Braking system and vehicle

Abstract

The application discloses a brake system and a vehicle, wherein a front axle brake module and a rear axle brake module are connected with an input module, and a communication connection is established between the front axle brake module and the rear axle brake module; after the vehicle is powered on, the front axle brake module sends a front axle brake working signal to the rear axle brake module, the rear axle brake module sends a rear axle brake working signal to the front axle brake module, and the front axle brake module and the rear axle brake module are backup brake modules for each other; when the rear axle brake working signal received by the front axle brake module is a fault signal, the front axle brake module takes over the rear axle brake module to control vehicle rear axle braking; when the front axle brake working signal received by the rear axle brake module is a fault signal, the rear axle brake module takes over the front axle brake module to control vehicle front axle braking; the two brake modules are backup brake modules for each other, when one of the brake modules fails, effective vehicle braking can still be performed according to the brake signal, the stability of the brake system is improved, and the safety of the vehicle is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle braking technology, and more particularly to a braking system and a vehicle. Background Technology

[0002] With the development of technology, automobiles have become an important means of travel and transportation. Users are paying more and more attention to automobile safety. The braking system plays a crucial role in automobile safety. Currently, automobile braking systems generally use a single braking method. When this braking method malfunctions, the automobile may not be able to brake effectively, thus causing safety accidents. Therefore, how to improve the stability of automobile braking systems has become an urgent technical problem to be solved.

[0003] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this invention is to provide a braking system and vehicle that addresses the technical problem of poor stability in existing braking systems, which leads to low vehicle braking safety.

[0005] To achieve the above objectives, the present invention provides a braking system applied to a vehicle. The braking system includes an input module, a front axle braking module, and a rear axle braking module. Both the front axle braking module and the rear axle braking module are connected to the input module, and a communication connection is established between them. After the vehicle is powered on, the front axle braking module sends a front axle braking operation signal to the rear axle braking module, and the rear axle braking module sends a rear axle braking operation signal to the front axle braking module. The front axle braking module and the rear axle braking module serve as backup braking modules for each other.

[0006] The input module is used to input braking signals to the front axle braking module and the rear axle braking module;

[0007] The front axle braking module is used to control the front and rear axles of the vehicle to perform overall vehicle braking according to the braking signal when the received rear axle braking signal is a fault signal; and

[0008] The rear axle braking module is used to control the rear axle and front axle of the vehicle to perform vehicle braking according to the braking signal when the received front axle braking signal is a fault signal.

[0009] Optionally, the input module includes a pedal simulator, the front axle braking module includes a front brake control unit and a bridge control unit, and the rear axle braking module includes a drive / brake control unit. Both the front brake control unit and the drive / brake control unit establish a communication connection with the pedal simulator, both establish a communication connection with the bridge control unit, and the front brake control unit establishes a communication connection with the drive / brake control unit. The front brake control unit sends a front axle braking signal to the drive / brake control unit, and the drive / brake control unit sends a rear axle braking signal to the front brake control unit.

[0010] The pedal simulator is used to send braking signals to the front brake control unit and the drive / brake control unit via a communication connection;

[0011] The drive / brake control unit is used to determine the required braking force of the front axle and the required braking force of the rear axle based on the braking signal when the front axle braking working signal is a fault signal.

[0012] The drive / brake control unit is also used to control the rear axle of the vehicle to perform vehicle braking according to the required braking force of the rear axle, and to send the required braking force of the front axle to the bridge control unit;

[0013] The bridge control unit is used to control the front axle of the vehicle to perform vehicle braking according to the braking force required by the front axle.

[0014] Optionally, the front brake control unit is used to determine the required braking force of the front axle and the required braking force of the rear axle based on the brake signal when the rear axle brake working signal is a fault signal, and to control the front axle of the vehicle to perform whole vehicle braking based on the required braking force of the front axle.

[0015] The front brake control unit is also used to control the rear axle of the vehicle to perform vehicle braking according to the braking force required by the rear axle.

[0016] Optionally, the drive / brake control unit is further configured to determine the braking type based on the braking signal when the front axle braking working signal is a normal signal;

[0017] The drive / brake control unit is further configured to determine the required braking force of the front axle and the required braking force of the rear axle based on the braking signal when the braking type is emergency braking.

[0018] The drive / brake control unit is also used to control the rear axle of the vehicle to perform vehicle braking according to the required braking force of the rear axle, and to send the required braking force of the front axle to the front brake control unit;

[0019] The front brake control unit is used to control the front axle of the vehicle to perform vehicle braking according to the braking force required by the front axle.

[0020] Optionally, the drive / brake control unit is further configured to determine the total required braking force based on the braking signal when the front axle braking working signal is a normal signal, and to determine the energy recovery braking force based on the power battery information and the power motor information;

[0021] The drive / brake control unit is further configured to determine the front axle braking force and the rear axle braking force based on the total braking force demand and the energy recovery braking force, and send the front axle braking force demand to the front brake control unit;

[0022] The drive / brake control unit is also used to perform energy recovery braking according to the energy recovery braking force, and to control the rear axle of the vehicle to perform whole vehicle braking according to the rear axle braking force demand.

[0023] The front brake control unit is also used to control the front axle of the vehicle to perform vehicle braking according to the braking force required by the front axle.

[0024] Optionally, the drive / brake control unit is further configured to determine an additional braking force based on the total braking force demand and the energy recovery braking force, and to determine whether the rear axle of the vehicle meets the stability requirements based on the additional braking force demand.

[0025] The drive / brake control unit is also used to control the rear axle of the vehicle to perform vehicle braking according to the additional braking force required when the rear axle of the vehicle meets the stability requirements.

