Electromechanical brake system, vehicle braking method, and vehicle

Abstract

The application discloses an electromechanical brake system, a vehicle braking method and a vehicle. The system comprises a first brake force determination module for determining a first brake force corresponding to a brake operation of a target object, a second brake force determination module for determining a second brake force required for ensuring vehicle stability during braking, a third brake force determination module for determining a third brake force required for a vehicle auxiliary driving function module during braking, a brake force arbitration module for determining a target brake force according to the first brake force, the second brake force and the third brake force, a brake module, and a brake control module for determining a brake control parameter according to a vehicle power-on state, a state of the brake module and the target brake force, and controlling the brake module to brake a vehicle wheel according to the brake control parameter. The application solves the technical problem of lacking a mature system architecture design for the electromechanical brake system without hydraulic pressure in the prior art.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle braking, and in particular to an electronic mechanical braking system, a vehicle braking method and a vehicle. Background Art

[0002] In recent years, with the rapid development of autonomous driving technology, brake-by-wire technology has been increasingly widely used in vehicle braking. Compared to the current mainstream electronic hydraulic brake (EHB), the electromechanical brake (EMB) offers the advantage of integration with other electronic systems, making it a mainstream development in the era of high-level autonomous driving.

[0003] Electromechanical braking eliminates traditional hydraulic lines and wheel cylinders. Instead, an ECU (Electronic Control Unit) drives and controls the brake actuator motor, which clamps the brake disc on both sides of the caliper, generating braking force. This technology offers numerous advantages, including fast response, short braking distance, high integration, lightweight design, easy maintenance, and low cost. It is currently a major research area, but a mature system architecture design specifically for electromechanical braking systems is currently lacking.

[0004] To address the above-mentioned problems, no effective solutions have been proposed so far. Summary of the Invention

[0005] The embodiments of the present application provide an electronic mechanical braking system, a vehicle braking method, and a vehicle to at least solve the technical problem in the related art of the lack of a mature system architecture design for non-hydraulic electronic mechanical braking systems.

[0006] According to one aspect of an embodiment of the present application, an electronic mechanical braking system is provided, including: a first braking force determination module, a second braking force determination module, a third braking force determination module, a braking force arbitration module, a braking control module and a braking module, wherein the first braking force determination module is used to determine a first braking force corresponding to a braking operation of a target object; the second braking force determination module is used to determine a second braking force required to ensure vehicle stability during braking; the third braking force determination module is used to determine a third braking force required by a vehicle auxiliary driving function module during braking; the braking force arbitration module is used to determine a target braking force based on the first braking force, the second braking force and the third braking force; and the braking control module is used to determine a braking control parameter based on a power-on state of the vehicle, a state of the braking module and the target braking force, and control the braking module to brake the wheels based on the braking control parameter.

[0007] Optionally, the first braking force determination module includes: a driving intention determination module and a first braking force coordination module, wherein the driving intention determination module includes: a pedal simulation module and an analysis module; the pedal simulation module includes: a pedal travel sensor, a redundant pedal travel sensor, a pressure sensor and a redundant pressure sensor, for collecting braking operation information of the target object; the analysis module is used to determine the fourth braking force required by the target object based on the braking operation information; the first braking force coordination module is used to determine that the first braking force is 0 when the fourth braking force is not greater than a preset threshold, and send the fourth braking force to the vehicle controller; it is also used to determine that the difference between the fourth braking force and the preset threshold is the first braking force when the fourth braking force is greater than the preset threshold, and send the preset threshold to the vehicle controller; wherein the vehicle controller is used to brake the vehicle drive motor according to the fourth braking force or the preset threshold.

[0008] Optionally, the second braking force determination module includes: a vehicle stability control module and a second braking force coordination module, wherein the vehicle stability control module includes at least one of the following: an anti-lock braking module, a traction control module and a vehicle dynamic control module; wherein the anti-lock braking module is used to determine the fifth braking force based on the braking operation, the traction control module is used to determine the sixth braking force based on the braking operation, and the vehicle dynamic control module is used to determine the seventh braking force based on the braking operation; the second braking force coordination module is used to determine the second braking force based on at least one of the fifth braking force, the sixth braking force and the seventh braking force.

