Vehicle braking system and automobile satisfying high-order automatic driving

Abstract

The application discloses a kind of driving braking systems satisfying high-order automatic driving, including hydraulic braking system, electronic braking system and driving backup arbitration system, hydraulic braking system is used to drive control on the piston of wheel caliper, to control brake wheel;Electronic braking system is used to drive control on the motor of wheel caliper, to control brake wheel;Driving backup arbitration system is connected with the hydraulic braking system and the electronic braking system communication, for detecting and adjusting the working state of the hydraulic braking system and the electronic braking system;Therefore, the requirement of high-order intelligent driving vehicle for driving braking system redundancy backup is solved, the functional safety of high-order intelligent driving vehicle is guaranteed, and the landing of high-order intelligent driving vehicle is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent braking, in particular to a driving brake system and a vehicle meeting high-order automatic driving. BACKGROUND

[0002] At present, for high-order intelligent driving vehicles, it is required to perform redundancy backup on the driving brake system, that is, when one set of brake system fails, another set of brake system can take over to ensure that the driving brake system can still be used, so as to meet the safety requirement.

[0003] However, the vehicle in the industry currently only has one set of hydraulic brake system, which does not meet the redundancy requirement of the driving brake system, and when the only hydraulic brake system of the vehicle fails, the normal function of the driving brake cannot be guaranteed.

[0004] Therefore, in view of the above problems, the requirement of high-order intelligent driving vehicles for redundancy backup of the driving brake system needs to be solved to ensure the functional safety of high-order intelligent driving vehicles, and thus the landing of high-order intelligent driving vehicles is ensured. SUMMARY

[0005] The present application provides a driving brake system meeting high-order automatic driving, which can solve the requirement of high-order intelligent driving vehicles for redundancy backup of the driving brake system, ensure the functional safety of high-order intelligent driving vehicles, and thus ensure the landing of high-order intelligent driving vehicles.

[0006] In a first aspect, a driving brake system meeting high-order automatic driving is provided, comprising:

[0007] a hydraulic brake system configured to drive and control a piston on a wheel caliper to control brake of a wheel;

[0008] an electronic brake system configured to drive and control a motor on the wheel caliper to control brake of the wheel; and

[0009] a driving backup arbitration system in communication connection with the hydraulic brake system and the electronic brake system, configured to detect and adjust working states of the hydraulic brake system and the electronic brake system.

[0010] In some embodiments, the driving backup arbitration system is configured to,

[0011] when it is detected that the working states of the hydraulic brake system and the electronic brake system are both normal, the hydraulic brake system is controlled to be a control system of wheel brake, and the working state of the electronic brake system is adjusted to standby;

[0012] When the working state of the hydraulic braking system is detected to be faulty and the working state of the electronic braking system is normal, the electronic braking system is controlled as the control system for wheel braking.

[0013] When the working state of the hydraulic braking system is detected to be normal and the working state of the electronic braking system is faulty, the hydraulic braking system is controlled as the control system for wheel braking.

[0014] When the working state of the hydraulic braking system and / or the electronic braking system is detected to be faulty, a prompt signal is sent to a user communication terminal or a vehicle terminal.

[0015] In some embodiments, the hydraulic braking system is configured to detect the working state of the driving backup arbitration system, and when the working state of the driving backup arbitration system is detected to be faulty, the hydraulic braking system is controlled to drive the piston on the wheel caliper with a preset braking force.

[0016] The electronic braking system is configured to detect the working state of the driving backup arbitration system, and when the working state of the driving backup arbitration system is detected to be faulty, the electronic braking system is controlled to drive the motor on the wheel caliper with a preset braking force.

[0017] In some embodiments, the electronic braking system comprises a first electronic braking subsystem and a second electronic braking subsystem.

[0018] The first electronic braking subsystem is in communication connection with the driving backup arbitration system and is configured to drive and control the motor on the left front wheel caliper and the motor on the right rear wheel caliper, respectively.

[0019] The second electronic braking subsystem is in communication connection with the driving backup arbitration system and is configured to drive and control the motor on the right front wheel caliper and the motor on the left rear wheel caliper, respectively.