[0026] Optionally, the front axle braking module further includes an air control unit, and the pedal simulator is connected to both the air control unit and the bridge control unit via air pipes, with a communication connection established between the air control unit and the bridge control unit;

[0027] The pedal simulator is used to output a braking electrical signal to the front brake control unit according to the pedal opening of the brake pedal, and to output a braking air pressure signal to the air control unit according to the pedal opening of the brake pedal.

[0028] The front brake control unit is used to control the front axle of the vehicle to perform vehicle braking according to the brake electrical signal;

[0029] The air control unit is used to control the front axle of the vehicle to perform vehicle braking based on the brake air pressure signal when the front brake control unit malfunctions.

[0030] Optionally, the input module further includes a parking switch, the rear axle braking module further includes an electromechanical brake, the parking switch is connected to the drive / brake control unit, the parking switch is also connected to the drive / brake control unit via a hard wire, and the drive / brake control unit is connected to the electromechanical brake via a hard wire.

[0031] The parking switch is used to send a parking brake signal to the drive / brake control unit via a communication connection and / or hard wire connection.

[0032] The drive / brake control unit is used to control the electromechanical brake to perform parking braking via a hard-wired connection based on the parking brake signal.

[0033] Optionally, the input module further includes an accelerator pedal and a brake switch, both of which are hard-wired to the vehicle controller, and the front brake control unit and the drive / brake control unit are communication-connected to the vehicle controller.

[0034] The vehicle controller is used to output redundant braking signals to the front brake control unit and the drive / brake control unit according to the state of the brake switch.

[0035] The front brake control unit is also used to control the front axle of the vehicle to perform vehicle braking based on the redundant brake signal.

[0036] The drive / brake control unit is also used to control the rear axle of the vehicle to perform vehicle braking based on the redundant braking signal.

[0037] Furthermore, the present invention also proposes a vehicle that includes the braking system described above.

[0038] The braking system proposed in this invention includes an input module, a front axle braking module, and a rear axle braking module. Both the front and rear axle braking modules are connected to the input module, and a communication connection is established between them. After the vehicle is powered on, the front axle braking module sends a front axle braking signal to the rear axle braking module, and the rear axle braking module sends a rear axle braking signal to the front axle braking module. The front and rear axle braking modules serve as backup braking modules for each other. The input module is used to input braking signals to the front and rear axle braking modules. The front axle braking module is used to control the front and rear axles of the vehicle to perform full-vehicle braking when the received rear axle braking signal is a fault signal. The rear axle braking module is used to control the rear and front axles of the vehicle to perform full-vehicle braking when the received front axle braking signal is a fault signal. The braking system proposed in this invention includes a front axle braking module for controlling the braking of the front axle of the vehicle and a rear axle braking module for controlling the braking of the rear axle of the vehicle. After the vehicle is powered on, the two braking modules send braking signals to each other through an established communication connection. When the front axle braking module receives a fault signal from the rear axle braking module, it takes over from the rear axle braking module to control the braking of the rear axle of the vehicle. When the rear axle braking module receives a fault signal from the front axle braking module, it takes over from the front axle braking module to control the braking of the front axle of the vehicle. The two braking modules serve as backup braking modules for each other. Even if one of the braking modules fails, it can still effectively brake the vehicle according to the braking signal, thereby improving the stability of the braking system and enhancing vehicle safety. Attached Figure Description

[0039] Figure 1 This is a structural block diagram of the first embodiment of the braking system of the present invention;

[0040] Figure 2 This is a schematic diagram of the structure of an embodiment of the braking system of the present invention;

[0041] Figure 3 This is a schematic diagram of the front brake control unit in one embodiment of the braking system of the present invention;

[0042] Figure 4 This is a schematic diagram of the drive / brake control unit in one embodiment of the braking system of the present invention;

[0043] Figure 5 This is a schematic diagram of the bridge control unit in one embodiment of the braking system of the present invention.

[0044] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0045] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0046] Reference Figure 1 , Figure 1 This is a structural block diagram of a first embodiment of the braking system of the present invention, which is applied to a vehicle.

[0047] like Figure 1 As shown, the braking system includes an input module 10, a front axle braking module 20, and a rear axle braking module 30. Both the front axle braking module 20 and the rear axle braking module 30 are connected to the input module 10, and a communication connection is established between the front axle braking module 20 and the rear axle braking module 30. After the vehicle is powered on, the front axle braking module 20 sends a front axle braking signal to the rear axle braking module 30, and the rear axle braking module 30 sends a rear axle braking signal to the front axle braking module 20. The front axle braking module 20 and the rear axle braking module 30 serve as backup braking modules for each other.

[0048] It should be noted that with the rapid development of the four new trends in automobiles, the application of brake-by-wire technology is becoming increasingly widespread. Moreover, brake-by-wire technology is a key aspect of the intelligent development of automobiles, and currently, brake-by-wire systems are generally divided into two categories: (1) systems with mechanical backup pressure, including electro-hydraulic braking systems (EHB braking systems) and electro-pneumatic braking systems (EBS braking systems); (2) electro-mechanical braking systems without mechanical backup pressure (EMB braking systems). Among them, the EMB braking system uses an electric motor as the brake actuator to replace the traditional hydraulic or pneumatic braking. The braking actuators of the automobile wheels are all driven by independent motors and powered by independent power sources. The EMB braking system greatly simplifies the composition of the brake-by-wire system, reduces the energy transmission and conversion paths, and greatly improves efficiency and system response; in addition, EMB acts directly on the wheel side, improving the ability to adjust braking force. Among the brake-by-wire technology products currently available for mass production, small vehicle braking systems mainly use EHB braking systems to achieve brake-by-wire, while pneumatic commercial vehicles mainly use EBS braking systems. Although EMB braking systems have many advantages, the complete elimination of mechanical backup systems places high demands on the safety and reliability of EMB braking systems.

