Control method of hydraulic brake, domain controller, hydraulic brake assembly, and vehicle

Abstract

The application discloses a hydraulic braking control method, a domain controller, a hydraulic braking assembly and a vehicle, wherein the hydraulic braking control method is applied to the domain controller, the domain controller is used for controlling the hydraulic braking assembly, the hydraulic braking assembly comprises an electronic hydraulic braking system (EHB), a hydraulic backup unit and a driving motor, the EHB and the hydraulic backup unit are connected through a hydraulic circuit, and the method comprises the following steps: when the EHB is abnormal and the hydraulic backup unit is normal, obtaining a target deceleration request of the vehicle, a maximum hydraulic backup deceleration of the hydraulic backup unit and a maximum reverse traction deceleration of the driving motor; and when a first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse traction deceleration together meets the target deceleration request, controlling the hydraulic backup unit and the driving motor to provide the braking force for the vehicle. Therefore, the vehicle has higher braking capability when the EHB is abnormal and the hydraulic backup unit is normal, the redundant braking capability of the vehicle is enhanced, and the safety of the vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent driving, and in particular to a hydraulic braking control method, a domain controller, a hydraulic braking assembly and a vehicle. BACKGROUND

[0002] In the field of intelligent driving, when facing L3 and above levels of automatic driving, the braking system of the vehicle needs to have a redundant braking function to ensure safety. Currently, the redundant braking system in the related art usually adopts a One box+RBU (Redundant Brake Unit) scheme for redundant braking. When the system is normal, One box is used for braking, and RBU only serves as a pass-through function. When One box fails, RBU is used for braking to achieve redundant braking.

[0003] The above-mentioned related art has the disadvantage that the redundant braking capability of the vehicle is insufficient. When the braking system of the vehicle fails, in order to ensure the safety of the vehicle, in addition to considering the normal failure mode and safety mechanism of the braking system, the safety redundancy requirement under the condition of invalidation of the driver's operation also needs to be considered simultaneously. Therefore, the braking capability requirement when the vehicle performs redundant braking is higher than the braking capability requirement when the vehicle performs normal braking. However, the redundant braking system in the related art can only provide the same braking capability as the normal braking system, thereby resulting in low safety performance of the vehicle. SUMMARY

[0004] The present application aims to at least partially solve one of the technical problems in the related art. To this end, a first object of the present application is to provide a hydraulic braking control method. When the electronic hydraulic braking system (EHB) is abnormal and the hydraulic backup unit is normal, the hydraulic backup unit and the drive motor are adjusted to brake according to the target deceleration request of the vehicle, so that the vehicle has higher braking capability, thereby enhancing the redundant braking capability of the vehicle and improving the safety of the vehicle.

[0005] A second object of the present application is to provide a domain controller.

[0006] A third object of the present application is to provide a hydraulic braking assembly.

[0007] A fourth object of the present application is to provide a vehicle.

[0008] To achieve the above object, the first aspect of the present application provides a hydraulic braking control method, which is applied to a domain controller, the domain controller is used for controlling a hydraulic braking assembly, the hydraulic braking assembly comprises an electronic hydraulic braking system (EHB), a hydraulic backup unit and a drive motor, the EHB and the hydraulic backup unit are connected through a hydraulic circuit; the method comprises the following steps: when the EHB is abnormal and the hydraulic backup unit is normal, obtaining a target deceleration request of a vehicle, a maximum hydraulic backup deceleration of the hydraulic backup unit and a maximum reverse-dragging deceleration of the drive motor; when a first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse-dragging deceleration together meets the target deceleration request, controlling the hydraulic backup unit and the drive motor to provide braking force for the vehicle.

[0009] According to the hydraulic braking control method provided by the embodiment of the present application, when the EHB is abnormal and the hydraulic backup unit is normal, the target deceleration request of the vehicle, the maximum hydraulic backup deceleration of the hydraulic backup unit and the maximum reverse-dragging deceleration provided by the drive motor are obtained, when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse-dragging deceleration together meets the target deceleration request, the hydraulic backup unit and the drive motor are controlled to provide braking force for the vehicle, so that the vehicle can mobilize the hydraulic backup unit and the drive motor to brake according to the deceleration request, the vehicle has higher braking capability, and the redundancy braking capability of the vehicle is enhanced, and the safety of the vehicle is improved.