[0020] In some embodiments, the driving backup arbitration system is further configured to acquire wheel caliper driving fault information and control the first electronic braking subsystem and the second electronic braking subsystem to drive and control the motors on the wheel calipers, respectively, according to the wheel caliper driving fault information.

[0021] In some embodiments, the driving backup arbitration system is further configured to,

[0022] When a driving fault of the left front wheel caliper or a driving fault of the right rear wheel caliper is detected, the first electronic braking subsystem is controlled to stop driving control, and the second electronic braking subsystem is controlled to drive and control the motor on the right front wheel caliper and the motor on the left rear wheel caliper, respectively.

[0023] When a right front wheel caliper drive fault or a left rear wheel caliper drive fault is detected, the second electronic brake subsystem is controlled to stop drive control, and the first electronic brake subsystem is controlled to drive control the motor on the left front wheel caliper and the motor on the right rear wheel caliper, respectively.

[0024] In some embodiments, the driving backup arbitration system is further configured to acquire vehicle driving state and road slope information, and control the first electronic brake subsystem and the second electronic brake subsystem to drive control the motors on the wheel calipers according to the vehicle driving state and the road slope information.

[0025] In some embodiments, the driving backup arbitration system is further configured to,

[0026] When the vehicle is detected to be in an uphill driving state and the road slope value is greater than or equal to a preset uphill slope value, the first electronic brake subsystem is controlled to drive control the motor on the left front wheel caliper and the motor on the right rear wheel caliper, respectively, and the second electronic brake subsystem is controlled to drive control the motor on the right front wheel caliper and the motor on the left rear wheel caliper, respectively.

[0027] When the vehicle is detected to be in an uphill driving state and the road slope value is less than the preset uphill slope value, the first electronic brake subsystem is controlled to stop drive control of the motor on the left front wheel caliper, the second electronic brake subsystem is controlled to stop drive control of the motor on the right front wheel caliper, the first electronic brake subsystem is controlled to drive control the motor on the right rear wheel caliper, and the second electronic brake subsystem is controlled to drive control the motor on the left rear wheel caliper.

[0028] When the vehicle is detected to be in a downhill driving state and the road slope value is greater than or equal to a preset downhill slope value, the first electronic brake subsystem is controlled to drive control the motor on the left front wheel caliper and the motor on the right rear wheel caliper, respectively, and the second electronic brake subsystem is controlled to drive control the motor on the right front wheel caliper and the motor on the left rear wheel caliper, respectively.

[0029] When the vehicle is detected to be in a downhill driving state and the road slope value is less than or equal to the preset downhill slope value, the first electronic brake subsystem is controlled to stop drive control of the motor on the right rear wheel caliper, the second electronic brake subsystem is controlled to stop drive control of the motor on the left rear wheel caliper, the first electronic brake subsystem is controlled to drive control the motor on the left front wheel caliper, and the second electronic brake subsystem is controlled to drive control the motor on the right front wheel caliper.

[0030] In some embodiments, the driving backup arbitration system is further configured to detect the working states of the hydraulic braking system and the electronic braking system within a preset time period.

[0031] In a second aspect, the application provides an automobile comprising the driving braking system meeting high-level automatic driving as described above.

[0032] Compared with the prior art, the application has the following advantages: the hydraulic braking system is configured to drive and control the piston on the wheel caliper to control the braking of the wheel; the electronic braking system is configured to drive and control the motor on the wheel caliper to control the braking of the wheel; the driving backup arbitration system is in communication connection with the hydraulic braking system and the electronic braking system, and is configured to detect and adjust the working states of the hydraulic braking system and the electronic braking system; thus, the requirement of high-level intelligent driving vehicles for the redundancy backup of the driving braking system is met, the functional safety of the high-level intelligent driving vehicles is ensured, and the landing of the high-level intelligent driving vehicles is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is a structural schematic diagram of the driving braking system meeting high-level automatic driving of the application;

[0034] Figure 2 is a flow schematic diagram of an embodiment of the driving braking system meeting high-level automatic driving of the application;

[0035] Figure 3 is a structural schematic diagram of the hydraulic braking system of the application;

[0036] Figure 4 is a control connection schematic diagram of the electronic braking system and the wheel caliper of the application. DETAILED DESCRIPTION

[0037] Reference will now be made in detail to the present application, examples of which are illustrated in the accompanying drawings. While the application will be described in conjunction with the specific embodiments, it will be understood that the application is not intended to be limited to the specific embodiments. On the contrary, the application is intended to cover alternatives, modifications, and equivalents, which can be included within the spirit and scope of the application as defined by the appended claims. It should be noted that the method steps described herein can all be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of both.

