Description:FORM 2
THE PATENTS ACT, 1970
(39 of 1970)
&
The Patent Rules, 2003
COMPLETE SPECIFICATION
(See sections 10 & rule 13)
1. TITLE OF THE INVENTION
AN AUTOMATED PARKING BRAKE ENABLE DRIVE BY WIRE FOR AUTONOMOUS VEHICLE FOR HILLY TERRAIN
2. APPLICANT (S)
S. No. NAME NATIONALITY ADDRESS
1 NMICPS Technology Innovation Hub On Autonomous Navigation Foundation IN C/o Indian Institute of Technology Hyderabad, Kandi, Sangareddy, Telangana– 502284, India.
2 Indian Institute Of Technology Hyderabad IN Kandi, Sangareddy, Telangana– 502284, India.
3. PREAMBLE TO THE DESCRIPTION
COMPLETE SPECIFICATION

The following specification particularly describes the invention and the manner in which it is to be performed.

FIELD OF INVENTION:
[001] The present invention relates to the field of autonomous vehicle. The present invention in particular relates to an automated parking brake enable drive by wire for autonomous vehicle for hilly terrain.
DESCRIPTION OF THE RELATED ART:
[002] In recent years, there have been significant strides in autonomous technology, particularly in the fields of robotics, artificial intelligence, and sensor systems. While these advancements have brought about remarkable capabilities, there is a growing need to address certain challenges associated with the complexity and cost of implementing autonomous solutions.
[003] 1. Safety of autonomous vehicle in hilly or slopy terrain: Managing steep gradients requires precise control over acceleration, deceleration, and steering to prevent accidents. Autonomous systems need sophisticated algorithms to handle these changes seamlessly. Driving uphill or downhill changes the vehicle's dynamics, affecting its handling, speed, and braking. Autonomous systems need to account for these variations to ensure safe and stable driving.
[004] 2. Less Dependency on Sensors: Addressing the dependency on numerous sensors and complex algorithms is a critical aspect of advancing autonomous technology. Many industries require solutions that offer robust performance while minimizing reliance on an excessive number of sensors and intricate algorithms. Simplifying the technology stack while maintaining functionality is a key factor in expanding the applicability of autonomous systems.
[005] 3. Practical Implementation: The need for reduced costs and decreased reliance on complex components extends beyond theoretical considerations. Industries are seeking practical solutions that can strike a balance between affordability and autonomous functionality. Such solutions could have a significant impact on the adoption of autonomous technology across a broader spectrum of applications.
[006] In light of these challenges and opportunities, the invention aims to revolutionize autonomous technology by introducing a novel approach that focuses on efficiency, cost-effectiveness, and simplified architecture. By addressing these needs, the invention seeks to unlock new possibilities for the widespread adoption of autonomous solutions across different driving terrains.
[007] Reference may be made to the following:
[008] Patent No. US9555780 relates to a method of controlling an electronic parking brake of a vehicle having a dual clutch transmission. The method includes: identifying a slope of an area in which the vehicle is located in order to determine whether the identified slope exceeds a predetermined slope value; determining whether both of two clutches are opened in a safe mode when the identified slope exceeds the predetermined slope value; determining whether the vehicle moves upward in a front direction when both of the two clutches are opened; and operating the electronic parking brake when the vehicle moves upward in the front direction. When the vehicle moves upward in the front direction on the inclined road, the electronic parking brake is automatically operated to prevent the vehicle from slipping in the rear direction. Therefore, the method can effectively improve the safety of the driver and vehicle even when the driver is inept in pedal operation.
[009] Publication No. CN117341719 discloses a deceleration parking feedback method and device of an automatic driving vehicle and the automatic driving vehicle. The method comprises the steps that in the driving process of a target automatic driving vehicle, environment information of a preset range on a road where the target automatic driving vehicle is located is acquired; when it is determined that a stop line generation event exists within a preset distance in the road driving direction according to the environment information, a stop line is generated according to the stop line generation event; and the stop line is presented in a three-dimensional scene displayed by the display terminal to feed back the driving process that the target autonomous vehicle arrives at the stop line or the target autonomous vehicle has arrived at the parking point, and the three-dimensional scene is a scene of the environment where the target autonomous vehicle is generated according to the environment information. The technical problem that the user experience is low due to the fact that the feedback of brake control on the automatic driving vehicle is not performed in the related technology and the user cannot well know whether the automatic driving vehicle can be timely braked or not is solved.
[010] IN Publication No. 527/KOLNP/2014 relates to a driver assistance system for a vehicle comprising a detecting device, which is designed to detect driving data that characterize the driving state of the vehicle, and comprising a controller, which is designed to process the driving data detected by the detecting device and, if predetermined driving data are present, trigger a braking device to perform autonomous braking of the vehicle. According to the invention, the controller is also designed in such a way that if driving data that indicate an imminent collision with an obstacle are detected, the function of the detecting device is monitored and, if the detecting device no longer provides any driving data or plausible driving data to the controller, a continuation of the autonomous braking is triggered, at least until the vehicle has been decelerated to a specified speed.