[0009] Optionally, the vehicle assisted driving function module includes at least one of the following: an adaptive cruise control module, an automatic parking assistance module and a value-added function module, and the value-added function module includes at least an automatic parking module; wherein the adaptive cruise control module is used to determine the first longitudinal force required for adaptive cruise, the automatic parking assistance module is used to determine the second longitudinal force required for automatic parking, and the automatic parking module is used to determine the third longitudinal force required for automatic parking; the third braking force determination module is used to determine the target longitudinal force based on at least one of the first longitudinal force, the second longitudinal force and the third longitudinal force, and determine the third braking force based on the target longitudinal force.

[0010] Optionally, the braking force arbitration module is configured to determine the largest braking force among the first braking force, the second braking force, and the third braking force as the target braking force.

[0011] Optionally, the brake module includes: a brushless motor and a clamping assembly, wherein the brushless motor is used to respond to the control of the brake control module to control the clamping assembly to clamp the wheel for braking; the clamping assembly includes: a friction plate and a clamp.

[0012] Optionally, the braking control module includes: a signal switch module and a brushless motor control module, wherein the signal switch module is used to determine the braking control parameters based on the state of the brushless motor and the target braking force when the vehicle is powered on and the braking module is not faulty, and send the braking control parameters to the brushless motor control module, wherein the braking control parameters include: motor target speed, motor target position and motor target current; the brushless motor control module is used to control the brushless motor to brake the wheels according to the braking control parameters.

[0013] Optionally, the electronic mechanical braking system also includes: a power-on module and a power-off module, wherein the power-off module is used to record the status information of the brushless motor when the vehicle is powered off; the power-on module is used to read the status information of the brushless motor when the vehicle is powered on, and determine whether there is a fault in the braking module; when the braking module is not faulty, the status information of the brushless motor is sent to the signal switch module.

[0014] Optionally, the electronic mechanical braking system also includes: a fault monitoring module, the fault monitoring module includes: a braking signal monitoring module, a stiffness monitoring module and a clamping force monitoring module, wherein the braking signal monitoring module is used to monitor whether there is an abnormality in the input signals of the first braking force determination module, the second braking force determination module and the third braking force determination module, and if there is an abnormality in the input signal, a first fault alarm message is issued; the stiffness monitoring module is used to monitor whether the stiffness of the clamping assembly meets the preset standard, and if the stiffness of the clamping assembly does not meet the preset standard, a second fault alarm message is issued; the clamping force monitoring module is used to monitor whether the brushless motor normally controls the clamping assembly to clamp the wheel for braking, and if the brushless motor does not normally control the clamping assembly to clamp the wheel for braking, a third fault alarm message is issued.

[0015] According to another aspect of an embodiment of the present application, a vehicle is provided, comprising: the above-mentioned electromechanical braking system.

[0016] According to another aspect of an embodiment of the present application, a vehicle braking method is also provided, including: determining a first braking force corresponding to a braking operation of a target object; determining a second braking force required to ensure vehicle stability during braking; determining a third braking force required by a vehicle auxiliary driving function module during braking; determining a target braking force based on the first braking force, the second braking force and the third braking force; determining a braking control parameter based on the vehicle power-on status, the vehicle braking component status and the target braking force, and controlling the vehicle braking component to brake the wheels based on the braking control parameter.

[0017] Optionally, determining the target braking force based on the first braking force, the second braking force, and the third braking force includes: determining the largest braking force among the first braking force, the second braking force, and the third braking force as the target braking force.

[0018] Optionally, the braking control parameters are determined based on the vehicle power-on status, the vehicle brake component status and the target braking force, including: when the vehicle is powered on and the vehicle brake component is fault-free, the braking control parameters are determined based on the status of the brushless motor in the vehicle brake component and the target braking force, wherein the braking control parameters include: motor target speed, motor target position and motor target current.

[0019] According to another aspect of an embodiment of the present application, a non-volatile storage medium is further provided, which includes a stored computer program, wherein the device where the non-volatile storage medium is located executes the above-mentioned vehicle braking method by running the computer program.

