Braking system, vehicle and control method

Abstract

The application provides a brake system, a vehicle and a control method. The brake system comprises four actuators, each of which comprises a liquid storage tank for storing driving oil, a motor, a hydraulic cylinder, a piston, a caliper and a valve assembly. The piston is arranged in the hydraulic cylinder to divide the hydraulic cylinder into a first cavity and a second cavity. The first cavity and the second cavity are in communication with the liquid storage tank. The valve assembly is arranged on a pipeline between the hydraulic cylinder and the liquid storage tank. The motor is used to drive the piston to lock and unlock the brake disc of the corresponding wheel. In the case that the motor stops working, the opening and closing state of the valve assembly is controlled to make the driving oil in the liquid storage tank enter the hydraulic cylinder to drive the piston to move, so as to lock and unlock the brake disc of the corresponding wheel. The central valve control system is in communication with each actuator through a hydraulic pipeline, thereby solving the problem that the electronic mechanical brake system in the prior art is prone to single-point failure or multi-point failure.

Description

Technical Field

[0001] This application relates to the field of electromechanical braking system technology, and more specifically, to a braking system, a vehicle, and a control method. Background Technology

[0002] Electromechanical braking (EMB) systems combine an electric motor and brake calipers, relying on the motor for braking. They can also function as anti-lock braking systems (ABS), traction control systems (TCS), and electronic stability control systems (ESC). EMB systems are available in two configurations: semi-dry / semi-wet and fully dry. Semi-dry / semi-wet systems use a traditional hydraulic braking system on the front axle and an electronic braking system on the rear axle; fully dry systems use electronic braking systems on all four wheels. Compared to traditional hydraulic braking, EMB systems eliminate the need for brake fluid, have a simplified structure, and offer faster response. In particular, the electric motor's rapid response characteristics give EMB systems a significant advantage in response speed compared to traditional hydraulic systems. Therefore, fully dry EMB systems using electronic braking on all four wheels are widely considered the future direction of development in the industry.

[0003] However, compared to traditional hydraulic braking, the reliability of electromechanical braking systems (EMB) has always been the biggest obstacle to their widespread adoption. Due to structural limitations, in existing EMB systems, each wheel is controlled by an independent caliper motor, with the brake pedal and actuator completely decoupled, relying solely on signal transmission. This makes EMB systems prone to single-point or multi-point failures. When the actuator on one side of the wheels fails, the vehicle may veer off course during braking, compromising safety. Therefore, it is necessary to add a redundant backup system to EMB systems to prevent brake failure due to system malfunctions. Summary of the Invention

[0004] The main objective of this application is to provide a braking system, vehicle, and control method to solve the problem that electromechanical braking systems in the prior art are prone to single-point or multi-point failures.

[0005] To achieve the above objectives, according to one aspect of this application, a braking system for a vehicle is provided, comprising: four actuators, each corresponding to one of the four wheels of the vehicle; each actuator includes a reservoir for storing driving fluid, a motor, a hydraulic cylinder, a piston, a caliper, and a valve body assembly; the piston is disposed within the hydraulic cylinder to divide the hydraulic cylinder into a first chamber and a second chamber, the first and second chambers being in communication with the reservoir; the valve body assembly is disposed on a pipeline between the hydraulic cylinder and the reservoir; the output shaft of the motor is connected to the piston; and the piston is connected to the caliper. The motor drives the piston to lock and unlock the caliper against the brake disc of the corresponding wheel. When the motor stops operating, it controls the opening and closing state of the valve body assembly so that the driving oil in the reservoir enters the hydraulic cylinder to drive the piston to move, thereby locking and unlocking the caliper against the brake disc of the corresponding wheel. The central valve body control system is connected to each actuator through hydraulic lines. Among the actuators located diagonally opposite the four wheels, the first chamber of one actuator is connected to the second chamber of another actuator through the central valve body control system.

[0006] Furthermore, the central valve body control system forms a first connecting pipe and a second connecting pipe with each actuator through hydraulic lines. The first connecting pipe and the second connecting pipe are respectively connected to two wheels located diagonally among the four wheels.