[011] Publication No. US2023303063 relates to a method for operating a braking system of a vehicle during autonomous parking processes, including a first electronic control unit, a service brake system, and a partial braking system. The first control unit is designed for activating the service brake system and the partial braking system, in which an autonomous parking process is initiated, followed by an activation of the service brake system by the first control unit to generate a braking force. In the event of a failure of the service brake system, the partial braking system is activated by the first control unit to generate a braking force while the autonomous parking process is continued by utilising the partial braking system. The disclosure also relates to a vehicle control system for controlling autonomous parking processes.
[012] Publication No. GB2612644 relates to a method for engaging a pneumatic parking brake of a parking brake system of a motor vehicle, wherein a first controller of the parking brake system receives a parking brake command (e.g. from an autonomous driving system) and attempts to engage the pneumatic parking brake via a first mode. The first controller transmits a parking brake status to a second controller, which is a separate component from the parking brake system. If the parking brake status signal indicates a failure in the engagement of the pneumatic parking brake via the first mode, the second controller engages the pneumatic parking brake via a second mode. The second mode may involve repeatedly engaging the service brakes to deplete pressure from the pneumatic parking brake or actuating a valve of the parking brake system.
[013] Publication No. WO2020128358 relates to an autonomous-type road vehicle comprising a vehicle control unit and a brake system comprising a service brake and a parking brake. The service brake and the parking brake are each arranged so as to be able to be operated in an active state, in which they apply a braking torque to a wheel of the vehicle, and an inactive state, in which they do not apply a braking torque to said wheel. According to the invention, the control unit is configured to control the road vehicle autonomously with the aid of the service brake and to operate the parking brake in the active state (S2) in the event of failure of the service brake.
[014] Publication No. WO2016102906 relates to the electric parking brake system of a vehicle comprises: - at least one pad of a brake, - an electric actuator capable of operating the pad, - means for connecting the actuator to an electrical energy source of the vehicle external to the brake system, and - an energy storage element able to be connected to the actuator.
[015] Publication No. US2018362013 relates to a driver assistance system has an emergency stop function for a motor vehicle. The motor vehicle has an electric parking brake. A parking-brake operating element is used to activate the electric parking brake. The driver assistance system is designed to activate an emergency stop function in accordance with the actuation of the parking-brake operating element and, as part of the emergency stop function, to perform an autonomous emergency stop driving maneuver for the emergency stopping of the vehicle. The driver assistance system is characterized in that the driver assistance system is designed to activate the emergency stop function only in response to an end of the actuation of the parking-brake operating element.
[016] Publication No. CN115723722 relates to a parking redundant braking device for an automatic driving vehicle, which belongs to the technical field of automobile intelligent control, and comprises a network area bus, a control platform, a parking redundant braking device, a parking redundant braking device and a parking redundant braking device, and program instructions for executing a braking control algorithm. When the parking redundant braking device acts the parking redundant brake does not need to be activated through manual operation of a human driver; therefore, when the main parking braking control cannot enable the parking braking execution assembly to work, for example, when a control signal cannot reach the parking braking execution assembly the parking redundant brake can automatically work, and the automobile is parked in a hydraulic mode.
[017] Publication No. US2020156624 relates to a brake system for a transportation vehicle, a transportation vehicle having a brake system, and a method for operating a brake system. The brake system has two control units, wherein the respective control unit actuates a respective brake circuit of the brake system, which includes two of four service brakes and one of two electric parking brakes of the brake system. In response to a defect in one of the brake circuits, the control unit of the other brake circuit actuates the respective brakes of the other brake circuit, to carry out trailer combination stabilization of a trailer combination having the transportation vehicle and a trailer coupled to the transportation vehicle; and/or to steer the transportation vehicle in the case of a defect in a steering system of the transportation vehicle based on a steering command of a control device for autonomous driving.
[018] Publication No. EP2934971 relates to a control unit for a parking brake device of a vehicle that can be operated in an autonomous driving mode. Furthermore, the invention relates to the parking brake device a brake system and a vehicle therewith as well as a corresponding method for operating the vehicle. The control unit controls a valve unit of the parking brake device in order to shut off a first output of the parking brake device, which is connected in a pressure-transmitting manner to a spring-loaded part of at least one spring-loaded brake cylinder of the vehicle, against a pressure sink during regular driving operation of the vehicle. The control unit has a control circuit which controls the valve unit such that, in response to a power failure at the parking brake device during regular driving operation in the autonomous driving mode, the first output is connected to the pressure sink in a pressure-transmitting manner by automatically switching a monostable shut-off valve A in order to actuate the spring brake cylinder for braking the vehicle.
[019] Publication No. MX2016016359 relates to a vehicle parking brake system includes a power bridge. The power bridge is electrically connected to a primary power source and to a secondary power source. The power bridge has a first condition in which the primary power source is active in which the primary source is electrically connected to a parking brake actuator. The power bridge has a second condition in which the primary power source is not active in which the secondary power source is electrically connected to the parking brake.