[0010] According to the embodiment of the present application, when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse-dragging deceleration together meets the target deceleration request, the step of controlling the hydraulic backup unit and the drive motor to provide braking force for the vehicle comprises: when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse-dragging deceleration together meets the target deceleration request, the drive motor is controlled to provide braking force corresponding to the maximum reverse-dragging deceleration, and the hydraulic backup unit is controlled to provide braking force corresponding to the remaining deceleration, so as to provide braking force for the vehicle, wherein the remaining deceleration = the target deceleration request - the maximum reverse-dragging deceleration.

[0011] According to the embodiment of the present application, the hydraulic braking assembly further comprises an electronic parking brake system (EPB); the method further comprises: when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse-dragging deceleration together does not meet the target deceleration request, the drive motor is controlled to provide braking force corresponding to the maximum reverse-dragging deceleration, the hydraulic backup unit is controlled to provide braking force corresponding to the maximum hydraulic backup deceleration, and the EPB is controlled to provide braking force corresponding to the electronic parking deceleration, so as to provide braking force for the vehicle.

[0012] According to one embodiment of the present application, the method further comprises: obtaining a target deceleration request of the vehicle and a maximum reverse-towing deceleration of the drive motor when the EHB is abnormal and the hydraulic backup unit is abnormal; and controlling the drive motor to provide a braking force corresponding to the target deceleration request to provide the braking force to the vehicle when a second braking force provided by the maximum reverse-towing deceleration meets the target deceleration request.

[0013] According to one embodiment of the present application, the hydraulic braking assembly further comprises an electronic parking brake system (EPB), and the method further comprises: controlling the drive motor to provide a braking force corresponding to the maximum reverse-towing deceleration and controlling the EPB to provide a braking force corresponding to an electronic parking deceleration to provide the braking force to the vehicle when a second braking force provided by the maximum reverse-towing deceleration does not meet the target deceleration request.

[0014] According to one embodiment of the present application, the method further comprises: obtaining a target deceleration request of the vehicle and a maximum reverse-towing deceleration of the drive motor when the EHB is normal; and controlling the drive motor to provide a braking force corresponding to the maximum reverse-towing deceleration and controlling the EHB to provide a braking force corresponding to a residual deceleration to provide the braking force to the vehicle, wherein the residual deceleration = the target deceleration request - the maximum reverse-towing deceleration.

[0015] According to one embodiment of the present application, the step of providing the braking force to the vehicle further comprises: controlling the EHB to be parked on both sides or on one side when the vehicle is in a non-moving state.

[0016] To achieve the above object, a second embodiment of the present application provides a domain controller for controlling a hydraulic braking assembly, the hydraulic braking assembly comprising an electronic hydraulic braking system (EHB), a hydraulic backup unit and a drive motor, the EHB and the hydraulic backup unit being connected through a hydraulic circuit; the domain controller comprising: an obtaining module for obtaining a target deceleration request of the vehicle, a maximum hydraulic backup deceleration of the hydraulic backup unit and a maximum reverse-towing deceleration of the drive motor when the EHB is abnormal and the hydraulic backup unit is normal; and a control module for controlling the hydraulic backup unit and the drive motor to provide a braking force to the vehicle when a first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse-towing deceleration together meets the target deceleration request.

[0017] According to the domain controller of the embodiment of the present application, when the electronic hydraulic brake system EHB is abnormal and the hydraulic backup unit is normal, the target deceleration request of the vehicle, the maximum hydraulic backup deceleration of the hydraulic backup unit and the maximum reverse traction deceleration provided by the drive motor are acquired by the acquisition module, and when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse traction deceleration together meets the target deceleration request, the hydraulic backup unit and the drive motor are controlled by the control module to provide braking force for the vehicle, so that the vehicle can mobilize the hydraulic backup unit and the drive motor to brake according to the deceleration request, the vehicle has higher braking capacity, and thus the redundant braking capacity of the vehicle is enhanced and the safety of the vehicle is improved.