[0038] In order for those skilled in the art to better understand the application, the application will be further described in detail below in conjunction with the drawings and specific embodiments.

[0039] Note: The examples to be introduced next are only specific examples, and are not intended to limit the embodiments of the present application to the specific steps, values, conditions, data, sequences, etc. Those skilled in the art can use the concept of the present application to construct more embodiments not mentioned in the present specification by reading the present specification.

[0040] Referring to Figure 1 As shown in the figure, the embodiment of the present application provides a driving brake system meeting high-order automatic driving, comprising:

[0041] a hydraulic brake system for driving control of a piston on a wheel caliper to control brake of a wheel;

[0042] an electronic brake system for driving control of a motor on a wheel caliper to control brake of a wheel; and,

[0043] a driving backup arbitration system in communication connection with the hydraulic brake system and the electronic brake system, for detecting and adjusting the working state of the hydraulic brake system and the electronic brake system.

[0044] Specifically, in the embodiment, since the vehicle in the industry currently only has one set of hydraulic brake system, it does not meet the redundancy backup requirement of the driving brake system for high-order intelligent driving. When the only hydraulic brake system of the vehicle fails, the normal function of driving brake cannot be guaranteed. Therefore, for the above problem, the driving backup arbitration system MCU3 provided by the present application communicates with the hydraulic brake system MCU1 and the electronic brake system MCU2 through Can communication, and controls the enablement of MCU1 and MCU2.

[0045] The hydraulic brake system MCU1 is a conventional ESC hydraulic control system, which drives the piston on the brake caliper of the four wheels through the hydraulic pipeline, thereby controlling the brake of the caliper; the electronic brake system MCU2 is a caliper drive motor on the brake caliper of the four wheels activated by current, thereby controlling the brake of the caliper; MCU1, MCU2, MCU3, and caliper motor are connected to a small battery (12V) and a large battery (500V) at the same time, so as to ensure that normal power supply can still be guaranteed when one power supply fails.

[0046] Therefore, the present application detects and adjusts the working state of the hydraulic brake system and the electronic brake system, solves the redundancy backup requirement of the driving brake system for high-order intelligent driving vehicle, guarantees the functional safety of the high-order intelligent driving vehicle, and guarantees the landing of the high-order intelligent driving vehicle.

[0047] Referring to Figure 2 As shown in the figure, the driving backup arbitration system is used for,

[0048] When the working states of the hydraulic braking system and the electronic braking system are detected to be normal, the hydraulic braking system is controlled as a control system for wheel braking, and the working state of the electronic braking system is adjusted to standby;

[0049] When the working state of the hydraulic braking system is detected to be faulty, and the working state of the electronic braking system is normal, the electronic braking system is controlled as a control system for wheel braking.

[0050] When the working state of the hydraulic braking system is normal, and the working state of the electronic braking system is faulty, the hydraulic braking system is controlled as a control system for wheel braking.

[0051] When the working state of the hydraulic braking system and / or the electronic braking system is detected to be faulty, a prompt signal is sent to a user communication terminal or a vehicle-mounted terminal.

[0052] The hydraulic braking system is configured to detect the working state of the driving backup arbitration system, and when the working state of the driving backup arbitration system is detected to be faulty, the hydraulic braking system is controlled to drive the piston on the wheel caliper with a preset braking force.

[0053] The electronic braking system is configured to detect the working state of the driving backup arbitration system, and when the working state of the driving backup arbitration system is detected to be faulty, the electronic braking system is controlled to drive the motor on the wheel caliper with a preset braking force.

[0054] Optionally, the driving backup arbitration system is further configured to detect the working states of the hydraulic braking system and the electronic braking system within a preset time period.

[0055] Specifically, in the embodiment, the MCU 3 monitors the modules MCU 1 and MCU 2 continuously at a period of TBD ms (20 ms), and continuously judges and switches the enablement of the MCU 1 and MCU 2 according to the situation, so as to ensure that only one MCU controls the driving braking system of the vehicle at the same time, and avoid the interference of two sets of driving braking systems.