[020] IN Publication No. 202327032249 relates to a parking-braking assembly of a motor vehicle, comprising: at least one first brake caliper associated with a wheel of the rear axle of said vehicle; at least one further first brake caliper associated with a wheel of the front axle of said vehicle; wherein all the brake calipers of the braking system of the vehicle are electro-actuated brake calipers to avoid hydraulic braking devices and circuits on the vehicle; in which both said brake caliper and said further said first brake caliper are at least also parking brake calipers.
[021] IN Publication No. 201937013218 relates to a vehicle parking brake system includes a power bridge. The power bridge is electrically connected to a primary power source and to a secondary power source. The power bridge has a first condition in which the primary power source is active in which the primary source is electrically connected to a parking brake actuator. The power bridge has a second condition in which the primary power source is not active in which the secondary power source is electrically connected to the parking brake.
[022] IN Publication No. 201737008884 relates to an electropneumatic service brake device, in particular to an electronic brake system (EBS) of a vehicle which has an electropneumatic service brake valve device and at least one electronic brake control device for controlling electropneumatic wheel brake actuators. In the case of an intact prioritized electrical service brake circuit, when there is a driver’s braking request, by actuating the service brake actuating element, an electrical braking request signal is generated by means of the brake value generators and input into the electronic control device FBMECU of the service brake valve device where these signals are conditioned and input via the data bus into the electronic brake control device EBS/ECU. There, the signals are corrected by means of relatively high functions such as e.g. load-dependent braking force closed-loop control (ALB), differential slip closed- loop control etc. and then from there in each case a signal which represents a setpoint brake pressure is input to the pressure closed-loop control modules or TCM where a corresponding brake pressure is modulated by corresponding actuation of the inlet/outlet valve combinations which are respectively present there.
[023] Publication No. US2023001929 relates to a method can be used to control a steer-by-wire steering system in an emergency steering mode. The method comprises checking a steering system for the presence of a fault state and upon detection of a fault implementing the emergency steering mode, which involves determining a set point position of a steering tie rod using a set point wheel steering angle determining a front wheel to be braked and a brake pressure to attain the set point position with a control unit, transmitting the front wheel to be braked and the brake pressure to a brake system, braking the front wheel to be braked, and increasing a torque provided by a wheel drive to compensate for a loss of speed of the motor vehicle caused by the braking of the front wheel to be braked.
[024] Publication No. WO2022174487 provides a drive-by-wire vehicle, a mechanical-hydraulic composite braking and gear shifting integrated system, and a control method there for. The braking and gear shifting integrated system comprises a gear shifting module, a brake-by-wire module, a power distribution module, and a control assembly module. The gear shifting module comprises a gear shifting assisting sub module and a gear shifting execution sub module. The gear shifting assisting sub module is used to store and reuse a braking force of a driver stepping on a brake pedal in a brake-by-wire process to assist in gear shifting. The gear shifting execution sub module is used to implement automatic mechanical gear shifting. The brake-by-wire module is used to implement brake-by-wire. The power distribution module is used to distribute an electric motor torque in a redundant process. The control assembly module controls, by reading a gear shifting signal, a brake signal, and a current signal fed back by each electric motor controller, operation of each gear shifting electric motor and each brake electric motor, lock or release of a brake, and the turning on/off of a solenoid valve, so as to realize switching between different operating modes to meet the requirements of different operating conditions and ensure system security, stability and reliability.
[025] Publication No. WO2021004526 relates to an electro-hydraulic coupling drive-by-wire power-assisted braking system, comprising a drive-by-wire power-assisted system and an electro-hydraulic coupling braking system which are designed in a manner of integrating with IBS, wherein the drive-by-wire power-assisted system comprises a pedal execution unit and a pressure building unit, and the electro-hydraulic coupling braking system comprises an ABS anti-lock braking system, a hub motor driving system, and a hydraulic brake; the pedal execution unit comprises a master cylinder and an input push rod; a brake pedal and a piston push rod for executing braking in the master cylinder are not directly connected in a normal state, so that full decoupling is achieved, and the brake pedal detects data by means of a pressure sensor and transmits the data to a brake control system ECU to act on the braking. According to the present invention, the pressure build-up time is shortened, the noise can be effectively reduced, the full decoupling of the brake pedal and the push rod of the master cylinder is implemented, the regenerative energy recovery efficiency of the motor is effectively improved, the energy consumption of the whole vehicle is reduced, the braking requirement of the whole vehicle is implemented by maximally utilizing the electromagnetic braking of the motor, the endurance mileage is improved, and the safety and the stability of vehicle driving are improved. The present invention further relates to an electro-hydraulic coupling braking method.