[0049] In this embodiment, the input module 10 can be a module that collects braking signals and transmits the collected braking signals to the front axle braking module and the rear axle braking module. The front axle braking module can be a module using an EHB braking system or an EBS braking system. This embodiment uses an EBS braking system as an example for explanation. The rear axle braking module can be a module using an EMB braking system. The front axle braking module and the rear axle braking module serve as backups for each other. When the front axle braking module fails, the rear axle braking module, while controlling the rear axle of the vehicle for overall vehicle braking, takes over from the front axle braking module to control the front axle of the vehicle for overall vehicle braking. When the rear axle braking module fails, the front axle braking module, while controlling the front axle of the vehicle for overall vehicle braking, takes over from the rear axle braking module to control the rear axle of the vehicle for overall vehicle braking.

[0050] The input module 10 is used to input braking signals to the front axle braking module 20 and the rear axle braking module 30; the front axle braking module 20 is used to control the front axle and rear axle of the vehicle to perform vehicle braking according to the braking signal when the received rear axle braking signal is a fault signal; and the rear axle braking module 30 is used to control the rear axle and front axle of the vehicle to perform vehicle braking according to the braking signal when the received front axle braking signal is a fault signal.

[0051] It is understandable that the rear axle braking signal can be a signal sent from the rear axle braking module to the front axle braking module to characterize the current operating state of the rear axle braking module; similarly, the front axle braking signal can be a signal sent from the front axle braking module to the rear axle braking module to characterize the current operating state of the front axle braking module. If both the front and rear axle braking signals are normal, the rear axle braking module acts as the main braking control module. The rear axle braking module determines the required braking force for the rear and front axles based on the braking signals, controls the rear axle to perform full-vehicle braking based on the required braking force, and sends the required braking force for the front axle to the front axle braking module. The front axle braking module then controls the front axle to perform full-vehicle braking based on the received required braking force.

[0052] In this embodiment, the front axle braking module adopts an EBS braking system with pneumatic mechanical backup braking, and the rear axle braking module adopts an EMB braking system. The EBS braking system and the EMB braking system serve as backup braking systems for each other. Under the premise of realizing vehicle-by-wire braking, the function of pneumatic mechanical backup braking is added to the front axle of the vehicle, thereby improving the safety redundancy of the braking system.

[0053] In practical implementation, for example: the front axle braking module uses an EBS braking system with pneumatic mechanical backup braking, and the rear axle braking module uses an EMB braking system. After the vehicle is powered on, the EMB braking system and the EBS braking system send braking signals to each other. If both braking signals are normal, the EMB braking system becomes the main braking control system. The EMB braking system determines the required braking force for the rear axle and the front axle based on the braking signals sent by the input module. The EMB braking system controls the rear axle to brake the entire vehicle based on the required braking force for the rear axle, and sends the required braking force for the front axle to the EBS braking system. The EBS braking system controls the front axle to brake the entire vehicle based on the received required braking force for the front axle. If the front axle braking signal is a fault signal, the EMB braking system... The system controls the rear axle to perform vehicle braking based on the braking force required by the rear axle, and simultaneously controls the front axle to perform vehicle braking based on the braking force required by the front axle. If the rear axle braking signal is a fault signal, the EBS braking system becomes the main braking control system. The EBS braking system determines the required braking force for the front and rear axles based on the braking signal, controls the front axle to perform vehicle braking based on the braking force required by the front axle, and simultaneously controls the rear axle to perform vehicle braking based on the braking force required by the rear axle. If both the front and rear axle braking signals are fault signals, the pneumatic mechanical backup brake attached to the EBS braking system performs pneumatic braking based on the braking signal. The process of determining the required braking force for the front and rear axles based on the braking signal is prior art and will not be described in detail here.

[0054] Furthermore, referring to Figure 2 To improve the stability of the braking system, the input module 10 includes a pedal simulator 101, the front axle braking module 20 includes a front brake control unit 201 and a bridge control unit 202, and the rear axle braking module 30 includes a drive / brake control unit 301. Both the front brake control unit 201 and the drive / brake control unit 301 are connected to the pedal simulator 101, and both are connected to the bridge control unit 202. The front brake control unit 201 is also connected to the drive / brake control unit 301. The front brake control unit 201 sends a front axle braking signal to the drive / brake control unit 301, and the drive / brake control unit 301 sends a rear axle braking signal to the front brake control unit 201.

[0055] In this embodiment, the structural schematic diagram of the front brake control unit 201 can be referred to Figure 3The front brake control unit consists of hardware, a base layer, an intermediate layer, and a software layer. The software layer of the front brake control unit includes the following modules: signal fusion, fault detection, human-machine interface (HMI), EBS braking, air supply, brake-by-wire, and rear axle braking (backup) functions. A schematic diagram of the drive / brake control unit 301 can be found in [reference needed]. Figure 4 The drive / brake control unit consists of hardware, a base layer, an intermediate layer, and a software layer. The hardware layer includes drive / brake control hardware and brake supply / storage hardware. The software layer of the drive / brake control unit includes the following modules: anti-lock braking system (ABS), electronic stability control (ESC), parking brake, signal fusion, fault detection, human-machine interface (HMI), front axle brake (backup), drive control, and regeneration.

[0056] Braking, brake control, EMB braking, EMB function, brake-by-wire and intelligent traction control functions; structural schematic diagram of bridge control unit 202 with parameters Figure 5 The bridge control unit consists of hardware, a basic layer, an intermediate layer, and software. The software layer of the bridge control unit includes the following modules: wheel speed signal reception, air pressure signal reception, brake-by-wire, module power supply, and ABS valve power supply.

[0057] It should be noted that the drive / brake control unit integrates high-voltage auxiliary drive control, motor drive control, and EMB brake control functions. Connected to the power battery, it directly supplies power to the electronic mechanical brake (EMB) via a DC / DC module, and also incorporates an internal supercapacitor module for energy storage.