[0020] In an embodiment of the present application, a complete and reliable electronic mechanical braking system is provided, comprising: a first braking force determination module for determining a first braking force corresponding to a braking operation of a target object; a second braking force determination module for determining a second braking force required to ensure vehicle stability during braking; a third braking force determination module for determining a third braking force required by a vehicle auxiliary driving function module during braking; a braking force arbitration module for determining a target braking force based on the first braking force, the second braking force, and the third braking force; a braking module; and a braking control module for determining braking control parameters based on the vehicle power-on state, the state of the braking module, and the target braking force, and controlling the braking module to brake the wheels based on the braking control parameters. By comprehensively considering and arbitrating the braking force requirements from various aspects for ensuring safe driving during vehicle braking, accurate braking force output parameters can be obtained, thereby achieving precise braking. This application effectively solves the technical problem in the related art of the lack of a mature system architecture design for non-hydraulic electronic mechanical braking systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0022] Figure 1 is a schematic structural diagram of an optional electromechanical braking system according to an embodiment of the present application;

[0023] Figure 2 is a schematic structural diagram of another optional electromechanical braking system according to an embodiment of the present application;

[0024] Figure 3 It is a flow chart of an optional vehicle braking method according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0026] It should be noted that the terms "first", "second", etc. in the specification, claims, and drawings of the present application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0027] In order to better understand the embodiments of the present application, some nouns or terms that appear in the description of the embodiments of the present application are first translated and explained as follows:

[0028] Braking energy recovery: Recovers excess energy released by the vehicle during braking or coasting, converts it into electrical energy through a generator and stores it in the battery to increase the driving range.

[0029] Vehicle Control Unit (VCU): Responsible for coordinating the work of various components such as the vehicle battery, gearbox, motor, and engine. It is the overall controller of the vehicle power system and is currently mainly used in pure electric vehicles and hybrid vehicles.

[0030] Anti-lock Braking System (ABS): Its function is to automatically control the braking force when the car brakes, so that the wheels are not locked and are in a state of rolling and sliding (slip rate of about 20%) to ensure that the adhesion between the wheels and the ground is at the maximum.

[0031] Traction Control System (TCS): Its function is to enable the car to obtain the best traction under various driving conditions, prevent the drive wheels from slipping when starting and accelerating, and maintain the stability of the vehicle's driving direction.

[0032] Vehicle Dynamics Control (VDC): This system organically integrates the control systems of the vehicle's major assemblies, such as braking, driving, suspension, steering, and engine, in terms of function and structure. This allows the vehicle to have good directional stability and exhibit optimal driving performance under various adverse conditions, such as on icy and snowy roads, on split roads, on curved roads, and when taking evasive action, changing lanes, braking, accelerating, and driving downhill. The system responds to different loads, different tire pressures, and different degrees of tire wear.

[0033] Adaptive Cruise Control (ACC): A new system that adds the function of maintaining a reasonable distance from the vehicle ahead to the system that performs cruise control at a set speed.

[0034] Automatic Parking Assist (APA): Utilizes on-board sensors to automatically identify available parking spaces, calculates a suitable parking path through a control unit, and controls actuators to implement vehicle steering, acceleration, and deceleration, automatically completing parking.

[0035] Value Added Functions (VAFs) typically include Auto Vehicle Hold (AVH). With this feature enabled, the driver can brake to a stop and then release the brake pedal. AVH will maintain brake pressure to ensure the vehicle remains stationary. If it detects the vehicle is about to roll, it will actively increase pressure to ensure the vehicle remains stationary, significantly improving driving comfort.

[0036] Example 1

[0037] According to an embodiment of the present application, firstly, a reliable electromechanical braking system is provided. Figure 1 is a schematic structural diagram of an optional electromechanical braking system according to an embodiment of the present application, such as Figure 1 As shown, the system at least includes: a first braking force determination module 11, a second braking force determination module 12, a third braking force determination module 13, a braking force arbitration module 14, a braking control module 15 and a braking module 16, wherein:

[0038] A first braking force determining module 11 is configured to determine a first braking force corresponding to a braking operation of a target object;

[0039] A second braking force determination module 12 is used to determine a second braking force required to ensure vehicle stability during braking;

[0040] A third braking force determination module 13 is used to determine the third braking force required by the vehicle auxiliary driving function module during braking;

[0041] a braking force arbitration module 14, configured to determine a target braking force based on the first braking force, the second braking force, and the third braking force;

[0042] The brake control module 15 is used to determine brake control parameters according to the vehicle power-on state, the state of the brake module 16 and the target braking force, and control the brake module 16 to brake the wheels according to the brake control parameters.

[0043] In this system, by comprehensively considering and arbitrating the braking force requirements from multiple aspects to ensure safe driving during vehicle braking, accurate braking force output parameters can be obtained, thereby achieving precise braking.