[026] Publication No. CN117341656 provides a brake system for an autonomous vehicle. The brake system for an autonomous vehicle includes: a main brake system; the at least one driving wheel parking caliper is arranged on the at least one driving wheel; the at least one driven wheel parking caliper is arranged on the at least one driven wheel; and a first controller configured to control the at least one driving wheel parking caliper; a second controller configured to control the primary braking system and the at least one passive wheel parking caliper; wherein the first controller and the second controller are configured to operate the at least one driving wheel parking caliper and the at least one driven wheel parking caliper for braking and parking when the main braking system fails. The braking system for the automatic driving vehicle has the advantages of being simple in structure, convenient to implement, convenient to manufacture and the like.
[027] Publication No. US2023066117 relates to a brake system in a vehicle includes a brake circuit arranged to contain pressurized brake fluid; a parking brake acting on at least one wheel of the vehicle, the parking brake connected to the brake circuit and configured to be engaged when the pressure in the brake circuit is below a threshold pressure; and at least two evacuation valves, each configured to evacuate pressurized brake fluid from the brake circuit in response to a control signal, for thereby engaging the parking brake.
[028] IN Publication No. 202314039307 relates to an automatic parking assistance system includes a BEV-image display unit, and a condition holding unit. The BEV-image display unit is configured to output a Bird'-Eye View image in a predetermined area on a monitor. The BEV image is an image that is obtained by imaging surroundings of the vehicle including the vehicle itself and depicts the surrounding as viewed from above. The condition holding unit holds an obstacle proximity condition and a section proximity condition. The obstacle proximity condition defines that distance between the vehicle and an obstacle is shorter than predetermined first distance during the automatic parking. The section proximity condition defines that distance between the vehicle and a parking section of a parking position scheduled at a time of the automatic parking is shorter than predetermined second distance. The BEV-image display unit switches display in the predetermined area of the monitor from wide-range display of a wide-BEV image to narrow-range display of a narrow-BEV image that is obtained by narrowing a field of view of the wide-BEV image and depicts enlarged surroundings of the vehicle when the obstacle proximity condition or the section proximity condition is satisfied.
[029] Publication No. CN110803149 relates to the technical field of vehicle brake control systems, and particularly provides a distributed type autonomous braking system with a parking function and a control method. The system comprises a power supply, a brake controller and wheel brakes, and further comprises at least three electric cylinders which are connected with the wheel brakes and form brake loops; each electric cylinder comprises an electric cylinder body, a piston arranged in the electric cylinder body in a sliding manner, a motor for driving the piston to slide by a screw pair arranged in the electric cylinder body and a liquid storage pot connected with the electric cylinder body; the motors are electrically connected with the brake controller; each screw pair comprises a nut driven by the corresponding motor and a screw connected with the corresponding piston; and the electric cylinders are connected to the wheel brakes with the same number on an automobile in a one-to-one correspondence manner, and each electric cylinder and the corresponding wheel brake form one brake loop. Compared with the prior art, the system has a failure protection function, higher safety performance, the parking function, simple structure and lower cost.
[030] Publication No. US2018056959 relates to a vehicle includes a plurality of brake assemblies and a plurality of electronic brake system (EBS) controllers. The brake assemblies each include an electro-mechanical actuator configured to adjust a torque force applied to a wheel of the vehicle. The EBS controllers are located remotely from one another. Each EBS controller has integrated therein an electronic actuator driver unit that includes an electronic power circuit configured to drive at least one of the electro-mechanical actuators. A first EBS controller is configured to drive a first group of electro-mechanical actuators, and a second EBS controller is configured to drive a second group of electro-mechanical actuators that exclude the electro-mechanical actuators of the first group.
[031] Publication No. US2018056960 relates to a vehicle includes a plurality of brake assemblies and a plurality of electrical power circuits. Each brake assembly includes an electro-mechanical actuator configured to adjust a torque force applied to a wheel of the vehicle. The electrical power circuits are located remotely from one another. Each power circuit is configured to drive a respective actuator. The vehicle further includes a first electronic brake system (EBS) controller and a second EBS controller. The first EBS controller is configured to output a first data command signal to control a first group of power circuits among the plurality of power circuits. The second EBS controller is configured to output a second data command signal to control a second group of power circuits among the plurality of power circuits. The second group excludes the power circuits from the first group.
[032] Publication No. US2018056961 relates to a vehicle includes a plurality of electronic brake system (EBS) controllers configured to detect at least one braking event, and a plurality of brake assemblies. Each brake assembly is coupled to a respective wheel of the vehicle and includes an enhanced smart actuator. The enhanced smart actuator further includes an electro-mechanical actuator, and at least one power circuit. The electro-mechanical actuator is configured to adjust a torque force applied to the respective wheel. The at least one electronic power circuit is configured to output a high-frequency switched high-power current drive signal that drives the electro-mechanical actuator. The EBS controllers control a first group of enhanced smart actuators independently from a second group of enhanced smart actuators that exclude the enhanced smart actuators of the first group.