[0018] To achieve the above object, the third aspect of the present application provides a hydraulic brake assembly, comprising: an electronic hydraulic brake system EHB, the EHB being configured to provide braking force for front and rear axles of a vehicle; a hydraulic backup unit, the EHB and the hydraulic backup unit being connected through a hydraulic circuit, the hydraulic backup unit being configured to provide braking force for the front axle of the vehicle; a drive motor, the drive motor being configured to provide braking force for the front and rear axles of the vehicle; and a controller, the controller being connected to the EHB, the hydraulic backup unit and the drive motor respectively, and the controller being configured to: when the EHB is abnormal and the hydraulic backup unit is normal, acquire a target deceleration request of the vehicle, a maximum hydraulic backup deceleration of the hydraulic backup unit and a maximum reverse traction deceleration of the drive motor, and when a first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse traction deceleration together meets the target deceleration request, control the hydraulic backup unit and the drive motor to provide braking force for the vehicle.

[0019] According to the hydraulic brake assembly of the embodiment of the present application, when the electronic hydraulic brake system EHB is abnormal and the hydraulic backup unit is normal, the target deceleration request of the vehicle, the maximum hydraulic backup deceleration of the hydraulic backup unit and the maximum reverse traction deceleration provided by the drive motor are acquired by the controller, and when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse traction deceleration together meets the target deceleration request, the hydraulic backup unit and the drive motor are controlled to provide braking force for the vehicle, so that the vehicle can mobilize the hydraulic backup unit and the drive motor to brake according to the deceleration request, the vehicle has higher braking capacity, and thus the redundant braking capacity of the vehicle is enhanced and the safety of the vehicle is improved.

[0020] To achieve the above object, the fourth aspect of the present application provides another vehicle, comprising the hydraulic brake assembly described above.

[0021] According to the vehicle of the embodiment of the present application, the hydraulic brake assembly described above can be used to mobilize the hydraulic backup unit and the drive motor to brake according to the deceleration request, so that the vehicle has higher braking capacity, and thus the redundant braking capacity of the vehicle is enhanced and the safety of the vehicle is improved.

[0022] Additional aspects and advantages of the present application will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 A structural schematic diagram of a hydraulic brake assembly according to an embodiment of the present application;

[0024] Figure 2 A flow chart of a control method of hydraulic braking according to an embodiment of the present application;

[0025] Figure 3 A structural schematic diagram of a hydraulic brake assembly according to another embodiment of the present application;

[0026] Figure 4 A structural schematic diagram of a domain controller according to an embodiment of the present application;

[0027] Figure 5 A structural schematic diagram of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which like or similar elements are denoted by the same or similar reference signs, and the embodiments described below are examples for explaining the present application and are not to be construed as limiting the present application.

[0029] A control method of hydraulic braking, a domain controller, a hydraulic brake assembly and a vehicle according to embodiments of the present application are described below with reference to the accompanying drawings.

[0030] It should be noted that the control method of hydraulic braking according to embodiments of the present application can be applied in a domain controller, and the domain controller is applied to control Figure 1 The hydraulic brake assembly shown in FIG. 1, with reference to Figure 1 The hydraulic brake assembly 100 includes an electronic hydraulic brake system EHB, a hydraulic backup unit 110, and a drive motor M, wherein the EHB and the hydraulic backup unit 110 are connected through a hydraulic circuit, the EHB is used to provide braking force to front and rear axles of a vehicle, the hydraulic backup unit 110 is used to provide braking force to the front and rear axles of the vehicle, and the drive motor M includes a front motor arranged at a front axle of the vehicle and used to provide braking force to the front axle of the vehicle, and a rear motor arranged at a rear axle of the vehicle and used to provide braking force to the rear axle of the vehicle.

[0031] Figure 2 A flow chart of a control method of hydraulic braking according to an embodiment of the present application, with reference to Figure 2 The control method of hydraulic braking includes:

[0032] S11, when the EHB is abnormal and the hydraulic backup unit is normal, obtaining a target deceleration request of the vehicle, a maximum hydraulic backup deceleration of the hydraulic backup unit, and a maximum reverse-towing deceleration of the drive motor.