[0056] Under normal circumstances, the driving braking system of the vehicle is guaranteed by the MCU 1 (hydraulic braking system), and the MCU 2 (electronic braking system) only takes over when the hydraulic braking system fails.

[0057] The specific judgment strategy is as follows:

[0058] When the MCU 1 and MCU 2 are in normal working states, the MCU 3 enables the driving braking function of the MCU 1, and simultaneously suppresses the driving braking function of the MCU 2, and the MCU 1 controls the driving braking of the vehicle through hydraulic control.

[0059] At the same time, the MCU1 confirms the MCU3 to prevent the false sending of the enable signal due to the failure of the MCU3. Once the MCU1 identifies the failure of the MCU3, the MCU1 will slowly brake the vehicle by the hydraulic with a small braking force, and feed back the failure to the instrument to inform the driver.

[0060] When the MCU1 fails and the MCU2 is in a normal working state, the MCU3 is switched to the MCU2 at TBD ms (10 ms), and the MCU2 controls the service brake of the vehicle through the electric drive.

[0061] At the same time, the MCU2 confirms the MCU3 to prevent the false sending of the enable signal due to the failure of the MCU3. Once the MCU2 identifies the failure of the MCU3, the MCU1 will slowly brake the vehicle by the driving electronic caliper with a small braking force, and feed back the failure to the instrument to inform the driver.

[0062] At the same time, the MCU2 confirms the MCU3 to prevent the false sending of the enable signal due to the failure of the MCU3. Once the MCU2 identifies the failure of the MCU3, the MCU1 will slowly brake the vehicle by the driving electronic caliper with a small braking force, and feed back the failure to the instrument to inform the driver. Figure 3 As shown in the figure, the hydraulic brake system is a conventional service hydraulic brake system.

[0063] At the same time, the MCU2 confirms the MCU3 to prevent the false sending of the enable signal due to the failure of the MCU3. Once the MCU2 identifies the failure of the MCU3, the MCU1 will slowly brake the vehicle by the driving electronic caliper with a small braking force, and feed back the failure to the instrument to inform the driver. Figure 4 As shown in the figure, the electronic brake system includes a first electronic brake subsystem and a second electronic brake subsystem.

[0064] The first electronic brake subsystem is in communication connection with the service backup arbitration system, and is used for driving and controlling the motors on the left front wheel caliper and the right rear wheel caliper, respectively.

[0065] The second electronic brake subsystem is in communication connection with the service backup arbitration system, and is used for driving and controlling the motors on the right front wheel caliper and the left rear wheel caliper, respectively.

[0066] Specifically, in the embodiment, the MCU2 is a dual-core system, which is divided into a first electronic brake subsystem MCU2-A and a second electronic brake subsystem MCU2-B. The first electronic brake subsystem MCU2-A controls the left front caliper and the right rear caliper, and the second electronic brake subsystem MCU2-B controls the right front caliper and the left rear caliper. The entire electronic service brake is arranged in an X shape.

[0067] At the same time, the MCU2-A and the MCU2-B communicate through the internal private Can. When the service function is activated, the MCU2-A and the MCU2-B interact in real time to jointly control the service electronic brake.

[0068] When the hydraulic braking system is normal, MCU3 does not enable MCU2 (MCU1 works normally), MCU2 still needs to detect the vehicle state (wheel speed signal, brake pedal signal, throttle pedal signal, etc.) at all times and perform real-time logical operations to be ready to switch control of the electronic service braking system of the vehicle within 10 ms after MCU1 fails.

[0069] MCU2 needs to ensure that when it finds that it cannot normally control the service electronic braking system due to failure, it needs to immediately report the failure to MCU3. When MCU3 receives the failure of MCU2, it needs to feed back the failure to the instrument to inform the driver that the service braking backup system of the vehicle is invalid, and then feed back to the ADAS, the ADAS exits the high-level intelligent driving work and requests the driver to take over. If the driver fails to take over the vehicle within 30 ms, MCU1 will control the vehicle to stop with a small braking force.