[033] Publication No. WO2016023994 relates to an actuating system, in particular for a vehicle brake comprising an actuating device such as a brake pedal, at least one first piston-cylinder unit (HZ, SK; HZ, DK, SK), the piston(s) (SK, DK) of which form(s) working chambers (12d, 12e, 2f) together with the brake master cylinder (HZ) and can be adjusted or is/are adjustable by means of the actuating device (1), at least in the event of a failure of a second pressure source (DHK),which is, in particular, in the form of a piston-cylinder unit or a plunger system. The second pressure source (DHK) has an electromechanical or electromotive drive and the first piston-cylinder unit (HZ, DK, SK) and the second pressure source (DHK) are or can be connected to a valve block (VBL) via hydraulic lines (HL1, HL2, HL7, HL8), in order to supply pressure medium to the brake circuits and in order to supply pressure to the vehicle brakes. A further piston-cylinder unit (WZ, 16), consisting of a cylinder (WZ) and an auxiliary piston, which together form a working chamber (WZa), is arranged between the actuating device and the first piston-cylinder unit (HZ, SK, DK). A plunger is formed, pressed or secured on the auxiliary piston the free end of said plunger extending into one working chamber of the first piston-cylinder unit (HZ, SK, DK). The actuating system is characterised in that during normal operation of the actuating device, as the pressure in one working chamber of the first piston-cylinder unit (HZ, SK, DK) builds by means of the second pressure source (DHK), a force can be generated on the actuating device via the plunger, in order to generate a pedal feel, and that in the event of a failure of the second pressure source (DHK), the working chamber (WZa) can be connected to a brake circuit via an open valve (ESV).
[034] Publication No. KR20180072043 relates to an autonomous device for stopping an inertial movement of a parked vehicle. The autonomous device is activated and waits when a gear shift is in a neutral state and a parking brake is in a released state, and operates when a vehicle is moved by an external force. The autonomous device includes: a sensor unit for continuously sensing an interval between a vehicle and an object around the vehicle while the vehicle is moving; and a control unit for receiving the sensed contents of the sensor unit and operating to stop the vehicle through a brake when the vehicle is close to the object around the vehicle within a preset interval. In the autonomous device for stopping an inertial movement of a parked vehicle according to the present invention, when the vehicle is moved by the impact force in a state in which a parking brake of the vehicle is released and a gear shift is activated from the neutral state, the autonomous device operates to stop the vehicle when the vehicle reaches a preset distance range, thereby preventing a collision accident.
[035] Publication No. DE102008006054 relates to the device has a unit for determining a suitable parking trajectory and equipments for the execution of an automatic guiding intervention for starting the determined parking trajectory. A controlling unit limits the vehicle speed with the help of the regulating agents if the given critical speed is reached.
[036] IN Publication No. 202341079931 relates to a cost-effective retrofitting drive by wire kit for autonomous electric vehicles. The invention is a drive-by-wire (DBW) system which is flexible to adapt in any vehicle which makes the proposed kit as unique DBW solution for autonomous vehicles. Enhanced the system reliability by incorporating redundancy and fault-tolerance strategies, ensures safe operation even in the presence of component failures.
[037] Publication No. JPH04203244 relates to transmit driver's intention to accelerate and decelerate and improve safety even when an accelerator operation state detecting means is at fault, by providing a deceleration requesting timing controlling section for outputting a limiting command to limit an engine running condition in inputting a deceleration requesting signal. Constitution: In a drive-by-wire type vehicle, a motor is connected to a throttle valve to be controlled by an ECU. Then, a controlling section which turns on a brake switch when a accelerator pedal position sensor is failured is provided in the ECU. The controlling section is provided with a deceleration request detecting means, deceleration request timing control section and acceleration control device. The deceleration request detecting means receives an ON signal of a break switch to detect the deceleration request. The deceleration request timing controlling section receives the deceleration request signal to output desired throttle opening to the acceleration controller which controllably opens and closes the throttle valve 6 according to the desired opening.
[038] Publication No. US2009256416 relates to a brake system for a vehicle having a parking brake with an air-quantity-boosting valve device for aerating and deaerating at least one spring brake cylinder of the parking brake, having at least one electrically actuable control valve for controlling the air-quantity-boosting valve device, having an electrical control device, which is electrically coupled to the electrically actuable control valve, for controlling the electrically actuable control valve, and having an electrical actuating device, which is coupled to the control device, for actuating the parking brake. In order to be able to resort to available series-produced components, the air-quantity-boosting valve device, the control valve, the electrical control device and the actuating device are in each case embodied as autonomous, separate components which are arranged spatially separate from one another.
[039] IN Publication No. 202117038290 relates to a brake system for a vehicle, which system has at least two hydraulic brake circuits, each with at least one hydraulically acting wheel brake, and a switching valve on each hydraulically acting wheel brake, which switching valve connects in each case one hydraulically acting wheel brake to one of the two brake circuits. The brake system also has a central outlet switching valve which brings about a switchable hydraulic connection between at least one of the brake circuits and a reservoir vessel, wherein the reduction in pressure in the at least one hydraulically acting wheel brake is effected by opening the central outlet switching valve and the associated switching valve.