[0044] Figure 2 This is a structural diagram of a more complete electromechanical braking system according to an embodiment of the present application. Figure 2 The composition and specific functions of each module in the electronic mechanical braking system are explained.

[0045] As an optional embodiment, the first braking force determination module 21 includes a driving intention determination module 211, and the driving intention determination module 211 includes: a pedal simulation module 2111 and an analysis module 2112, wherein the pedal simulation module 2111 includes: a pedal travel sensor 21111 and a pressure sensor 21112, as well as corresponding redundant pedal travel sensors 21113 and redundant pressure sensors 21114, which are used to collect braking operation information of the target object stepping on the pedal; the analysis module 2112 is used to determine the fourth braking force required by the target object based on the braking operation information.

[0046] Compared with traditional hydraulic braking, which makes it difficult to achieve brake energy recovery due to the inability to accurately control the braking force, the electronic mechanical braking system of the embodiment of the present application can achieve dynamic and precise control of the braking force. Therefore, efficient braking force distribution and control functions can be introduced to reasonably distribute the regenerative braking of the motor and the mechanical friction braking, thereby improving the efficiency of brake energy recovery.

[0047] Optionally, first braking force determination module 21 further includes first braking force coordination module 212, which is configured to, when the fourth braking force is not greater than a preset threshold, determine the first braking force to be zero and transmit the fourth braking force to a vehicle controller; and, when the fourth braking force is greater than a preset threshold, determine the difference between the fourth braking force and the preset threshold as the first braking force, and transmit the preset threshold to the vehicle controller; the vehicle controller is configured to brake the vehicle drive motor based on the fourth braking force or the preset threshold. The preset threshold is set by personnel with reference to the maximum value of regenerative braking energy and is not specifically defined herein.

[0048] As an optional implementation, the second braking force determination module 22 includes: a vehicle stability control module 221 and a second braking force coordination module 222. The vehicle stability control module 221 includes: an anti-lock braking module 2211, a traction control module 2212 and a vehicle dynamic control module 2213. Among them, the anti-lock braking module 2211 mainly performs single-wheel slip rate control and can determine the fifth braking force according to the braking operation. The traction control module 2212 mainly performs shaft end torque control and single-wheel braking force control and can determine the sixth braking force according to the braking operation. The vehicle dynamic control module 2213 mainly performs lateral acceleration, yaw moment control and single-wheel braking force control and can determine the seventh braking force according to the braking operation. The second braking force coordination module 222 is used to determine the second braking force according to at least one of the fifth braking force, the sixth braking force and the seventh braking force. Specifically, the largest braking force among them can be used as the second braking force.

[0049] When the vehicle brakes, it is also necessary to consider external requests from the vehicle's assisted driving function module. The vehicle's assisted driving function module generally includes: an adaptive cruise control module, an automatic parking assistance module and a value-added function module, and the value-added function module includes at least an automatic parking module; among them, the adaptive cruise control module is used to determine the first longitudinal force required for adaptive cruising, the automatic parking assistance module is used to determine the second longitudinal force required for automatic parking, and the automatic parking module is used to determine the third longitudinal force required for automatic parking.

[0050] Optionally, the third braking force determination module 23 can determine the target longitudinal force based on at least one of the first longitudinal force, the second longitudinal force and the third longitudinal force, and specifically can take the largest longitudinal force as the target longitudinal force; then calculate the target longitudinal force according to a preset conversion relationship to determine the third braking force.

[0051] As an optional implementation, the braking force arbitration module 24 is configured to determine the maximum braking force among the first braking force, the second braking force, and the third braking force as the target braking force.

[0052] Optionally, the brake module 26 includes: a brushless motor 261 and a clamping assembly 262, wherein the brushless motor 261 is used to respond to the control of the brake control module 25 to control the clamping assembly 262 to clamp the wheel for braking; the clamping assembly 262 includes: a friction plate 2621 and a clamp 2622.

[0053] Optionally, the braking control module 25 includes: a signal switch module 251 and a brushless motor control module 252, wherein the signal switch module 251 is used to determine the braking control parameters based on the state and target braking force of the brushless motor 261 when the vehicle is powered on and the braking module 26 is not faulty, and send the braking control parameters to the brushless motor control module 252, wherein the braking control parameters generally include: motor target speed, motor target position and motor target current; the brushless motor control module 252 is used to control the brushless motor 261 to brake the wheels according to the braking control parameters.