[0033] Specifically, the target deceleration request of the vehicle includes a braking force required by the deceleration request, for example, when a user drives the vehicle, stepping on the brake pedal is a deceleration request to the vehicle, and the opening degree of the brake pedal corresponds to the braking force required by the deceleration request of the vehicle; when the EHB is abnormal and the hydraulic backup unit is normal, the hydraulic backup unit can be connected to the front and rear axles of the vehicle through a hydraulic circuit to provide braking force for the vehicle, and the maximum hydraulic backup deceleration of the hydraulic backup unit corresponds to the upper limit of the braking force that the hydraulic backup unit can provide for the vehicle; at the same time, since the drive motor of the electric vehicle has four-quadrant output capability of positive and negative speed and positive and negative torque, the positive and negative torque characteristics enable the drive motor not only to realize the function of driving but also to participate in braking, and therefore the maximum reverse-towing deceleration of the current drive motor corresponds to the upper limit of the braking force that the drive motor operating in the reverse-towing mode can provide for the vehicle.

[0034] S12, when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse-towing deceleration together meets the target deceleration request, controlling the hydraulic backup unit and the drive motor to provide braking force for the vehicle.

[0035] Specifically, the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse-towing deceleration together corresponds to the upper limit of the braking force that the current vehicle can obtain, and when the first braking force meets the target deceleration request, the hydraulic backup unit and the drive motor can be controlled to provide the first braking force for the vehicle, so that the braking force of the vehicle can exceed the braking force required by the target deceleration request, thereby enhancing the redundant braking performance of the vehicle and improving the safety of the vehicle.

[0036] In some embodiments, when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse-towing deceleration together meets the target deceleration request, the step of controlling the hydraulic backup unit and the drive motor to provide braking force for the vehicle includes: when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse-towing deceleration together meets the target deceleration request, controlling the drive motor to provide braking force corresponding to the maximum reverse-towing deceleration, and controlling the hydraulic backup unit to provide braking force corresponding to the remaining deceleration, so as to provide braking force for the vehicle, wherein the remaining deceleration = target deceleration request - maximum reverse-towing deceleration.

[0037] Specifically, if the first braking force meets the target deceleration request, it means that the first braking force is greater than the braking force required by the target deceleration request, at this time, the hydraulic backup unit can be controlled to provide a hydraulic backup deceleration, and the drive motor can be controlled to provide a maximum reverse traction deceleration, so as to provide braking force for the vehicle, and the specific braking force distribution mode is to make the drive motor provide the maximum reverse traction deceleration, so that the drive motor recovers energy as much as possible, if the braking force required by the target deceleration request is higher than the braking force provided by the maximum reverse traction deceleration, then the residual deceleration can be calculated according to the formula: residual deceleration = target deceleration request - maximum reverse traction deceleration, and the braking force corresponding to the residual deceleration is supplemented by the hydraulic backup unit, for example, if the residual deceleration is zero, the hydraulic backup unit does not act, so that the vehicle can decelerate according to the deceleration request, and the drive motor obtains the maximum energy recovery, thereby improving the endurance of the vehicle.

[0038] In some embodiments, with reference to Figure 3 As shown in the figure, the hydraulic braking assembly 100 further comprises an electronic parking brake system EPB, and the method further comprises: when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse traction deceleration together does not meet the target deceleration request, controlling the drive motor to provide the braking force corresponding to the maximum reverse traction deceleration, controlling the hydraulic backup unit to provide the braking force corresponding to the maximum hydraulic backup deceleration, and controlling the EPB to provide the braking force corresponding to the electronic parking deceleration, so as to provide braking force for the vehicle.

[0039] Specifically, when the first braking force does not meet the target deceleration request, it means that the braking force required by the vehicle at this time is relatively high, at this time, the hydraulic backup unit can be controlled to provide the maximum hydraulic backup deceleration, and the drive motor can be controlled to provide the maximum reverse traction deceleration, so as to provide the first braking force for the vehicle; in addition, when the hydraulic braking assembly includes an electronic parking brake system EPB, the electronic parking brake system EPB can also be controlled to provide the braking force corresponding to the electronic parking deceleration, so that the braking force of the vehicle is increased to the maximum, so that the vehicle can complete braking according to the target deceleration request, and the drive motor obtains energy recovery, thereby improving the endurance of the vehicle.

[0040] In some embodiments, the method further comprises: when the EHB is abnormal and the hydraulic backup unit is abnormal, obtaining the target deceleration request of the vehicle and the maximum reverse traction deceleration of the drive motor; when the second braking force provided by the maximum reverse traction deceleration meets the target deceleration request, controlling the drive motor to provide the braking force corresponding to the target deceleration request, so as to provide braking force for the vehicle.