[040] Publication No. JPH04203439 relates to properly exhibit a fail-safe function at the time of failures of a motor and the like by providing a linkage mechanism with a throttle valve forcibly closing mechanism which forcibly closes a throttle valve when a brake pedal is footed deeper than it is required. A linkage mechanism is provided, by which braking action by a brake pedal is transmitted to the side of a throttle valve, In this case, the linkage mechanism is provided with a throttle valve forcibly closing means which forcibly closes the throttle valve when the brake pedal is footed deeper than it is required. By this constitution, when the brake pedal is footed deeper than it is required at the time of failures of a motor and the like, the throttle valve is forcibly closed, but the throttle valve is normally driven again when the stroke of brake pedal footing becomes less than it is required.
[041] IN Publication No. 1441/KOLNP/2007 relates to a self-amplifying disk brake provided with a tensioning unit for tensioning at least one brake lining on one side of a disk brake performing a tensioning movement of said disk brake, which can be broken down into at least one movement component (direction U) which extends parallel to and at least one which extends tangentially in relation to the axis of the disk brake, also provided with at least one electric motor drive for actuating the tensioning unit. The invention is characterized in that each of the pressure surfaces of the at least two or more brake pistons are provided with a recess on the side thereof facing towards the brake lining unit, wherein said recess has a ramp-shaped contour into which a rolling body is respectively engaged, resting against the ramp-type contour and the brake lining unit. The invention also relates to a method for actuating the self-amplifying brake.
[042] IN Publication No. 1442/KOLNP/2007 relates to a self-energising disk brake provided with a tensioning unit for tensioning at least one brake lining on one side of a disk brake, performing a tensioning movement of said disk brake, which can be broken down into at least one movement component (direction U) which extends parallel to and at least one which extends tangentially in relation to the axis of the disk brake, also provided with at least one electric motor drive for actuating the tensioning unit. The invention is characterised in that the outlay of the tensioning unit enables the rotations of the output shaft of the electric motor drive to be converted during a tensioning movement of the brake pad, whereby the displacement component is not linear in the tangential direction (direction U). The invention further relates to a method for controlling a self-energising brake.
[043] Publication No. 1443/KOLNP/2007 relates to a self-applying disc brake. The inventive disc brake comprises an applying unit for applying at least one brake lining of one side of brake disc, the applying movement of the brake lining capable of being resolved into at least one parallel component and one tangential component (direction U) to the axis of the brake disc, and further comprises at least one electric motor drive for actuating the applying unit. The inventive disc brake is characterized by the design of the applying unit which is such that the electric motor rotates, directly or indirectly via one or more gears, a crank having a crank pin which extends parallel to the axis of the disc (BA) and which meshes in an opening of the correspondingly aligned pressure plate.
[044] IN Publication No. 1444/KOLNP/2007 relates to a self-energising disk brake provided with a tensioning unit for tensioning at least one brake lining on one side of a disk brake, performing a tensioning movement of said disk brake, which can be broken down in to at least one movement component(direction U) which extends parallel to and at least one which extends tangentially in relation to the rotational axis of the disk brake, also provided with at least one electric motor drive for actuating the tensioning unit. The invention is characterized in that the outlay of the tensioning unit enable the rotations of the output shaft of the electric motor drive to be converted during a tensioning movement of the brake pad, whereby the displacement component is not linear in the tangential direction (direction U). The invention further relates to a method for controlling a self- energising brake.
[045] IN Publication No. 1460/CHE/2005 relates to an apparatus has a first component having one or more electromagnetic elements and a second component having one or more electromagnetic elements and movably coupled to the first component. The second component moves with respect to the first component in a cyclical manner. The one or more electromagnetic elements of the first component interacts with the one or more electromagnetic elements of the second component during each of one or more cycles of motion of the second component with respect to the first component such that, when a constant force profile is applied to move the second component with respect to the first component, the speed of motion increases and decreases one or more times during each cycle of motion due to different levels of electromagnetic interaction between the electromagnetic elements within each cycle of motion. Specific embodiments of the apparatus include toys, automobiles and general mechanisms.
[046] IN Publication No. 201814042471 relates to an electric brake device to be mounted on a vehicle includes a rotating body, a friction member, an electric motor, a piston, an operation conversion mechanism, an actuator, and a controller. The operation conversion mechanism is configured to include a rotating member and a linear motion member. The controller is configured to selectively execute a standby control of causing the linear motion member to stand by at a standby position where a clearance between the friction member and the rotating body is not larger than a backlash between a male screw and a female screw, and a backward movement control of moving the linear motion member backward to a backward movement position where the clearance is allowed to be equal to or more than the backlash, in a case where there is no braking force request for the electric brake device.