[0054] Optionally, the electronic mechanical braking system of the embodiment of the present application also includes: a power-on module 271 and a power-off module 272, wherein the power-off module 272 is used to record the status information of the brushless motor 261 when the vehicle is powered off, such as whether a clamping or release command is executed, the specific motor angle position and other status information; the power-on module 271 is used to initialize all input signals of the electronic mechanical braking system when the vehicle is powered on, and then read the status information of the brushless motor 261, and determine whether there is a fault in the braking module 26, such as determining whether there is a fault alarm information sent by the fault monitoring module 28. When the braking module 26 is not faulty, the status information of the brushless motor 261 is sent to the signal switch module 251.

[0055] Optionally, the electronic mechanical braking system of the embodiment of the present application further includes a fault monitoring module 28, which includes a brake signal monitoring module 281, a stiffness monitoring module 282, and a clamping force monitoring module 283. The brake signal monitoring module 281 is configured to monitor the input signals of the first, second, and third braking force determination modules for abnormalities. If an abnormality is detected, a first fault warning message may be issued. The stiffness monitoring module 282 is configured to monitor whether the stiffness of the clamping assembly meets a preset standard. If the stiffness of the clamping assembly does not meet the preset standard, a second fault warning message may be issued. The clamping force monitoring module 283 is configured to monitor whether the brushless motor 261 is properly controlling the clamping assembly 262 to clamp the wheel for braking. If the brushless motor 261 is not properly controlling the clamping assembly 262 to clamp the wheel for braking, a third fault warning message may be issued. The first, second, and third fault warning messages can be fed back to the vehicle instrument monitoring module to promptly notify the driver of any brake system faults.

[0056] In an embodiment of the present application, a complete and reliable electronic mechanical braking system is provided, comprising: a first braking force determination module for determining a first braking force corresponding to a braking operation of a target object; a second braking force determination module for determining a second braking force required to ensure vehicle stability during braking; a third braking force determination module for determining a third braking force required by a vehicle auxiliary driving function module during braking; a braking force arbitration module for determining a target braking force based on the first braking force, the second braking force, and the third braking force; a braking module; and a braking control module for determining braking control parameters based on the vehicle power-on state, the state of the braking module, and the target braking force, and controlling the braking module to brake the wheels based on the braking control parameters. By comprehensively considering and arbitrating the braking force requirements from various aspects for ensuring safe driving during vehicle braking, accurate braking force output parameters can be obtained, thereby achieving precise braking. This application effectively solves the technical problem in the related art of the lack of a mature system architecture design for non-hydraulic electronic mechanical braking systems.

[0057] Example 2

[0058] Based on the electronic mechanical braking system provided in Example 1, this embodiment of the present application further provides a vehicle braking method. It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system, such as a set of computer-executable instructions, and that although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in a different order than shown.

[0059] Figure 3 is a flow chart of an optional vehicle braking method according to an embodiment of the present application, such as Figure 3 As shown, the method includes at least steps S302-S310, wherein:

[0060] Step S302: determining a first braking force corresponding to the braking operation of the target object.

[0061] Step S304: determining a second braking force required to ensure vehicle stability during braking.

[0062] Step S306: determining the third braking force required by the vehicle assisted driving function module during the braking process.

[0063] Step S308 : determining a target braking force according to the first braking force, the second braking force, and the third braking force.

[0064] Step S310 , determining a braking control parameter according to the vehicle power-on state, the vehicle brake component state and the target braking force, and controlling the vehicle brake component to brake the wheels according to the braking control parameter.

[0065] The process of the vehicle braking method is described below in conjunction with specific implementation steps.

[0066] As an optional implementation, after the vehicle is powered on, all input signals of the electromechanical braking system are first initialized by the power-on module.

[0067] Compared with traditional hydraulic braking, which makes it difficult to achieve brake energy recovery due to the inability to accurately control the braking force, the electronic mechanical braking system of the embodiment of the present application can achieve dynamic and precise control of the braking force. Therefore, efficient braking force distribution and control functions can be introduced to reasonably distribute the regenerative braking of the motor and the mechanical friction braking, thereby improving the efficiency of brake energy recovery.