[0070] Optionally, the service backup arbitration system is also used to obtain wheel caliper drive failure information, and according to the wheel caliper drive failure information, the first electronic braking subsystem and the second electronic braking subsystem are controlled to drive and control the motors on the wheel calipers, respectively.

[0071] Optionally, the service backup arbitration system is also used to,

[0072] When a left front wheel caliper drive failure or a right rear wheel caliper drive failure is detected, the first electronic braking subsystem is controlled to stop driving control, and the second electronic braking subsystem is controlled to drive and control the motors on the right front wheel caliper and the left rear wheel caliper, respectively.

[0073] When a right front wheel caliper drive failure or a left rear wheel caliper drive failure is detected, the second electronic braking subsystem is controlled to stop driving control, and the first electronic braking subsystem is controlled to drive and control the motors on the left front wheel caliper and the right rear wheel caliper, respectively.

[0074] Specifically, in the embodiment, when a single electronic caliper fails, safe degradation processing can be performed according to the condition of the electronic caliper to ensure that 50% of the service braking is reserved, and the stability of the vehicle is ensured

[0075] When only the left front electronic caliper fails, MCU2-A stops controlling the service braking, and MCU2-B controls the right front and left rear electronic calipers to perform service braking, which ensures that the vehicle still retains 50% of the braking force and ensures the stability of the vehicle (because the vehicle loses the braking force of the left front electronic caliper, it will cause the vehicle to generate an unbalanced braking torque, resulting in vehicle instability);

[0076] When only the right front electronic caliper fails, MCU2-B stops controlling the service brake, and MCU2-A controls the left front and right rear electronic calipers to perform the service brake, which ensures that the vehicle still retains 50% of the braking force and guarantees the stability of the vehicle (because the vehicle loses the braking force of the right front electronic caliper, it will cause the vehicle to generate an unbalanced braking torque, leading to vehicle instability).

[0077] When only the left rear electronic caliper fails, MCU2-B stops controlling the service brake, and MCU2-A controls the left front and right rear electronic calipers to perform the service brake, which ensures that the vehicle still retains 50% of the braking force and guarantees the stability of the vehicle (because the vehicle loses the braking force of the left rear electronic caliper, it will cause the vehicle to generate an unbalanced braking torque, leading to vehicle instability).

[0078] When only the right rear electronic caliper fails, MCU2-A stops controlling the service brake, and MCU2-B controls the right front and left rear electronic calipers to perform the service brake, which ensures that the vehicle still retains 50% of the braking force and guarantees the stability of the vehicle (because the vehicle loses the braking force of the right rear electronic caliper, it will cause the vehicle to generate an unbalanced braking torque, leading to vehicle instability).

[0079] Optionally, the service backup arbitration system is further configured to acquire vehicle driving state and road slope information, and control the first electronic brake subsystem and the second electronic brake subsystem to respectively drive the motors on the wheel calipers according to the vehicle driving state and the road slope information.

[0080] Optionally, the service backup arbitration system is further configured to,

[0081] When it is detected that the vehicle is in an uphill driving state and the road slope value is greater than or equal to a preset uphill slope value, the first electronic brake subsystem is controlled to drive the motors on the left front wheel caliper and the right rear wheel caliper, and the second electronic brake subsystem is controlled to drive the motors on the right front wheel caliper and the left rear wheel caliper.

[0082] When it is detected that the vehicle is in an uphill driving state and the road slope value is less than the preset uphill slope value, the first electronic brake subsystem is controlled to stop driving the motor on the left front wheel caliper, the second electronic brake subsystem is controlled to stop driving the motor on the right front wheel caliper, the first electronic brake subsystem is controlled to drive the motor on the right rear wheel caliper, and the second electronic brake subsystem is controlled to drive the motor on the left rear wheel caliper.

[0083] When it is detected that the vehicle is in a downhill driving state, and the road slope value is greater than or equal to a preset downhill slope value, the first electronic brake subsystem is controlled to drive the motor on the left front wheel caliper and the motor on the right rear wheel caliper respectively, and the second electronic brake subsystem is controlled to drive the motor on the right front wheel caliper and the motor on the left rear wheel caliper respectively.