[0007] Furthermore, the central valve body control system includes: a first valve body, one end of which is connected to the first cavity of the first actuator among four actuators via a first hydraulic line, and the other end of which is connected to the second cavity of the second actuator among four actuators via a second hydraulic line, wherein the first actuator and the second actuator are arranged diagonally; a second valve body, one end of which is connected to the second cavity of the first actuator via a third hydraulic line, and the other end of which is connected to the first cavity of the second actuator, wherein the first hydraulic line, the second hydraulic line, the third hydraulic line and the fourth hydraulic line form a first connecting line.

[0008] Furthermore, the central valve body control system includes: a third valve body, one end of which is connected to the second cavity of the third actuator among the four actuators via a fifth hydraulic line, and the other end of which is connected to the first cavity of the fourth actuator among the four actuators via a sixth hydraulic line, wherein the third actuator and the fourth actuator are arranged diagonally; and a fourth valve body, one end of which is connected to the first cavity of the third actuator via a seventh hydraulic line, and the other end of which is connected to the cavity of the fourth actuator via an eighth hydraulic line, wherein the fifth hydraulic line, the sixth hydraulic line, the seventh hydraulic line and the eighth hydraulic line form a second connecting line.

[0009] Furthermore, the first connecting pipe and the second connecting pipe are set up independently.

[0010] Furthermore, the valve body assembly includes: a fifth valve body disposed on a pipeline connecting the reservoir and the actuator cavity; and a sixth valve body disposed on a pipeline connecting the reservoir and the actuator cavity.

[0011] Furthermore, each actuator is equipped with a controller. The central valve body control system includes a central controller. The controllers of each actuator are connected to the central controller via a CAN bus. The valve body assembly of each actuator is controlled by the controller of the corresponding actuator. The valve body assembly of each actuator can also be controlled by the controllers of the actuators that are diagonally opposite each other. The first valve body, the second valve body, the third valve body, and the fourth valve body are controlled by the controllers of their respective actuators.

[0012] To achieve the above objectives, according to one aspect of this application, a vehicle is provided that includes the aforementioned braking system.

[0013] To achieve the above objectives, according to one aspect of this application, a vehicle control method is provided. The control method includes the following steps: detecting the operating state of the motors of each actuator; when it is determined that the motor of one actuator is in a faulty state, controlling the fifth valve body of the valve body assembly of the actuator in the faulty state to open and the sixth valve body to close; simultaneously controlling the fifth valve body of the valve body assembly of the actuator diagonally opposite the actuator in the faulty state to close and the sixth valve body to open; and controlling the first cavity of the actuator in the faulty state connected to the diagonally opposite actuator in the central valve body control system. The valve on the second chamber pipeline is opened, and the valve on the pipeline connecting the second chamber of the actuator in the failed state to the first chamber of the diagonally opposite actuator is closed. When a braking command is received, the motor of the actuator diagonally opposite the failed actuator is activated to lock the corresponding wheel. During the process of locking the wheel, the drive oil in the actuator diagonally opposite the failed actuator flows into the first chamber of the failed actuator through the valve assembly and the central valve control system to build braking pressure until it pushes the piston to move, thereby driving the caliper to lock the corresponding wheel.

[0014] Furthermore, the control method also includes: acquiring the rotational speed signal of the target wheel through a wheel speed sensor; determining whether the target wheel has a tendency to lock up based on the rotational speed signal; if it is determined that the target wheel has a tendency to lock up, controlling the valve body on the pipeline connecting the first chamber of the actuator corresponding to the target wheel and the second chamber of the actuator diagonally arranged to open, and controlling the fourth valve body of the actuator corresponding to the target wheel to open; if it is determined based on the rotational speed signal that the rotational speed of the target wheel continues to decrease, controlling the fifth and sixth valve bodies of the actuator corresponding to the target wheel to open, so as to prevent the target wheel from locking up.