[0068] Optionally, when determining the first braking force corresponding to the target object's braking operation, the following method can be used: first, the fourth braking force required by the target object can be determined by the driving intention determination module in the first braking force determination module. Specifically, the pedal travel sensor and pressure sensor in the pedal simulation module, or the corresponding redundant pedal travel sensor and redundant pressure sensor, can be used to collect braking operation information of the target object stepping on the pedal. Then, the fourth braking force required by the target object can be determined by the analysis module based on the braking operation information. Thereafter, the braking force can be distributed by the first braking force coordination module. Specifically, when the fourth braking force is not greater than a preset threshold, the first braking force is determined to be 0, and the fourth braking force is sent to the vehicle controller. When the fourth braking force is greater than the preset threshold, the difference between the fourth braking force and the preset threshold is determined to be the first braking force, and the preset threshold is sent to the vehicle controller. The vehicle controller is used to brake the vehicle drive motor according to the fourth braking force or the preset threshold. The preset threshold is set by the staff with reference to the maximum value of the brake energy recovery and is not specifically limited here.

[0069] Optionally, when determining the second braking force required to ensure vehicle stability during braking, it can be done in the following manner: the fifth braking force is determined based on the braking operation by the anti-lock braking module in the vehicle stability control module, the sixth braking force is determined based on the braking operation by the traction control module, and the seventh braking force is determined based on the braking operation by the vehicle dynamic control module; thereafter, the second braking force is determined based on at least one of the fifth braking force, the sixth braking force and the seventh braking force by the second braking force coordination module, and specifically the largest braking force among them can be used as the second braking force.

[0070] Optionally, when determining the third braking force required by the vehicle assisted driving function module during braking, it can be done in the following manner: obtain the first longitudinal force required by the adaptive cruise control module in the vehicle assisted driving function module for adaptive cruising, or the second longitudinal force required by the automatic parking assistance module for automatic parking, or the third longitudinal force required by the automatic parking module for automatic parking, and then determine the target longitudinal force based on at least one of the first longitudinal force, the second longitudinal force and the third longitudinal force through the third braking force determination module, and specifically the largest longitudinal force among them can be used as the target longitudinal force; then calculate the target longitudinal force according to a preset conversion relationship to determine the third braking force.

[0071] Optionally, when determining the target braking force based on the first braking force, the second braking force and the third braking force, the following method can be used: the maximum braking force among the first braking force, the second braking force and the third braking force is determined as the target braking force by the braking force arbitration module.

[0072] Optionally, when determining the braking control parameters based on the vehicle power-on status, the vehicle brake component status and the target braking force, and controlling the vehicle brake component to brake the wheels based on the braking control parameters, it can be done in the following manner: when the vehicle is powered on and the brake module is fault-free, the braking control parameters are determined based on the status of the brushless motor and the target braking force through the signal switch module in the braking control module, and the braking control parameters are sent to the brushless motor control module, wherein the braking control parameters generally include: motor target speed, motor target position and motor target current; and then the brushless motor control module controls the brushless motor to brake the wheels based on the braking control parameters.

[0073] As an optional implementation, the status of each module during the vehicle braking process can also be monitored by a fault monitoring module. Specifically, the input signals of the first braking force determination module, the second braking force determination module, and the third braking force determination module can be monitored by a braking signal monitoring module to see if there are any abnormalities. If there are any abnormalities in the input signals, a first fault warning message can be issued. The stiffness monitoring module can be used to monitor whether the stiffness of the clamping assembly meets the preset standard. If the stiffness of the clamping assembly does not meet the preset standard, a second fault warning message can be issued. The clamping force monitoring module can be used to monitor whether the brushless motor normally controls the clamping assembly to clamp the wheel for braking. If the brushless motor does not normally control the clamping assembly to clamp the wheel for braking, a third fault warning message can be issued. The above-mentioned first fault warning message, second fault warning message, and third fault warning message can be fed back to the vehicle instrument monitoring module so that the driver can be informed of the braking system fault information in a timely manner.

[0074] In an embodiment of the present application, the first braking force corresponding to the braking operation of the target object is determined, the second braking force required to ensure vehicle stability during braking is determined, and the third braking force required by the vehicle's assisted driving function module during braking is determined; then, the target braking force is determined based on the first braking force, the second braking force, and the third braking force; then, the braking control parameters are determined based on the vehicle's power-on state, the vehicle's braking component state, and the target braking force, and the vehicle's braking component is controlled to brake the wheels based on the braking control parameters. By comprehensively considering and arbitrating the braking force requirements from multiple aspects for ensuring safe driving during vehicle braking, accurate braking force output parameters can be obtained, thereby achieving precise braking. This application effectively solves the technical problem in the related art of the lack of a mature system architecture design for non-hydraulic electronic mechanical braking systems.