[0084] When it is detected that the vehicle is in a downhill driving state, and the road slope value is less than or equal to a preset downhill slope value, the first electronic brake subsystem is controlled to stop driving the motor on the right rear wheel caliper, the second electronic brake subsystem is controlled to stop driving the motor on the left rear wheel caliper, the first electronic brake subsystem is controlled to drive the motor on the left front wheel caliper, and the second electronic brake subsystem is controlled to drive the motor on the right front wheel caliper.

[0085] Specifically, in the embodiment, the EPB parking brake control switch is connected with the MCU2, when the driver needs to park, the motor of the electronic caliper is controlled by the MCU2 triggered by the EPB switch to realize the parking function.

[0086] When the parking function is activated, the parking strategy is intelligently confirmed according to the slope of the vehicle, and specific reference is made to Table (I) shown as follows:

[0087]

[0088]

[0089] Table (I)

[0090] The above intelligent parking brake strategy has the following advantages:

[0091] When the slope is large, 4-wheel electronic parking is adopted, which improves the reliability and safety of parking, and the single electronic caliper can be designed smaller, saving the cost;

[0092] And for the scheme of parking only the rear axle, in the case of a large slope, the rear axle needs to increase the parking force to ensure reliable parking, but when the vehicle starts again, the friction plate and brake disc cannot be normally separated due to the excessive parking clamping force of the single electronic caliper, resulting in a jerk and noise when starting. The present scheme can solve the problem because of 4-wheel parking and the single caliper force can be adjusted smaller;

[0093] When the vehicle is in an uphill stage, the center of mass of the vehicle moves backward, at this time, the electronic parking brake of the rear axle 2 wheels is adopted to ensure the reliability and safety of parking;

[0094] When the vehicle is in the downhill stage, the vehicle mass center moves forward, at this time, the front axle 2 wheels are adopted for electronic parking brake, so as to ensure the reliability and safety of parking.

[0095] The embodiment of the present application also provides a vehicle comprising the driving brake system meeting the high-order automatic driving.

[0096] Since the vehicle in the industry only has one set of hydraulic brake system, the redundancy backup requirement of the driving brake system for high-order intelligent driving cannot be met, when the only hydraulic brake system of the vehicle fails, the normal function of the driving brake cannot be ensured, therefore, aiming at the above problems, the driving backup arbitration system provided by the present application communicates with the hydraulic brake system and the electronic brake system through Can communication, and controls the enablement of the hydraulic brake system and the electronic brake system.

[0097] Therefore, the present application meets the redundancy backup requirement of the driving brake for high-order automatic driving, and also realizes the intelligent parking function.

[0098] In the description of the present application, it should be noted that the directions or position relationships indicated by the terms "upper", "lower", etc. are based on the directions or position relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise explicitly specified and limited, the terms "arranged", "connected", "linked" should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integral connection, can be mechanical connection, can also be electrical connection, can be direct connection, can also be indirect connection through an intermediate medium, and can be the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0099] It should be noted that in the present application, relationship terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations; and the term "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device.

[0100] The foregoing is considered as illustrative only of the principles of the application. Numerous modifications and changes will readily occur to those skilled in the art, and it is intended to embrace all such modifications and changes that fall within the scope of the application. Accordingly, the application is not to be restricted in scope to the specific embodiments disclosed herein but is to be accorded the full scope that the principles and novel features request appropriately granted.