[0058] In emergency situations such as power battery failure or power depletion, the EMB brake is powered separately by a supercapacitor.

[0059] The pedal simulator 101 is used to send braking signals to the front brake control unit 201 and the drive / brake control unit 301 via a communication connection.

[0060] 5. Understandably, the pedal simulator can send braking signals to the forward brake control unit and the drive / brake control unit based on the user's braking force.

[0061] The drive / brake control unit 301 is used to determine the required braking force of the front axle and the required braking force of the rear axle based on the braking signal when the front axle braking working signal is a fault signal; the drive / brake control

[0062] Unit 301 is further configured to control the rear axle of the vehicle to perform vehicle braking according to the required braking force of the rear axle, and to send the required braking force of the front axle to the bridge control unit; the bridge control unit 202 is configured to control the front axle of the vehicle to perform vehicle braking according to the required braking force of the front axle.

[0063] It should be noted that during vehicle braking, the drive / brake control unit acts as the main braking control module. The drive / brake control unit performs load identification and calculates the distribution of braking force between the front and rear axles based on the braking signal; drive /

[0064] The brake control unit determines, based on the currently available maximum energy recovery braking force and rear axle stability, whether energy recovery alone is sufficient to meet the vehicle's braking requirements. If energy recovery is sufficient, the braking requirements are met.

[0065] If the energy recovery is insufficient to meet the vehicle's braking requirements, then the braking force required by the rear axle is determined based on the currently available maximum energy recovery braking force and the total required braking force. If the braking force required by the rear axle meets the vehicle's rear axle stability requirements, then only the drive motor is controlled for energy recovery.

[0066] The rear axle of the vehicle performs energy recovery braking and EMB braking torque decoupling; if the stability of the rear axle of the vehicle does not meet the requirements, the braking force of the front axle and the braking force of the rear axle of the vehicle are distributed according to the calculation. The drive / brake control unit communicates directly with the axle control unit to distribute the required braking force of the front axle to the axle control unit, and the axle control unit controls the front axle of the vehicle to brake according to the required braking force of the front axle.

[0067] In this embodiment, if the front brake control unit fails, the drive / brake control unit will act as the overall brake control distribution unit for the vehicle. In addition to controlling the rear axle for vehicle braking, the drive / brake control unit will also take over the braking control of the front axle. The drive / brake control unit communicates directly with the bridge control unit to implement drive-by-wire braking of the front axle. When the bridge control unit of the front axle also fails, the front axle mechanical backup air pressure corresponding to the pedal displacement can be determined based on the pedal simulator's travel, and the front axle can be controlled to brake the vehicle through air pressure.

[0068] Furthermore, in order to improve the stability of the braking system, the front brake control unit 201 is used to determine the required braking force of the front axle and the required braking force of the rear axle according to the braking signal when the rear axle braking working signal is a fault signal, and to control the front axle of the vehicle to perform whole vehicle braking according to the required braking force of the front axle; the front brake control unit 201 is also used to control the rear axle of the vehicle to perform whole vehicle braking according to the required braking force of the rear axle.

[0069] In this embodiment, refer to Figure 4If the brake control module in the drive / brake control unit malfunctions, the front brake control unit will take over the control of the rear axle for vehicle braking via the rear axle brake (backup) module. If the rear axle EMB energy storage module is functioning normally, the braking will continue according to the principles of energy recovery priority, rear axle priority decoupling, vehicle system decoupling, and ideal front-rear axle braking force distribution. If the EMB energy storage module fails, the rear axle can only use energy recovery braking. Within the limits allowed by ECE regulations, the vehicle will apply maximum deceleration control to the front axle for braking. If both drive and brake functions in the drive / brake control unit fail, and energy recovery and EMB braking cannot be implemented, the front brake control unit will control the front axle for emergency braking. When the electric braking of the front axle fails, braking can also be performed via the pneumatic mechanical backup braking function.

[0070] It should be noted that the braking system proposed in this embodiment has multi-level redundancy capabilities. The drive / brake control unit serves as the main control unit of the braking system, forming a mutual backup with the front brake control unit. Both units have the ability to simultaneously control the braking of the front and rear axles of the vehicle. When one control unit fails, the other control unit can quickly diagnose and take over the braking control of the failed axle. The front axle brake also has a pneumatic mechanical backup brake. When the vehicle is driven, the driver can operate a pedal simulator to control the air circuit to directly apply mechanical braking to the front axle, further enhancing the redundancy capabilities of the braking system and ensuring safety. This system enhances the safety of vehicle braking; significantly improves the redundancy level of the entire system, offsetting the safety backup risks of a pure EMB braking system; because the braking system uses an EMB braking system on the rear axle and a drive-by-wire pneumatic EBS braking system on the front axle, the size and volume of the braking power supply system can be greatly reduced, the length of the pipeline can be reduced, and the energy consumption of the braking system can be reduced; thus, the weight of the entire vehicle can be significantly reduced and the assembly manufacturability can be improved; based on multi-level redundancy, the front axle can achieve two control backups: drive-by-wire braking and pneumatic control braking, while the rear axle can form a decoupled backup of EMB braking and regenerative braking.