[0075] Example 3

[0076] According to an embodiment of the present application, a non-volatile storage medium is also provided, which includes a stored computer program, wherein the device where the non-volatile storage medium is located executes the vehicle braking method in Example 2 by running the computer program.

[0077] According to an embodiment of the present application, a processor is further provided, which is used to run a computer program, wherein the vehicle braking method in Example 2 is executed when the computer program is run.

[0078] According to an embodiment of the present application, an electronic device is also provided, which includes: a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to execute the vehicle braking method in Example 2 through the computer program.

[0079] Specifically, the computer program executes the following steps: determining a first braking force corresponding to the braking operation of the target object; determining a second braking force required to ensure vehicle stability during braking; determining a third braking force required by the vehicle's assisted driving function module during braking; determining a target braking force based on the first braking force, the second braking force, and the third braking force; determining a braking control parameter based on the vehicle power-on status, the vehicle braking component status, and the target braking force, and controlling the vehicle braking component to brake the wheels based on the braking control parameter.

[0080] According to an embodiment of the present application, a vehicle is also provided, which includes the electronic mechanical braking system of Example 1, and the electronic mechanical braking system includes at least: a first braking force determination module for determining a first braking force corresponding to a braking operation of a target object; a second braking force determination module for determining a second braking force required to ensure vehicle stability during braking; a third braking force determination module for determining a third braking force required by a vehicle auxiliary driving function module during braking; a braking force arbitration module for determining a target braking force based on the first braking force, the second braking force and the third braking force; a braking module; and a braking control module for determining braking control parameters based on the vehicle power-on status, the status of the braking module and the target braking force, and controlling the braking module to brake the wheels based on the braking control parameters.

[0081] The serial numbers of the above embodiments are for description only and do not represent the advantages or disadvantages of the embodiments.

[0082] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0083] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0084] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected to achieve the purpose of the present embodiment according to actual needs.

[0085] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0086] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or say the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the embodiments of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0087] The above is only the preferred embodiment of the present application, and it should be pointed out that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which should be considered as the protection scope of the present application.

Claims

1. An electromechanical braking system, characterized in that: include: A first braking force determination module, a second braking force determination module, a third braking force determination module, a braking force arbitration module, a braking control module and a braking module, wherein, The first braking force determining module is configured to determine a first braking force corresponding to a braking operation of a target object; The second braking force determination module is used to determine the second braking force required to ensure vehicle stability during braking; The third braking force determination module is used to determine the third braking force required by the vehicle auxiliary driving function module during braking; The braking force arbitration module is configured to determine a target braking force based on the first braking force, the second braking force, and the third braking force; The brake control module is configured to determine a brake control parameter according to a power-on state of the vehicle, a state of the brake module, and the target braking force, and control the brake module to brake the wheels according to the brake control parameter; The second braking force determination module includes: a vehicle stability control module and a second braking force coordination module, and the vehicle stability control module includes at least one of the following: an anti-lock braking module, a traction control module, and a vehicle dynamics control module; wherein the anti-lock braking module is configured to determine a fifth braking force based on the braking operation, the traction control module is configured to determine a sixth braking force based on the braking operation, and the vehicle dynamics control module is configured to determine a seventh braking force based on the braking operation; and the second braking force coordination module is configured to determine the second braking force based on at least one of the fifth braking force, the sixth braking force, and the seventh braking force; The vehicle assisted driving function module includes at least one of the following: an adaptive cruise control module, an automatic parking assistance module and a value-added function module, and the value-added function module includes at least an automatic parking module; wherein the adaptive cruise control module is used to determine a first longitudinal force required for adaptive cruising, the automatic parking assistance module is used to determine a second longitudinal force required for automatic parking, and the automatic parking module is used to determine a third longitudinal force required for automatic parking; the third braking force determination module is used to determine a target longitudinal force based on at least one of the first longitudinal force, the second longitudinal force and the third longitudinal force, and determine the third braking force based on the target longitudinal force.