Claims

1. A vehicle braking system that meets the requirements of advanced autonomous driving, characterized in that, include: A hydraulic braking system is used to drive and control the pistons on the wheel calipers in order to control and brake the wheels. An electronic braking system is used to drive and control the motors on the wheel calipers to control braking of the wheels; and, The vehicle backup arbitration system is communicatively connected to the hydraulic braking system and the electronic braking system, and is used to detect and adjust the working status of the hydraulic braking system and the electronic braking system; The electronic braking system includes a first electronic braking subsystem and a second electronic braking subsystem; The first electronic braking subsystem is communicatively connected to the vehicle backup arbitration system and is used to drive and control the motors on the left front wheel caliper and the right rear wheel caliper, respectively. The second electronic braking subsystem is communicatively connected to the vehicle backup arbitration system and is used to drive and control the motors on the right front wheel caliper and the left rear wheel caliper, respectively. The vehicle backup arbitration system is also used to acquire vehicle driving status and road slope information, and according to the vehicle driving status and road slope information, control the first electronic braking subsystem and the second electronic braking subsystem to drive the motors on the wheel calipers respectively. The vehicle backup arbitration system is also used for, When it is detected that the vehicle is driving uphill and the road gradient is greater than or equal to the preset uphill gradient, the first electronic braking subsystem is controlled to drive the motor on the left front wheel caliper and the motor on the right rear wheel caliper, and the second electronic braking subsystem is controlled to drive the motor on the right front wheel caliper and the motor on the left rear wheel caliper. When it is detected that the vehicle is driving uphill and the road gradient is less than the preset uphill gradient, the first electronic braking subsystem stops driving the motor on the left front wheel caliper, the second electronic braking subsystem stops driving the motor on the right front wheel caliper, the first electronic braking subsystem drives the motor on the right rear wheel caliper, and the second electronic braking subsystem drives the motor on the left rear wheel caliper. When it is detected that the vehicle is driving downhill and the road gradient is greater than or equal to the preset downhill gradient, the first electronic braking subsystem is controlled to drive the motor on the left front wheel caliper and the motor on the right rear wheel caliper, and the second electronic braking subsystem is controlled to drive the motor on the right front wheel caliper and the motor on the left rear wheel caliper. When it is detected that the vehicle is driving downhill and the road gradient is less than or equal to the preset downhill gradient, the first electronic braking subsystem stops driving the motor on the right rear wheel caliper, the second electronic braking subsystem stops driving the motor on the left rear wheel caliper, the first electronic braking subsystem drives the motor on the left front wheel caliper, and the second electronic braking subsystem drives the motor on the right front wheel caliper.

2. The vehicle braking system for high-level autonomous driving as described in claim 1, characterized in that, The vehicle backup arbitration system is used for, When it is detected that the working status of both the hydraulic braking system and the electronic braking system is normal, the hydraulic braking system is controlled to be the wheel braking control system, and the working status of the electronic braking system is adjusted to standby. When a malfunction is detected in the hydraulic braking system and the electronic braking system is functioning normally, the electronic braking system is controlled to function as a wheel braking control system. When the hydraulic braking system is detected to be operating normally and the electronic braking system is malfunctioning, the hydraulic braking system is controlled to function as a wheel braking system. When a malfunction is detected in the hydraulic braking system and / or the electronic braking system, a warning signal is sent to the user communication terminal or the vehicle terminal.

3. The vehicle braking system for high-level autonomous driving as described in claim 1, characterized in that, The hydraulic braking system is used to detect the working status of the vehicle backup arbitration system. When a malfunction is detected in the working status of the vehicle backup arbitration system, a preset braking force is applied to the piston on the wheel caliper. The electronic braking system is used to detect the working status of the vehicle backup arbitration system. When a malfunction is detected in the working status of the vehicle backup arbitration system, the system performs preset braking force drive control on the motors on the wheel calipers.

4. The vehicle braking system for high-level autonomous driving as described in claim 1, characterized in that, The vehicle backup arbitration system is also used to acquire wheel caliper drive fault information, and based on the wheel caliper drive fault information, control the first electronic braking subsystem and the second electronic braking subsystem to drive the motors on the wheel calipers respectively.

5. The vehicle braking system for high-level autonomous driving as described in claim 4, characterized in that, The vehicle backup arbitration system is also used for, When a drive failure of the left front wheel caliper or the right rear wheel caliper is detected, the first electronic braking subsystem is controlled to stop drive control, and the second electronic braking subsystem is controlled to drive the motors on the right front wheel caliper and the left rear wheel caliper respectively. When a drive failure of the right front wheel caliper or the left rear wheel caliper is detected, the second electronic braking subsystem is controlled to stop drive control, and the first electronic braking subsystem is controlled to drive the motors on the left front wheel caliper and the right rear wheel caliper, respectively.

6. The vehicle braking system for high-level autonomous driving as described in claim 1, characterized in that, The vehicle backup arbitration system is also used to detect the working status of the hydraulic braking system and the electronic braking system within a preset time period.

7. A car, characterized in that, Includes a vehicle braking system that satisfies advanced autonomous driving as described in any one of claims 1 to 6.

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