault information, facilitating human-machine interaction; The switch is used to expand the network interface of the domain controller; The electrical control box receives 24V low-voltage battery power and is used to provide regulated power to the domain controller, sensors, touch screen, switch, and wireless communication unit at different voltages. The wireless communication unit is used for wireless network connection between the domain controller and the vehicle autonomous driving scheduling module.

5. The control method of any one of the vehicle-mounted hydraulic braking systems with both manual and drive-by-wire control according to any one of claims 1-4, characterized in that, Includes the following steps: When the low-voltage power switch is closed, the 24V battery supplies 24V power to the start switch, vehicle controller, mode switch, parking release switch, motor controller, DC-DC converter, autonomous driving module, remote control, brake taillight switch, and pressure switch via the low-voltage power distribution and control module. When the start switch is closed, the vehicle controller, motor controller, and DC-DC converter start and perform self-tests. After the self-test passes, the vehicle controller controls the high-voltage power distribution module to deliver the high-voltage DC power from the power battery to the motor controller, DC-DC converter, and high-voltage electrical equipment in the vehicle drive system and superstructure system. The vehicle controller enables the motor controller and DC-DC converter via the CAN bus. After receiving the enable command, the motor controller controls the motor to run; the motor drives the gear pump to pump the hydraulic oil in the hydraulic tank to the multi-functional filling valve; when the pressure in the first, second, and third accumulators is lower than the set lower limit pressure, the high-pressure oil from the gear pump flows through the multi-functional filling valve to fill the first, second, and third accumulators first; when the pressure in the first, second, and third accumulators reaches the set upper limit pressure, the high-pressure oil from the gear pump flows through the O port of the multi-functional filling valve to the vehicle's hydraulic steering system; after receiving the enable command, the DC-DC converter operates to provide a stable power supply to the vehicle's low-voltage electrical components and simultaneously charges the 24V battery; The mode switch has three modes: manual, remote control, and automatic. The vehicle controller obtains the current driving mode of the vehicle through the signal status of the mode switch and only responds to the control commands of the corresponding mode. In manual driving, when the driver places the parking release switch in the parking release position, the vehicle controller activates the parking release solenoid valve on the multi-function filling valve. The high-pressure oil in the third accumulator flows to the parking brake on the transfer case, releasing the parking brake. Simultaneously, when the pressure switch detects a change in the parking release circuit pressure, it triggers a parking release signal to the vehicle controller. The vehicle controller can then control the vehicle to perform forward or reverse movements based on the driver's needs. When manual driving requires braking, the driver depresses the dual-circuit pedal valve. The high-pressure oil in the first and second accumulators flows through the dual-circuit pedal valve and control valve group to the service brakes of the forward and rear steering axles, respectively, causing the vehicle to brake. Simultaneously, when the brake taillight switch detects a change in the brake circuit pressure, it triggers a manual braking signal to the vehicle controller, which then illuminates the brake taillights. c. If it is manual remote control driving, the driver will manually control the vehicle's parking brake and service brake by using the toggle switch on the remote control device based on control needs. When the parking release switch on the remote control device is in the parking release position, the vehicle controller controls the parking release solenoid valve on the multi-function filling valve to actuate, and the parking brake is released. When the brake switch on the remote control device is in the brake position, the remote control device sends a braking signal to the vehicle controller, and the vehicle controller controls the solenoid valve on the control valve group to actuate. The high-pressure oil in the first accumulator flows forward to turn the drive axle service brake, and the high-pressure oil in the second accumulator flows backward to turn the drive axle service brake, and the vehicle performs the braking action. Simultaneously, the vehicle controller controls the brake taillights to illuminate. If it is in autonomous driving mode, the domain controller sends a parking release or service brake command to the vehicle controller based on control needs; when the vehicle controller receives the parking release command, it controls the parking release solenoid valve on the multi-function filling valve to activate, and the parking brake is released; when the vehicle controller receives the service brake command, it controls the solenoid valve on the control valve group to activate, and the vehicle performs the braking action. Simultaneously, the vehicle controller controls the brake taillights to illuminate. Regardless of the vehicle's operating mode, when the first emergency stop switch, second emergency stop switch, third emergency stop switch, front safety contact, and rear safety contact send signals to the vehicle controller, the vehicle controller activates the solenoid valves on the control valve assembly, and the vehicle performs braking actions.

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