[047] The article entitled “Drive-by-wire development process based on ROS for an autonomous electric vehicle” by J. Felipe Arango, Luis M. Bergasa, Pedro A. Revenga, Rafael Barea, Elena López-Guillén, Carlos Gómez-Huélamo, Javier Araluce, and Rodrigo Gutiérrez; Sensors (Basel).; 20(21): 6121.; 2020 Nov talks about the development process of a robust and ROS-based drive-by-wire system designed for an autonomous electric vehicle from scratch over an open source chassis. A revision of the vehicle characteristics and the different modules of our navigation architecture is carried out to put in context our drive-by-wire system. The system is composed of a Steer-By-Wire module and a Throttle-By-Wire module that allow driving the vehicle by using some commands of lineal speed and curvature, which are sent through a local network from the control unit of the vehicle. Additionally, a Manual/Automatic switching system has been implemented, which allows the driver to activate the autonomous driving and safely taking control of the vehicle at any time. Finally, some validation tests were performed for our drive-by-wire system, as a part of our whole autonomous navigation architecture, showing the good working of our proposal. The results prove that the drive-by-wire system has the behaviour and necessary requirements to automate an electric vehicle. In addition, after 812 h of testing, it was proven that it is a robust Drive-By-Wire system, with high reliability. The developed system is the basis for the validation and implementation of new autonomous navigation techniques developed within the group in a real vehicle.
[048] Existing autonomous systems often rely on a complex network of sensors, advanced algorithms, and substantial computational resources. This complexity translates into high development, deployment, and maintenance costs. Moreover, the intricate nature of these systems can result in challenges during integration and troubleshooting, further increasing operational expenses.
[049] Many autonomous systems heavily rely on an array of sensors to perceive their environment accurately. This dependence on multiple sensors not only contributes to higher costs but also increases susceptibility to sensor failures and environmental conditions that might disrupt accurate perception.
[050] Sophisticated algorithms are often required to process the vast amount of data collected by sensors and make real-time decisions. Developing, testing, and optimizing these complex algorithms can be time-consuming and resource-intensive, impeding the agility and responsiveness of the autonomous system.
[051] In order to overcome above listed prior art, the present invention aims to provide an automated parking brake enable drive by wire for autonomous vehicle for hilly terrain.
OBJECTS OF THE INVENTION:
[052] The principal object of the present invention is to provide an automated parking brake enable drive by wire for autonomous vehicle for hilly terrain.
[053] Another object of the present invention is to provide safer, more efficient, and versatile autonomous vehicle by providing precise and adaptive brake control.
[054] Yet another object of the present invention is to provide precise control of brake on hilly terrain, and to enhance safety in autonomous vehicle navigation.
SUMMARY OF THE INVENTION:
[055] The present invention relates to an automated parking brake enable drive by wire for autonomous vehicle for hilly terrain. The invention provides precise and adaptive brake control making them safer, more efficient, and versatile for a wide range of applications.
[056] The integration of automated parking brake systems in drive-by-wire technologies for autonomous vehicles operating on sloping terrains presents a pivotal advancement in vehicle control and safety. This automated parking brake systems is incorporated within drive-by-wire frameworks, emphasizing their significance in ensuring safe navigation and stability on inclined surfaces. The invention provide enables seamless interaction between automated parking brake systems and drive-by-wire functionalities, addressing the challenges posed by sloping terrains. Through an analysis of sensor fusion, algorithmic precision, and real-time decision-making, this research aims to elucidate the efficacy and reliability of this integrated system. The outcomes and implications underscore the enhanced safety, maneuverability, and adaptability of autonomous vehicles when traversing varied topographies, particularly sloping landscapes, thereby contributing to the evolution of autonomous driving technology.
BREIF DESCRIPTION OF THE INVENTION
[057] It is to be noted, however, that the appended drawings illustrate only typical embodiments of this invention and are therefore not to be considered for limiting of its scope, for the invention may admit to other equally effective embodiments.
[058] Figure 1 shows block diagram of an automated parking brake enable drive by wire for autonomous vehicle for hilly terrain;
[059] Figure 2 shows flowchart according to the present invention.
DETAILED DESCRIPTION OF THE INVENTION:
[060] The present invention provides an automated parking brake enable drive by wire for autonomous vehicle for hilly terrain. The invention provides precise and adaptive brake control making them safer, more efficient, and versatile for a wide range of applications.
[061] The integration of automated parking brake systems in drive-by-wire technologies for autonomous vehicles operating on sloping terrains presents a pivotal advancement in vehicle control and safety. This automated parking brake systems is incorporated within drive-by-wire frameworks, emphasizing their significance in ensuring safe navigation and stability on inclined surfaces. The invention provide enables seamless interaction between automated parking brake systems and drive-by-wire functionalities, addressing the challenges posed by sloping terrains. Through an analysis of sensor fusion, algorithmic precision, and real-time decision-making, this research aims to elucidate the efficacy and reliability of this integrated system. The outcomes and implications underscore the enhanced safety, maneuverability, and adaptability of autonomous vehicles when traversing varied topographies, particularly sloping landscapes, thereby contributing to the evolution of autonomous driving technology.