[0071] The braking system proposed in this embodiment includes an input module, a front axle braking module, and a rear axle braking module. Both the front and rear axle braking modules are connected to the input module, and a communication connection is established between them. After the vehicle is powered on, the front axle braking module sends a front axle braking signal to the rear axle braking module, and the rear axle braking module sends a rear axle braking signal to the front axle braking module. The front and rear axle braking modules serve as backup braking modules for each other. The input module is used to input braking signals to the front and rear axle braking modules. The front axle braking module is used to control the front and rear axles of the vehicle to perform full-vehicle braking when the received rear axle braking signal is a fault signal. The rear axle braking module is used to control the rear and front axles of the vehicle to perform full-vehicle braking when the received front axle braking signal is a fault signal. The braking system proposed in this embodiment includes a front axle braking module for controlling the braking of the front axle of the vehicle and a rear axle braking module for controlling the braking of the rear axle of the vehicle. After the vehicle is powered on, the two braking modules send braking signals to each other through an established communication connection. When the front axle braking module receives a fault signal from the rear axle braking module, it takes over from the rear axle braking module to control the braking of the rear axle of the vehicle. When the rear axle braking module receives a fault signal from the front axle braking module, it takes over from the front axle braking module to control the braking of the front axle of the vehicle. The two braking modules serve as backup braking modules for each other. Even if one of the braking modules fails, it can still effectively brake the vehicle according to the braking signal, which improves the stability of the braking system and enhances vehicle safety.

[0072] Based on the first embodiment described above, a second embodiment of the braking system of the present invention is proposed.

[0073] In this embodiment, refer to Figure 2 The drive / brake control unit 301 is also used to determine the braking type based on the braking signal when the front axle braking working signal is a normal signal;

[0074] The drive / brake control unit 301 is also used to determine the required braking force of the front axle and the required braking force of the rear axle based on the braking signal when the braking type is emergency braking.

[0075] The drive / brake control unit 301 is also used to control the rear axle of the vehicle to perform vehicle braking according to the required braking force of the rear axle, and to send the required braking force of the front axle to the front brake control unit;

[0076] The front brake control unit 301 is used to control the front axle of the vehicle to perform vehicle braking according to the braking force required by the front axle.

[0077] It is understood that the braking type includes emergency braking type and normal braking type; the braking signal received by the drive / brake control unit can be a braking electrical signal. The drive / brake control unit can determine the braking type based on the braking signal in the following ways: (1) determine the rate of change of the braking electrical signal within a preset time period, and when the rate of change is greater than the preset rate of change, determine that the braking type is emergency braking type; (2) when the value of the braking electrical signal is greater than the preset value, determine that the braking type is emergency braking type. Other methods can also be used to determine the braking type, which are not limited in this embodiment.

[0078] In this embodiment, when the braking type is emergency braking, energy recovery is prohibited. The drive / brake control unit determines the required braking force of the front axle and the required braking force of the rear axle based on the braking signal. Based on the required braking force of the rear axle, the control unit controls the rear axle of the vehicle to perform full vehicle braking, and sends the required braking force of the front axle to the front brake control unit. The front brake control unit controls the front axle of the vehicle to perform full vehicle braking based on the received required braking force of the front axle.

[0079] Furthermore, in order to simultaneously perform vehicle braking through energy recovery and friction, the drive / brake control unit 301 is also used to determine the total required braking force based on the braking signal when the front axle braking working signal is a normal signal, and to determine the energy recovery braking force based on the power battery information and the power motor information; the drive / brake control unit 301 is also used to determine the required braking force for the front axle and the required braking force for the rear axle based on the total required braking force and the energy recovery braking force, and to send the required braking force for the front axle to the front brake control unit; the drive / brake control unit 301 is also used to perform energy recovery braking based on the energy recovery braking force, and to control the rear axle of the vehicle to perform vehicle braking based on the required braking force for the rear axle; the front brake control unit 201 is also used to control the front axle of the vehicle to perform vehicle braking based on the required braking force for the front axle.

[0080] It is understandable that the total braking force required can be the total braking force needed to brake the entire vehicle, as determined by the braking signal; the power battery information includes the power battery's charge level, and the power motor information can be the information of the power motor that performs energy recovery; the recoverable energy of the power battery is determined based on the power battery's charge level, and the energy recovery braking force is determined based on the power motor information. If the power battery can store the recovered energy, then energy recovery is performed using this energy recovery braking force; subtracting the energy recovery braking force from the total braking force required yields the friction braking force, which can be further allocated to the front axle braking force and the rear axle braking force required.

[0081] Furthermore, in order to reduce energy loss during braking, the drive / brake control unit 301 is also used to determine the additional braking force required based on the total braking force required and the energy recovery braking force, and to determine whether the rear axle of the vehicle meets the stability requirements based on the additional braking force required; the drive / brake control unit 301 is also used to control the rear axle of the vehicle to perform whole-vehicle braking based on the additional braking force required when the rear axle of the vehicle meets the stability requirements.

[0082] In this embodiment, the additional braking force is obtained by subtracting the energy recovery braking force from the total required braking force; the vehicle's rear axle stability requirement corresponds to a rear axle braking force threshold. When the rear axle braking force is less than the rear axle braking force threshold, the vehicle's rear axle meets the stability requirement; otherwise, the vehicle's rear axle does not meet the stability requirement. If the additional braking force is less than the rear axle braking force threshold, the vehicle's rear axle can be controlled to perform full-vehicle braking based on the additional braking force, i.e., there is no need to control the vehicle's front axle to perform full-vehicle braking.

[0083] The drive / brake control unit described in this embodiment is further configured to determine the braking type based on the braking signal when the front axle braking signal is a normal signal; the drive / brake control unit is further configured to determine the required braking force of the front axle and the required braking force of the rear axle based on the braking signal when the braking type is emergency braking; the drive / brake control unit is further configured to control the rear axle of the vehicle to perform vehicle-wide braking based on the required braking force of the rear axle, and send the required braking force of the front axle to the front brake control unit; the front brake control unit is configured to control the front axle of the vehicle to perform vehicle-wide braking based on the required braking force of the front axle. In this embodiment, when the braking type is emergency braking, the required braking force of the front axle and the required braking force of the rear axle are directly determined based on the braking signal for friction braking, shortening the braking time in emergency braking scenarios and improving vehicle safety.