[0015] Using the technical solution of this application, the braking system includes four actuators, each corresponding to one of the four wheels of the vehicle. Each actuator includes a reservoir for storing driving oil, a motor, a hydraulic cylinder, a piston, a caliper, and a valve body assembly. The piston is located inside the hydraulic cylinder, dividing it into a first chamber and a second chamber. The first and second chambers are connected to the reservoir. The valve body assembly is located on a pipeline between the hydraulic cylinder and the reservoir. The output shaft of the motor is connected to the piston, and the piston is connected to the caliper. The motor drives the piston to lock and unlock the caliper with the brake disc of the corresponding wheel. When the motor stops operating, it controls the opening and closing state of the valve body assembly to allow the driving oil in the reservoir to enter the hydraulic cylinder and drive the piston to move, thereby locking and unlocking the caliper with the brake disc of the corresponding wheel. A central valve body control system is connected to each actuator via hydraulic lines. Among the actuators located diagonally opposite the four wheels, the first chamber of one actuator is connected to the second chamber of another actuator via the central valve body control system. When the motor of a certain actuator stops working, the valve body assembly controlling the actuator opens, and the motor drive piston of the actuator in the same circuit as the failed actuator drives the caliper to lock and unlock the brake disc of the corresponding wheel, so as to retain the braking force when a single actuator fails, and solves the problem that electromechanical braking systems in the prior art are prone to single-point failure or multi-point failure. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 A schematic diagram of the structure of a first embodiment of the braking system according to this application is shown;

[0018] Figure 2 A schematic diagram of the structure of a second embodiment of the braking system according to this application is shown;

[0019] Figure 3A schematic diagram of the structure of a third embodiment of the braking system according to this application is shown. Detailed Implementation

[0020] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0022] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0023] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. In the drawings, for clarity, the thickness of layers and regions may be exaggerated, and the same reference numerals are used to denote the same devices, and therefore their description will be omitted.

[0024] Combination Figures 1 to 3 As shown in the specific embodiment of this application, a braking system for a vehicle is provided.

[0025] Specifically, the braking system includes actuators and a central valve body control system. There are four actuators, each corresponding to one of the vehicle's four wheels. Each actuator includes a reservoir for storing driving fluid, a motor, a hydraulic cylinder, a piston, a caliper, and a valve body assembly. The piston is located within the hydraulic cylinder, dividing it into a first chamber K1 and a second chamber K2. Both chambers K1 and K2 are connected to the reservoir. The valve body assembly is located on a pipeline between the hydraulic cylinder and the reservoir. The motor's output shaft is connected to the piston, which in turn is connected to the caliper. The actuator is used to drive the piston to lock and unlock the caliper with the brake disc of the corresponding wheel, and to control the opening and closing state of the valve body assembly when the motor stops working, so that the driving oil in the reservoir enters the hydraulic cylinder to drive the piston to move, thereby locking and unlocking the caliper with the brake disc of the corresponding wheel; the central valve body control system is connected to each actuator through hydraulic lines; among the actuators located diagonally on the four wheels, the first chamber K1 of one actuator is connected to the second chamber K2 of another actuator through the central valve body control system.

[0026] Combination Figure 1 and Figure 2 As shown, in the above embodiment, four actuators are arranged one-to-one with the four wheels of the vehicle. The central valve body control system is connected to each actuator through hydraulic lines. Among the actuators located diagonally opposite the four wheels, the first chamber K1 of one actuator is connected to the second chamber K2 of another actuator through the central valve body control system. When the motor of one actuator stops working, the valve body assembly of that actuator is opened. The motor drive piston of the actuator in the same circuit as the failed actuator drives the caliper to lock and unlock the brake disc of the corresponding wheel, so as to retain the braking force when a single actuator fails. Even when three actuators fail, at least the single-circuit braking capability and ABS function can still be maintained, which solves the problem that the electromechanical braking system in the prior art is prone to single-point or multi-point failure.

[0027] Furthermore, the central valve body control system forms a first connecting pipe and a second connecting pipe with each actuator through hydraulic lines. The first connecting pipe and the second connecting pipe are respectively connected to two wheels located diagonally among the four wheels.

[0028] Combination Figure 1As shown, in this embodiment, the central valve body control system forms a first connecting pipe and a second connecting pipe with each actuator through hydraulic lines. This is used to control each actuator to lock and unlock the brake disc of the corresponding wheel. The first connecting pipe and the second connecting pipe are respectively connected to two wheels located diagonally opposite each other among the four wheels, so that the two actuators located diagonally can serve as backups for each other. When the motor of one actuator stops working, the valve body assembly of that actuator is controlled to open. The motor drive piston of the actuator located diagonally opposite the failed actuator on the same circuit drives the caliper to lock and unlock the brake disc of the corresponding wheel, so as to retain the braking force when a single actuator fails, thereby improving the safety of the braking system.