[0041] Further, with reference to Figure 3As shown, the hydraulic brake assembly 100 further comprises an electronic parking brake system EPB; the method further comprises: when the second brake force provided by the maximum reverse deceleration speed fails to meet the target deceleration request, controlling the drive motor to provide a brake force corresponding to the maximum reverse deceleration speed, and controlling the EPB to provide a brake force corresponding to the electronic parking deceleration speed, so as to provide the vehicle with the brake force.

[0042] Specifically, the second brake force corresponds to the upper limit of the brake force that the drive motor can provide for the vehicle. When the EHB is abnormal and the hydraulic backup unit is abnormal, if the second brake force can meet the target deceleration request, the drive motor can be controlled to provide the maximum reverse deceleration speed, so that the vehicle can brake according to the target deceleration request, and the drive motor can obtain energy recovery; when the second brake force fails to meet the deceleration request, it indicates that the brake force required by the deceleration request at this time is high, and the drive motor can be controlled to provide the maximum reverse deceleration speed, so that the vehicle obtains the second brake force; at the same time, when the hydraulic brake assembly comprises an electronic parking brake system EPB, the electronic parking brake system EPB can be controlled to provide a brake force corresponding to the electronic parking deceleration speed, so that the brake force of the vehicle is increased to the maximum, and the vehicle can be ensured to brake stably according to the target deceleration request, thereby improving the safety of the vehicle.

[0043] In some embodiments, the method further comprises: when the EHB is normal, obtaining a target deceleration request of the vehicle and a maximum reverse deceleration speed of the drive motor; controlling the drive motor to provide a brake force corresponding to the maximum reverse deceleration speed, and controlling the EHB to provide a brake force corresponding to a residual deceleration speed, so as to provide the vehicle with the brake force, wherein the residual deceleration speed = the target deceleration request - the maximum reverse deceleration speed.

[0044] Specifically, when the EHB is normal, the brake force of the vehicle can be provided by the EHB and the drive motor together, and the brake force distribution principle is similar to that when the EHB is abnormal and the hydraulic backup unit is normal, that is, the drive motor provides a brake force corresponding to the maximum reverse deceleration speed, and if the brake force required by the target deceleration request is greater than the brake force corresponding to the maximum reverse deceleration speed, a residual deceleration speed is calculated by the formula: residual deceleration speed = target deceleration request - maximum reverse deceleration speed, and a brake force corresponding to the residual deceleration speed is provided by the EHB, and if the residual deceleration speed is zero, the EHB does not work, so that the vehicle can decelerate according to the deceleration request, and the drive motor can obtain maximum energy recovery, thereby improving the endurance of the vehicle.

[0045] In some embodiments, after the step of providing the vehicle with the brake force, the method further comprises: when the vehicle is in a non-movement state, controlling the EHB to provide parking on both sides or parking on one side.

[0046] Specifically, after the step of providing braking force to the vehicle, the vehicle is braked, at this time, when the vehicle is in a non-movement state, the EPB can be controlled to perform parking, wherein when the EPB of the vehicle is normal, the EPB can be controlled to perform normal two-side parking; when the EPB of the vehicle fails during braking, one-side parking can be performed, and the one-side parking light is controlled to be turned on to remind surrounding vehicles to avoid, thereby improving the safety of the vehicle.

[0047] In summary, according to the control method of hydraulic braking of the embodiment of the present application, when the EHB is abnormal and the hydraulic backup unit is normal, the target deceleration request of the vehicle, the maximum hydraulic backup deceleration of the hydraulic backup unit and the maximum anti-drag deceleration provided by the drive motor are obtained, when the first braking force provided by the maximum hydraulic backup deceleration and the maximum anti-drag deceleration meets the target deceleration request, the hydraulic backup unit and the drive motor are controlled to provide braking force to the vehicle, so that the vehicle can mobilize the hydraulic backup unit and the drive motor to brake according to the deceleration request, and the vehicle has higher braking capacity; at the same time, the braking force is reasonably distributed according to the size of the braking force required by the target deceleration request, so that the drive motor can obtain the maximum energy recovery, thereby improving the cruising range of the vehicle; in addition, when the braking force required by the target deceleration request is large, the EPB is controlled to provide the braking force corresponding to the electronic parking deceleration, so that the vehicle can be stably braked, thereby enhancing the redundant braking capacity of the vehicle and improving the safety of the vehicle.