[0084] Based on the above embodiments, a third embodiment of the braking system of the present invention is proposed.

[0085] In this embodiment, the front axle braking module 20 further includes an air control unit 203. The pedal simulator 101 is connected to the air control unit 203 and the bridge control unit 202 via air pipes. A communication connection is established between the air control unit 203 and the bridge control unit 202.

[0086] The pedal simulator 101 is used to output a braking electrical signal to the front brake control unit 201 according to the pedal opening of the brake pedal, and to output a braking air pressure signal to the air control unit 203 according to the pedal opening of the brake pedal.

[0087] The front brake control unit 201 is used to control the front axle of the vehicle to perform vehicle braking according to the brake electrical signal.

[0088] The air control unit 203 is used to control the front axle of the vehicle to perform vehicle braking based on the brake air pressure signal when the front brake control unit malfunctions.

[0089] Understandably, the front brake control unit performs brake-by-wire based on the brake electrical signal. The EBS braking system prioritizes brake-by-wire, meaning that when brake-by-wire is working properly, the pneumatic mechanical backup brake does not activate. When brake-by-wire fails, the control unit controls the front axle of the vehicle to perform pneumatic mechanical backup braking based on the brake air pressure signal.

[0090] It should be noted that, continue to refer to Figure 2 The front axle braking module comprises wheel-end air pressure brakes, wheel speed sensors, wheel-end ABS solenoid valves, a bridge control unit, an air control unit, and a front brake control unit. The air control unit includes an electric air compressor, an air handling unit, and an air reservoir. The front brake control unit uses the air pressure sensor on the air reservoir to control start-stop power replenishment, ensuring the system maintains appropriate air pressure at all times. The current pressure value of the air reservoir also serves as the basis for the front brake control unit to calculate the front axle braking force. The front axle wheel-end brake-by-wire function is controlled by the bridge control unit. This module also collects and processes front wheel speed signals and current circuit pressure signals, sending them to the front brake control unit and the drive / brake control unit, and providing power to the ABS solenoid valves during operation. The front brake control unit receives the required braking force from the front axle from the drive / brake control unit and coordinates the implementation of ABS, ESC, and other additional functions that require front axle braking force adjustment. At the same time, the front brake control unit has a rear axle braking (backup) module. During real-time verification, if the control unit cannot obtain the normal operation signal from the drive / brake control unit within a certain period or the received rear axle braking signal is a fault signal, the rear axle braking (backup) module inside the front brake control unit controls the vehicle's rear axle to apply brakes and performs overall vehicle braking force control.

[0091] In this embodiment, the front and rear axle braking is backed up by two braking control units. In addition, the displacement sensor inside the pedal simulator has dual-channel dual-redundant drive-by-wire signals that can be mutually verified (that is, the pedal simulator has communication connections with both the drive / brake control unit and the front brake control unit). The pedal simulator is also connected to the bridge control unit via an air pipe and has a single-channel air pressure valve control function. The bridge control unit has an internal air pressure sensor. When both dual-channel dual-redundant drive-by-wire signals in the pedal simulator fail, the two controllers can form the last control signal barrier for the entire vehicle based on the brake switch signal combined with the air pressure signal of the bridge control unit, and perform front and rear brake distribution control according to the pressure growth curve.

[0092] It should be noted that the braking system in this embodiment integrates the control functions of the rear drive shaft, EMB, and EMB energy storage, which greatly reduces the system's signal transmission time, improves the system's response and multi-dimensional decision-making capabilities, and significantly enhances the stability of the vehicle during driving and braking. At the same time, the decoupling control of drive shaft energy recovery and EMB braking is more precise, improving the overall vehicle braking effect.

[0093] In this embodiment, the front axle braking module further includes an air control unit. The pedal simulator is connected to both the air control unit and the bridge control unit via air pipes, and a communication connection is established between the air control unit and the bridge control unit. The pedal simulator is used to adjust the braking force according to the brake pedal position.

[0094] The system outputs a braking electrical signal to the front brake control unit based on the pedal opening degree, and outputs a braking air pressure signal to the air control unit based on the pedal opening degree; the front brake control unit uses...

[0095] The system controls the front axle of the vehicle to perform full-vehicle braking based on the braking electrical signal; the air control unit is used to control the front axle of the vehicle to perform full-vehicle braking based on the braking air pressure signal when the front brake control unit malfunctions. In this embodiment, the front axle braking module is based on the EBS braking system.

[0096] It features brake-by-wire capability, and the pedal simulator also has air pressure backup capability. In the event of a malfunction in brake-by-wire, the front axle brake can still be controlled via air pressure, thus achieving a mechanical backup capability for the braking system.

[0097] This improves vehicle safety.

[0098] Based on the above embodiments, a fourth embodiment of the braking control system of the present invention is proposed.

[0099] In this embodiment, the input module 10 further includes a parking switch 102, and the rear axle braking module 5 further includes an electromechanical brake 303. The parking switch 102 and the drive / brake control unit 301 are connected by a communication connection. The parking switch 102 and the drive / brake control unit 301 are also connected by a hard wire. The drive / brake control unit 301 and the electromechanical brake 303 are also connected by a hard wire.

[0100] The parking switch 102 is used to send a parking brake signal 0 to the drive / brake control unit 301 via a communication connection and / or hard wire connection.

[0101] The drive / brake control unit 301 is used to control the electromechanical brake 303 to perform parking braking through a hard-wired connection based on the parking brake signal.

[0102] Understandably, the parking switch sends a parking brake signal to the drive / brake control unit via a communication connection or hard wiring. Even if one of the communication connection or hard wiring fails, the parking switch can still send a parking brake signal to the drive / brake control unit to achieve parking braking.