[0029] Furthermore, the central valve body control system includes a first valve body X1 and a second valve body X2. One end of the first valve body X1 is connected to the K1 cavity of the first actuator FL among the four actuators via a first hydraulic line, and the other end of the first valve body X1 is connected to the second cavity K2 of the second actuator RR among the four actuators via a second hydraulic line. The first actuator FL and the second actuator RR are arranged diagonally. One end of the second valve body X2 is connected to the second cavity K2 of the first actuator FL via a third hydraulic line, and the other end of the second valve body X2 is connected to the first cavity K1 of the second actuator RR. A first connecting pipeline is formed between the first hydraulic line, the second hydraulic line, the third hydraulic line and the fourth hydraulic line.

[0030] Combination Figure 3 As shown, in one embodiment of this application, when the first actuator FL is faulty, the first valve body X1 is open and the second valve body X2 is closed. When the driver applies the brakes, the motor-driven piston of the second actuator RR drives the caliper to lock with the brake disc of the right rear wheel. At the same time, the driving oil is pressed into the second hydraulic line and flows into the K1 cavity of the first actuator FL through the first hydraulic line. The driving piston drives the caliper to lock with the brake disc of the left front wheel, thereby realizing braking of the first actuator FL when it is faulty.

[0031] Furthermore, the central valve body control system includes a third valve body X3 and a fourth valve body X4. One end of the third valve body X3 is connected to the K2 cavity of the third actuator FR among the four actuators via a fifth hydraulic line, and the other end of the third valve body X3 is connected to the K1 cavity of the fourth actuator RL among the four actuators via a sixth hydraulic line. The third actuator FR and the fourth actuator RL are arranged diagonally. One end of the fourth valve body X4 is connected to the first K1 cavity of the third actuator FR via a seventh hydraulic line, and the other end of the fourth valve body X4 is connected to the second cavity K2 of the fourth actuator RL via an eighth hydraulic line. A second connecting line is formed between the fifth, sixth, seventh, and eighth hydraulic lines.

[0032] Combination Figure 3 As shown, in one embodiment of this application, when the third actuator FR is faulty, the third valve body X3 is closed and the fourth valve body X4 is open. When the driver applies the brakes, the motor-driven piston of the fourth actuator RL drives the caliper to lock with the brake disc of the right rear wheel. At the same time, the driving oil is pressed into the eighth hydraulic line and flows into the K1 cavity of the third actuator FR through the seventh hydraulic line. The driving piston drives the caliper to lock with the brake disc of the left front wheel, thereby realizing braking of the third actuator FR when it is faulty.

[0033] Furthermore, the first and second connecting pipes are set up independently. Combined Figure 3 As shown, in this embodiment, the actuators located at opposite corners can serve as backups for each other, ensuring that the full braking force can be maintained after a single actuator fails. When one of the connected circuits fails, the vehicle can at least maintain single-circuit braking capability.

[0034] Furthermore, the valve body assembly includes a fifth valve body S1 and a sixth valve body S2. The fifth valve body S1 is disposed on the pipeline connecting the liquid storage tank and the first cavity K1 of the actuator; the sixth valve body S2 is disposed on the pipeline connecting the liquid storage tank and the second cavity K2 of the actuator. Figure 2 As shown, in this embodiment, the fifth valve body S1 is used to control the opening and closing of the pipeline between the liquid storage tank and the first cavity K1 of the actuator, and the sixth valve body S2 is used to control the opening and closing of the pipeline between the liquid storage tank and the second cavity K2 of the actuator.