2. The system according to claim 1, wherein: The first braking force determination module includes: a driving intention determination module and a first braking force coordination module, wherein: The driving intention determination module includes: a pedal simulation module and an analysis module; the pedal simulation module includes: a pedal travel sensor, a redundant pedal travel sensor, a pressure sensor, and a redundant pressure sensor, for collecting braking operation information of the target object; the analysis module is used to determine the fourth braking force required by the target object based on the braking operation information; The first braking force coordination module is used to determine that the first braking force is 0 when the fourth braking force is not greater than a preset threshold value, and send the fourth braking force to the vehicle controller; it is also used to determine that the difference between the fourth braking force and the preset threshold value is the first braking force when the fourth braking force is greater than the preset threshold value, and send the preset threshold value to the vehicle controller; wherein, the vehicle controller is used to brake the vehicle drive motor according to the fourth braking force or the preset threshold value.

3. The system according to claim 1, wherein: The braking force arbitration module is configured to determine the maximum braking force among the first braking force, the second braking force, and the third braking force as the target braking force.

4. The system according to claim 1, wherein: The braking module includes: a brushless motor and a clamping assembly, wherein: The brushless motor is used to respond to the control of the brake control module and control the clamping assembly to clamp the wheel for braking; The clamping assembly includes a friction plate and a clamp.

5. The system according to claim 4, characterized in that The brake control module includes: a signal switch module and a brushless motor control module, wherein: The signal switch module is configured to determine the braking control parameters according to the state of the brushless motor and the target braking force when the vehicle is powered on and the braking module is not faulty, and send the braking control parameters to the brushless motor control module, wherein the braking control parameters include: a motor target speed, a motor target position, and a motor target current; The brushless motor control module is used to control the brushless motor to brake the wheel according to the braking control parameter.

6. The system according to claim 5, characterized in that The electronic mechanical braking system further includes: a power-on module and a power-off module, wherein: The power-off module is used to record the status information of the brushless motor when the vehicle is powered off; The power-on module is used to read the status information of the brushless motor when the vehicle is powered on, and to determine whether the brake module is faulty; when the brake module is not faulty, the status information of the brushless motor is sent to the signal switch module.

7. The system according to claim 6, characterized in that The electronic mechanical braking system further includes: a fault monitoring module, which includes: a brake signal monitoring module, a stiffness monitoring module and a clamping force monitoring module, wherein: The braking signal monitoring module is configured to monitor whether the input signals of the first braking force determination module, the second braking force determination module, and the third braking force determination module are abnormal, and issue a first fault warning message if the input signals are abnormal; The stiffness monitoring module is used to monitor whether the stiffness of the clamping assembly meets a preset standard, and to issue a second fault warning message if the stiffness of the clamping assembly does not meet the preset standard; The clamping force monitoring module is used to monitor whether the brushless motor normally controls the clamping assembly to clamp the wheel for braking. If the brushless motor fails to normally control the clamping assembly to clamp the wheel for braking, a third fault alarm message is issued.

8. A vehicle, characterized in that: include: An electromechanical brake system as claimed in any one of claims 1 to 7.

9. A vehicle braking method, characterized in that: Applied to the electromechanical braking system according to any one of claims 1 to 7, the method comprising: determining a first braking force corresponding to a braking operation of the target object; Determine the second braking force required to ensure vehicle stability during braking; Determine the third braking force required by the vehicle's assisted driving function module during braking; determining a target braking force based on the first braking force, the second braking force, and the third braking force; A braking control parameter is determined according to a vehicle power-on state, a vehicle brake component state, and the target braking force, and the vehicle brake component is controlled to brake the wheels according to the braking control parameter.

10. The method according to claim 9, characterized in that Determining a target braking force according to the first braking force, the second braking force, and the third braking force includes: The maximum braking force among the first braking force, the second braking force, and the third braking force is determined as the target braking force.

11. The method according to claim 9, characterized in that Determining a braking control parameter based on a vehicle power-on state, a vehicle brake component state, and the target braking force includes: When the vehicle is powered on and the vehicle brake assembly is fault-free, the brake control parameters are determined based on the state of the brushless motor in the vehicle brake assembly and the target braking force, wherein the brake control parameters include: motor target speed, motor target position and motor target current.

12. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored computer program, wherein the device where the non-volatile storage medium is located executes the vehicle braking method according to any one of claims 9 to 11 by running the computer program.

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