[062] The system comprises autonomous vehicle velocity signal (1) using sensors, linear actuator (For brake control) (2), vehicle traction motor (3), controller (4) and processor (5) (fig 1). These elements are meticulously synchronized to enable real-time communication and coordination within the vehicle's control framework. The proposed system is devised to interpret sensor data promptly, assessing crucial parameters like vehicle velocity and terrain inclination. Through this integration, adaptive brake control mechanisms are implemented, dynamically adjusting brake application based on the vehicle's dynamics and terrain conditions.
[063] In the autonomous navigation the vehicles on the hilly terrain during the emergency stoppages, if the vehicle velocity gets zero, then also the vehicle starts to move due to inertia towards the lower ground level of slopy terrain. The vehicle velocity and the brake are configured together in order to achieve the stability of the vehicle on slopy terrain. The present innovation enables the brake actuation as soon as the vehicle velocity gets zero. This function enables the holding of the vehicle at that location and avoiding movement towards the slope of ground. Therefore, it safeguards the vehicle’s movement and reduces the chances of accidents. The innovation enables the autonomous vehicle with more realistic way of driving in hilly terrain.
[064] If the autonomous vehicle stops due to use of emergency stop button or due to the obstacle in the path, then the vehicle controller gets signal to get vehicle velocity as zero. Therefore, the proportional voltage is supplied to by controller to make the velocity as zero. As soon as the controller sends the velocity signal, simultaneously the brake actuators get signal to apply brakes. Therefore, the vehicle movement is restricted. As soon as the emergency stop button is released or the obstacle from the vehicle gets displaced to certain the safe distance, then the velocity signal again generated by the controller along with brakes releasing commands and vehicle start moving towards the targeted position.
[065] As soon as the vehicle traction motor velocity gets zero, the speed sensor sends the signal to the brake actuators to apply the brakes. Therefore, the braking is performed as soon as the vehicle gets the zero velocity of the traction motor as shown in Fig. 2.
[066] Thus, present innovation enables the stopping of the vehicle on sloppy terrain along with zero velocity. As dependency on high cost sensors is reduced so the final product can be affordable to a large consumer base.
[067] By offering precise control of brake on hilly terrain, the system enhances safety that can be critical in autonomous vehicle navigation.
[068] The system, recognizes the imperative for heightened safety and stability in such environments, and integrates automated parking brake mechanisms seamlessly with drive-by-wire technology.
[069] This system has readiness for diverse applications, offering enhanced safety and maneuverability for autonomous vehicles traversing challenging hilly terrains.
[070] The system is adaptable to various UGV models and its suitability for diverse applications, from agriculture to logistics, is a novel feature that expands its utility.
[071] This invention offers several advantages, including increased adaptability to dynamic environments of hilly and slopy terrain, and improved safety through precise control of braking. The system has diverse applications, ranging from agriculture, hilly terrain, off road autonomous navigation.
[072] Numerous modifications and adaptations of the system of the present invention will be apparent to those skilled in the art, and thus it is intended by the appended claims to cover all such modifications and adaptations which fall within the true spirit and scope of this invention.
, Claims:WE CLAIM:
1. An automated parking brake enable drive by wire for autonomous vehicle for hilly terrain comprises-
a) autonomous vehicle velocity signal (1), using velocity sensors,
b) linear actuator (For brake control) (2),
c) vehicle traction motor (3),
d) controller (4)
e) Processor (5)
wherein the elements are meticulously synchronized to enable real-time communication and coordination within the vehicle's control framework and as soon as the vehicle traction motor velocity gets zero, the speed sensor send the signal to the brake actuators to apply the brakes so that the braking is performed as soon as the vehicle gets the zero velocity of the traction motor.
2. The automated parking brake enable drive by wire for autonomous vehicle, as claimed in claim 1, wherein the brake actuation are enabled as soon as the vehicle velocity gets zero enabling the holding of the vehicle at that location and avoiding movement towards the slope of ground.
3. The automated parking brake enable drive by wire for autonomous vehicle, as claimed in claim 2, wherein the vehicle traction motor speed sensor will detect the speed of the and sends the signal to trigger braking mechanism of the vehicle. So, the brake actuators are activated and effectively making autonomous vehicle stop efficiently on hilly terrain.
4. The automated parking brake enable drive by wire for autonomous vehicle, as claimed in claim 1, wherein the if the autonomous vehicle stops due to use of emergency stop button or due to the obstacle in the path, then the vehicle controller gets signal to get vehicle velocity as zero and the proportional voltage is supplied to by controller to make the velocity as zero; as soon as the controller sends the velocity signal, simultaneously the brake actuators get signal to apply brakes and the vehicle movement is restricted; as soon as the emergency stop button is released or the obstacle from the vehicle gets displaced to certain the safe distance, then the velocity signal again generated by the controller along with brakes releasing commands and vehicle start moving towards the targeted position.