[0035] Combination Figure 3 As shown, in one embodiment of this application, when the first actuator FL is faulty, the first valve body X1 is open and the second valve body X2 is closed. When the driver applies the brakes, the motor-driven piston of the second actuator RR drives the caliper to lock with the brake disc of the right rear wheel. At the same time, the driving oil is forced into the second hydraulic line, flows into the K1 cavity of the first actuator FL through the first hydraulic line, and drives the piston to lock with the brake disc of the left front wheel, thus realizing braking of the first actuator FL in the event of a fault. Figure 2 As shown, at this time, the sixth valve body S2 opens, and the driving oil flows into the K1 chamber of the first actuator FL. The driving piston pushes the driving oil in the K2 chamber of the first actuator FL into the reservoir of the first actuator FL.

[0036] Furthermore, each actuator is equipped with a controller. The central valve body control system includes a central controller. The controllers of each actuator are connected to the central controller via a CAN bus. The valve body assembly of each actuator is controlled by the corresponding actuator controller, and the valve body assembly of each actuator can also be controlled by the controllers of diagonally opposite actuators. The first valve body X1, the second valve body X2, the third valve body X3, and the fourth valve body X4 are controlled by the controllers of their respective actuators. In this embodiment, in the event of an actuator failure, the central controller controls the controllers of each actuator, thereby controlling the opening and closing state of the valve body assemblies of each actuator. This allows the drive oil in the reservoir to enter the hydraulic cylinder and drive the piston to move, thereby locking and unlocking the caliper against the brake disc of the corresponding wheel.

[0037] In another embodiment of this application, a vehicle is also provided, including the braking system described in the above embodiments.

[0038] Four actuators are installed corresponding to the four wheels of the vehicle. Each actuator includes a reservoir for storing drive oil, a motor, a hydraulic cylinder, a piston, a caliper, and a valve assembly. The piston is located inside the hydraulic cylinder, dividing it into a first chamber K1 and a second chamber K2. The first chamber K1 and the second chamber K2 are connected to the reservoir. The valve assembly is located on the pipeline between the hydraulic cylinder and the reservoir. The output shaft of the motor is connected to the piston, and the piston is connected to the caliper. The motor drives the piston to lock and unlock the caliper with the brake disc of the corresponding wheel. When the motor stops operating, it controls the opening and closing state of the valve assembly so that the drive oil in the reservoir enters the hydraulic cylinder to drive the piston to move, thereby locking and unlocking the caliper with the brake disc of the corresponding wheel. The central valve control system is connected to each actuator through hydraulic pipelines. Among the actuators located diagonally opposite the four wheels, the first chamber K1 of one actuator is connected to the second chamber K2 of another actuator through the central valve control system.

[0039] Combination Figure 1 and Figure 2As shown, in the above embodiment, four actuators are arranged one-to-one with the four wheels of the vehicle. The central valve body control system is connected to each actuator through hydraulic lines. Among the actuators located diagonally opposite the four wheels, the first chamber K1 of one actuator is connected to the second chamber K2 of another actuator through the central valve body control system. When the motor of a certain actuator stops working, the valve body assembly of that actuator is controlled to open. The motor drive piston of the actuator in the same circuit as the failed actuator drives the caliper to lock and unlock the brake disc of the corresponding wheel, so as to retain the braking force when a single actuator fails. Even when three actuators fail, at least the single-circuit braking capability and the ABS function after failure can still be maintained, which solves the problem that the electromechanical braking system in the prior art is prone to single-point failure or multi-point failure.

[0040] In another embodiment of this application, a vehicle control method is also provided. The control method is used to control the vehicle in the above embodiment, and the control method includes the following steps:

[0041] Step S101: Detect the working status of the motors of each actuator.

[0042] In step S102, if it is determined that the motor of one of the actuators is in a failed state, the sixth valve body S2 in the valve body assembly of the actuator in the failed state is opened and the fifth valve body S1 is closed.

[0043] In step S103, the sixth valve S2 in the valve body assembly of the actuators in the failed state is closed and the fifth valve S1 is opened. In the central valve body control system, the valve on the pipeline connecting the first chamber K1 of the failed actuator and the second chamber K2 of the diagonally arranged actuator is opened, and the valve on the pipeline connecting the second chamber K2 of the failed actuator and the first chamber K1 of the diagonally arranged actuator is closed.