[0103] In this embodiment, refer to Figure 2 The rear axle braking module includes an electromechanical brake (i.e., wheel-end EMB), wheel speed sensors, an integrated electric drive axle, and a drive / brake control unit. The wheel-end EMB is controlled by an electromagnetic clutch to achieve long-term brake lock-up and parking lock-up capabilities. The integrated electric drive axle...

[0104] To achieve drive and regenerative braking, the drive / brake control unit and the front brake control unit work together to achieve other braking control functions. (Continue referring to...) Figure 4 The drive / brake control unit has independent EMB brake supply / storage control hardware, which is also connected to the front brake control unit. If the drive / brake control unit hardware fails, the rear axle brake is taken over by the front brake control unit through the rear axle brake (backup) module, ensuring timely energy supply to the EMB brakes. Simultaneously, the drive / brake control unit also has a front axle brake (backup) module. During real-time verification, if the control unit cannot obtain a normal operating signal from the front brake control unit within a certain period and the received front brake signal is a fault signal, the front axle brake (backup) module within the drive / brake control unit controls the bridge control unit to implement front axle braking. Furthermore, the drive / brake control unit can receive parking brake signals from the parking switch via communication or hardwired connection, and lock the vehicle using the electromagnetic clutch on the EMB brake transmission components.

[0105] The input module in this embodiment further includes a parking switch, and the rear axle braking module further includes an electromechanical brake. The parking switch establishes a communication connection with the drive / brake control unit, and is also connected to the drive / brake control unit via a hardwired connection. The drive / brake control unit is also connected to the electromechanical brake via a hardwired connection. The parking switch is used to send a parking brake signal to the drive / brake control unit via the communication connection and / or hardwired connection. The drive / brake control unit is used to control the electromechanical brake to perform parking braking based on the parking brake signal via the hardwired connection. In this embodiment, the parking switch can simultaneously send a parking brake signal to the drive / brake control unit via both the communication connection and the hardwired connection. Even if one signal fails, parking braking can still be achieved, improving the safety of parking braking.

[0106] Based on the above embodiments, a fifth embodiment of the braking control system of the present invention is proposed.

[0107] In this embodiment, the input module 10 further includes an accelerator pedal 103 and a brake switch 104. The accelerator pedal 103 and the brake switch 104 are both connected to the vehicle controller VCU via hard wires. The front brake control unit 201 and the drive / brake control unit 301 are both connected to the vehicle controller VCU via communication.

[0108] The vehicle controller is used to output redundant braking signals to the front brake control unit 201 and the drive / brake control unit 301 according to the state of the brake switch.

[0109] The front brake control unit 201 is also used to control the front axle of the vehicle to perform vehicle braking according to the redundant brake signal;

[0110] The drive / brake control unit 301 is also used to control the rear axle of the vehicle to perform vehicle braking based on the redundant braking signal.

[0111] It should be understood that the redundant braking signal can be a braking signal sent by the user through the brake switch, which can brake the entire vehicle in an emergency; the VCU can also output corresponding braking signals to the front brake control unit and the drive / brake control unit according to the signal from the accelerator pedal. The specific process is existing technology and is not limited in this embodiment.

[0112] In this embodiment, the brake pedal, brake switch, and parking switch provide the driver with input devices for braking operation. The brake switch, together with the air pressure sensor signal in the bridge control unit, forms a redundant braking input signal. A continuously engaged parking brake switch can send a dynamic parking request. When the drive / brake control unit receives the dynamic parking request, it will work in conjunction with the front brake control unit to fully utilize the mechanical braking of the front axle, the mechanical braking of the rear axle, and regenerative braking to implement emergency dynamic parking. As the main braking control unit for the entire vehicle, the drive / brake control unit decouples the service braking and regenerative braking, distributes the vehicle's service braking force between the front and rear axles, and decouples the EMB braking and regenerative braking of the rear axle. Based on these three layers of decoupling and distribution, while ensuring stability, it prioritizes and maximizes the utilization of the vehicle's regenerative braking recovery capability. The drive / brake control unit can simultaneously receive signals from four-wheel wheel speed sensors, motor speed resolver sensors, inertial unit signals, and steering angle signals. Based on this, it quickly identifies the vehicle's current actual speed, drive wheel speeds, and overall vehicle input and attitude, rapidly determining whether a drive slip trend has occurred. Leveraging the high frequency, high precision, and high real-time performance of the motor speed resolver sensor signals, it intervenes with torque and braking torque in the early stages of drive slip. Since the reception, transmission, calculation, and control of all signals are based on the drive / brake control unit, and the EMB braking system responds very quickly when implementing braking intervention, the vehicle can achieve superior intelligent traction control.

[0113] The input module in this embodiment further includes an accelerator pedal and a brake switch. Both the accelerator pedal and the brake switch are hard-wired to the vehicle controller. The front brake control unit and the drive / brake control unit are both connected to the vehicle controller. The vehicle controller outputs redundant brake signals to the front brake control unit and the drive / brake control unit based on the state of the brake switch. The front brake control unit further controls the front axle of the vehicle to perform vehicle braking based on the redundant brake signals. The drive / brake control unit further controls the rear axle of the vehicle to perform vehicle braking based on the redundant brake signals. In this embodiment, emergency braking can be achieved through the redundant brake signals output by the brake switch, further improving the stability of the braking system and vehicle safety.

[0114] In other embodiments, a vehicle is also proposed that includes the braking system described above.