[0044] In step S104, upon confirming that a braking command has been received, the motor of the actuator diagonally opposite to the actuator in the failed state is activated to lock the corresponding wheel. During the process of controlling the motor to lock the wheel, the drive oil in the actuator diagonally opposite to the failed state flows into the K1 cavity of the actuator in the failed state through the valve body assembly and the central valve body control system to establish braking pressure until it pushes the piston to move, thereby driving the caliper to lock the corresponding wheel.

[0045] Combination Figure 2 and Figure 3As shown, the above steps can achieve braking control when a single actuator fails. The left front actuator and the right rear actuator are backups for each other, as are the right front actuator and the left rear actuator. That is, the two diagonal actuators in each loop are backups for each other. When an actuator fails, as long as one actuator in each loop is still functioning normally, the braking force will not diminish.

[0046] Combination Figure 2 As shown, in another embodiment of this application, when the controller fails, the redundant backup ECU can also control the opening and closing of the fifth valve body S1, the sixth valve body S2, and the central solenoid valve in the valve body assembly of the actuator in the failed state.

[0047] In another embodiment of this application, the control method can also be used to control an anti-lock braking system (ABS), including the following steps:

[0048] Step S201: The rotational speed signal of the target wheel is acquired by the wheel speed sensor.

[0049] Step S202: Determine whether the target wheel has a tendency to lock up based on the rotation speed signal.

[0050] In step S203, when it is determined that the target wheel is showing a tendency to lock up, the valve body on the pipeline connecting the first cavity K1 of the actuator corresponding to the target wheel and the second cavity K2 of the actuator set diagonally opposite is opened, and the fourth valve body S1 of the actuator corresponding to the target wheel is opened.

[0051] Step S204: Based on the rotational speed signal, if the rotational speed of the target wheel is determined to be continuously decreasing, control the fifth valve body S1 and the sixth valve body S2 of the actuator corresponding to the target wheel to open, so as to prevent the target wheel from locking up.

[0052] Combination Figure 2 and Figure 3 As shown, the above steps can achieve anti-lock control when a single actuator fails.

[0053] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0054] Four actuators are installed corresponding to the four wheels of the vehicle. The central valve body control system is connected to each actuator through hydraulic lines. Among the actuators located diagonally opposite the four wheels, the first chamber K1 of one actuator is connected to the second chamber K2 of another actuator through the central valve body control system. When the motor of one actuator stops working, the valve body assembly of that actuator is opened. The motor drive piston of the actuator in the same circuit as the failed actuator drives the caliper to lock and unlock the brake disc of the corresponding wheel, so as to retain the braking force when a single actuator fails. Even when three actuators fail, at least the single-circuit braking capability and ABS function can still be maintained, which solves the problem that single-point or multi-point failure is easy to occur in the existing electromechanical braking system.

[0055] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0056] In addition to the above, it should be noted that the terms "one embodiment," "another embodiment," and "embodiment" used in this specification refer to specific features, structures, or characteristics described in connection with that embodiment, which are included in at least one embodiment described in the general description of this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in connection with any embodiment, the intention is to suggest that implementing such a feature, structure, or characteristic in conjunction with other embodiments also falls within the scope of this invention.

[0057] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0058] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A braking system for a vehicle, characterized in that, include: The actuator comprises four actuators, each corresponding to one of the four wheels of the vehicle. Each actuator includes a reservoir for storing drive oil, a motor, a hydraulic cylinder, a piston, a caliper, and a valve assembly. The piston is disposed within the hydraulic cylinder, dividing it into a first chamber and a second chamber. The first and second chambers are connected to the reservoir. The valve assembly is disposed on a pipeline between the hydraulic cylinder and the reservoir. The output shaft of the motor is connected to the piston, and the piston is connected to the caliper. The motor drives the piston to lock and unlock the caliper against the brake disc of the corresponding wheel. When the motor stops operating, the motor controls the opening and closing state of the valve assembly to allow drive oil from the reservoir to enter the hydraulic cylinder and drive the piston to move, thereby locking and unlocking the caliper against the brake disc of the corresponding wheel. A central valve body control system is configured to be connected to each of the actuators via hydraulic pipelines; Among the actuators located diagonally opposite the four wheels, the first cavity of one actuator is connected to the second cavity of another actuator through the central valve body control system; The central valve body control system forms a first connecting pipe and a second connecting pipe with each of the actuators through hydraulic lines, wherein the first connecting pipe and the second connecting pipe are respectively connected to two of the four wheels located diagonally. The central valve body control system includes: A first valve body, one end of which is connected to the first cavity of the first actuator among the four actuators via a first hydraulic line, and the other end of which is connected to the second cavity of the second actuator among the four actuators via a second hydraulic line, wherein the first actuator and the second actuator are arranged diagonally. The second valve body has one end connected to the second cavity of the first actuator via a third hydraulic line, and the other end connected to the first cavity of the second actuator via a fourth hydraulic line. The first connecting line is formed between the first hydraulic line, the second hydraulic line, the third hydraulic line, and the fourth hydraulic line.

2. The braking system according to claim 1, characterized in that, The central valve body control system includes: The third valve body has one end connected to the second cavity of the third actuator among the four actuators via a fifth hydraulic line, and the other end connected to the first cavity of the fourth actuator among the four actuators via a sixth hydraulic line. The third actuator and the fourth actuator are arranged diagonally. The fourth valve body has one end connected to the first cavity of the third actuator via a seventh hydraulic line, and the other end connected to the cavity of the fourth actuator via an eighth hydraulic line. The fifth hydraulic line, the sixth hydraulic line, the seventh hydraulic line and the eighth hydraulic line form the second connecting line.

3. The braking system according to claim 2, characterized in that, The first connecting pipe and the second connecting pipe are set up independently.

4. The braking system according to claim 1, characterized in that, The valve body assembly includes: The fifth valve body is disposed on the pipeline connecting the liquid storage tank and the first cavity of the actuator; The sixth valve body is disposed on the pipeline connecting the liquid storage tank and the second cavity of the actuator.

5. The braking system according to claim 2, characterized in that, Each actuator is equipped with a controller. The central valve body control system includes a central controller. The controllers of each actuator are connected to the central controller via a CAN bus. The valve body assembly of each actuator is controlled by the corresponding controller of the actuator. The valve body assembly of each actuator can also be controlled by the controllers of the actuators that are diagonally opposite each other. The first valve body, the second valve body, the third valve body, and the fourth valve body are controlled by the controllers of each actuator.

6. A vehicle, comprising a braking system, characterized in that, The braking system is the braking system according to any one of claims 1 to 5.

7. A method for controlling a vehicle, the method being used to control the vehicle of claim 6, characterized in that, The control method includes the following steps: Detect the operating status of the motors of each of the actuators; If it is determined that the motor of one of the actuators is in a failed state, the sixth valve body in the valve body assembly of the actuator in the failed state is opened and the fifth valve body is closed; Simultaneously controlling the actuator in both the failed and unsuccessful states, the sixth valve body in the valve body assembly of the diagonally arranged actuator is closed and the fifth valve body is open. In the central valve body control system, the valve body on the pipeline connecting the first cavity of the actuator in the failed state and the second cavity of the actuator diagonally arranged is open, and the valve body on the pipeline connecting the second cavity of the actuator in the failed state and the first cavity of the actuator diagonally arranged is closed. Upon receiving a braking command, the motors of the actuators diagonally opposite each other in the malfunctioning state are activated to lock the corresponding wheels. During the process of locking the wheels with the motors, the drive oil in the actuators diagonally opposite each other in the malfunctioning state flows into the first chamber of the actuator in the malfunctioning state through the valve body assembly and the central valve body control system to establish braking pressure until the piston is pushed to move, thereby driving the caliper to lock the corresponding wheels.

8. The control method according to claim 7, characterized in that, The control method further includes: The rotational speed signal of the target wheel is acquired by a wheel speed sensor; Based on the rotational speed signal, determine whether the target wheel has a tendency to lock up; If it is determined that the target wheel is showing a tendency to lock up, the valve body on the pipeline connecting the first cavity of the actuator corresponding to the target wheel and the second cavity of the actuator arranged diagonally opposite is opened, and the fifth valve body of the actuator corresponding to the target wheel is opened. When the rotational speed of the target wheel is determined to be continuously decreasing based on the rotational speed signal, the fifth and sixth valve bodies of the actuator corresponding to the target wheel are controlled to open to prevent the target wheel from locking up.

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