[0115] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0116] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0117] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A braking system, characterized in that, The braking system is applied to a vehicle and includes an input module, a front axle braking module, and a rear axle braking module. Both the front axle braking module and the rear axle braking module are connected to the input module, and a communication connection is established between them. After the vehicle is powered on, the front axle braking module sends a front axle braking signal to the rear axle braking module, and the rear axle braking module sends a rear axle braking signal to the front axle braking module. The front axle braking module and the rear axle braking module serve as backup braking modules for each other. The input module is used to input braking signals to the front axle braking module and the rear axle braking module; The front axle braking module is used to control the front and rear axles of the vehicle to perform overall vehicle braking according to the braking signal when the received rear axle braking signal is a fault signal; and The rear axle braking module is used to control the rear axle and front axle of the vehicle to perform vehicle braking according to the braking signal when the received front axle braking working signal is a fault signal. The front axle braking module includes a front braking control unit, and the rear axle braking module includes a drive / brake control unit. The front axle braking module adopts an EBS braking system, and the rear axle braking module adopts an EMB braking system. The drive / brake control unit is also used to determine the braking type based on the braking signal when the front axle braking working signal is a normal signal; The drive / brake control unit is also used to disable energy recovery when the braking type is emergency braking, and to determine the required braking force of the front axle and the required braking force of the rear axle based on the braking signal. The drive / brake control unit is also used to control the rear axle of the vehicle to perform vehicle braking according to the required braking force of the rear axle, and to send the required braking force of the front axle to the front brake control unit; The front brake control unit is used to control the front axle of the vehicle to perform vehicle braking according to the braking force required by the front axle.

2. The braking system as described in claim 1, characterized in that, The input module includes a pedal simulator, the front axle braking module further includes a bridge control unit, the front brake control unit and the drive / brake control unit both establish a communication connection with the pedal simulator, the front brake control unit and the drive / brake control unit both establish a communication connection with the bridge control unit, the front brake control unit establish a communication connection with the drive / brake control unit, the front brake control unit sends a front axle braking signal to the drive / brake control unit, and the drive / brake control unit sends a rear axle braking signal to the front brake control unit; The pedal simulator is used to send braking signals to the front brake control unit and the drive / brake control unit via a communication connection; The drive / brake control unit is used to determine the required braking force of the front axle and the required braking force of the rear axle based on the braking signal when the front axle braking working signal is a fault signal. The drive / brake control unit is also used to control the rear axle of the vehicle to perform vehicle braking according to the required braking force of the rear axle, and to send the required braking force of the front axle to the bridge control unit; The bridge control unit is used to control the front axle of the vehicle to perform vehicle braking according to the braking force required by the front axle.

3. The braking system as described in claim 2, characterized in that, The front brake control unit is used to determine the required braking force of the front axle and the required braking force of the rear axle based on the brake signal when the rear axle brake working signal is a fault signal, and to control the front axle of the vehicle to perform whole vehicle braking based on the required braking force of the front axle. The front brake control unit is also used to control the rear axle of the vehicle to perform vehicle braking according to the braking force required by the rear axle.

4. The braking system as claimed in claim 1, characterized in that, The drive / brake control unit is also used to determine the total required braking force based on the braking signal when the front axle braking working signal is a normal signal, and to determine the energy recovery braking force based on the power battery information and the power motor information. The drive / brake control unit is further configured to determine the front axle braking force and the rear axle braking force based on the total braking force demand and the energy recovery braking force, and send the front axle braking force demand to the front brake control unit; The drive / brake control unit is also used to perform energy recovery braking according to the energy recovery braking force, and to control the rear axle of the vehicle to perform whole vehicle braking according to the rear axle braking force demand. The front brake control unit is also used to control the front axle of the vehicle to perform vehicle braking according to the braking force required by the front axle.

5. The braking system as described in claim 4, characterized in that, The drive / brake control unit is also used to determine the additional braking force required based on the total braking force required and the energy recovery braking force, and to determine whether the rear axle of the vehicle meets the stability requirements based on the additional braking force required. The drive / brake control unit is also used to control the rear axle of the vehicle to perform vehicle braking according to the additional braking force required when the rear axle of the vehicle meets the stability requirements.

6. The braking system as described in claim 2 or 3, characterized in that, The front axle braking module also includes an air control unit. The pedal simulator is connected to both the air control unit and the bridge control unit via air pipes. A communication connection is established between the air control unit and the bridge control unit. The pedal simulator is used to output a braking electrical signal to the front brake control unit according to the pedal opening of the brake pedal, and to output a braking air pressure signal to the air control unit according to the pedal opening of the brake pedal. The front brake control unit is used to control the front axle of the vehicle to perform vehicle braking according to the brake electrical signal; The air control unit is used to control the front axle of the vehicle to perform vehicle braking based on the brake air pressure signal when the front brake control unit malfunctions.

7. The braking system as described in claim 2 or 3, characterized in that, The input module also includes a parking switch, the rear axle braking module also includes an electromechanical brake, the parking switch is connected to the drive / brake control unit, the parking switch is also connected to the drive / brake control unit via a hard wire, and the drive / brake control unit is connected to the electromechanical brake via a hard wire; The parking switch is used to send a parking brake signal to the drive / brake control unit via a communication connection and / or hard wire connection. The drive / brake control unit is used to control the electromechanical brake to perform parking braking via a hard-wired connection based on the parking brake signal.

8. The braking system as described in claim 2 or 3, characterized in that, The input module also includes an accelerator pedal and a brake switch. The accelerator pedal and the brake switch are both connected to the vehicle controller via hard wiring. The front brake control unit and the drive / brake control unit are both connected to the vehicle controller via communication. The vehicle controller is used to output redundant braking signals to the front brake control unit and the drive / brake control unit according to the state of the brake switch. The front brake control unit is also used to control the front axle of the vehicle to perform vehicle braking based on the redundant brake signal. The drive / brake control unit is also used to control the rear axle of the vehicle to perform vehicle braking based on the redundant braking signal.

9. A vehicle, characterized in that, The vehicle includes the braking system as described in any one of claims 1-8.

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