[0048] Corresponding to the above embodiment, an embodiment of the present application also provides a domain controller for controlling a hydraulic braking assembly, referring to Figure 1 As shown, the hydraulic braking assembly 100 includes an electronic hydraulic braking system EHB, a hydraulic backup unit 110 and a drive motor M, the EHB and the hydraulic backup unit 110 are connected through a hydraulic circuit; referring to Figure 4 As shown, the domain controller 200 includes an acquisition module 210 and a control module 220.

[0049] The acquisition module 210 is configured to acquire the target deceleration request of the vehicle, the maximum hydraulic backup deceleration of the hydraulic backup unit 110 and the maximum anti-drag deceleration of the drive motor M when the EHB is abnormal and the hydraulic backup unit 110 is normal; the control module 220 is configured to control the hydraulic backup unit 110 and the drive motor M to provide braking force to the vehicle when the first braking force provided by the maximum hydraulic backup deceleration and the maximum anti-drag deceleration meets the target deceleration request.

[0050] According to one embodiment of the present application, when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse traction deceleration together meets the target deceleration request, the control module 220 is further configured to: when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse traction deceleration together meets the target deceleration request, control the drive motor M to provide a braking force corresponding to the maximum reverse traction deceleration, and control the hydraulic backup unit 110 to provide a braking force corresponding to a remaining deceleration, so as to provide the braking force to the vehicle, wherein the remaining deceleration = the target deceleration request - the maximum reverse traction deceleration.

[0051] According to one embodiment of the present application, as shown in Figure 3 According to one embodiment of the present application, when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse traction deceleration together meets the target deceleration request, the control module 220 is further configured to: when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse traction deceleration together meets the target deceleration request, control the drive motor M to provide a braking force corresponding to the maximum reverse traction deceleration, and control the hydraulic backup unit 110 to provide a braking force corresponding to a remaining deceleration, so as to provide the braking force to the vehicle, wherein the remaining deceleration = the target deceleration request - the maximum reverse traction deceleration.

[0052] According to one embodiment of the present application, when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse traction deceleration together meets the target deceleration request, the control module 220 is further configured to: when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse traction deceleration together meets the target deceleration request, control the drive motor M to provide a braking force corresponding to the maximum reverse traction deceleration, and control the hydraulic backup unit 110 to provide a braking force corresponding to a remaining deceleration, so as to provide the braking force to the vehicle, wherein the remaining deceleration = the target deceleration request - the maximum reverse traction deceleration.

[0053] According to one embodiment of the present application, as shown in Figure 3 According to one embodiment of the present application, when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse traction deceleration together meets the target deceleration request, the control module 220 is further configured to: when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse traction deceleration together meets the target deceleration request, control the drive motor M to provide a braking force corresponding to the maximum reverse traction deceleration, and control the hydraulic backup unit 110 to provide a braking force corresponding to a remaining deceleration, so as to provide the braking force to the vehicle, wherein the remaining deceleration = the target deceleration request - the maximum reverse traction deceleration.

[0054] According to one embodiment of the present application, when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse traction deceleration together meets the target deceleration request, the control module 220 is further configured to: when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse traction deceleration together meets the target deceleration request, control the drive motor M to provide a braking force corresponding to the maximum reverse traction deceleration, and control the hydraulic backup unit 110 to provide a braking force corresponding to a remaining deceleration, so as to provide the braking force to the vehicle, wherein the remaining deceleration = the target deceleration request - the maximum reverse traction deceleration.

[0055] According to one embodiment of the present application, after the step of providing the braking force to the vehicle, the control module 220 is further configured to: when the vehicle is in a non-movement state, control the EHB to provide a parking on both sides or a parking on one side.

[0056] It should be noted that the description of the domain controller in the present application refers to the description of the control method of the hydraulic brake in the present application, which will not be described here.

[0057] According to the domain controller of the embodiment of the present application, when the electronic hydraulic brake system EHB is abnormal and the hydraulic backup unit is normal, the target deceleration request of the vehicle, the maximum hydraulic backup deceleration of the hydraulic backup unit and the maximum anti-drag deceleration provided by the drive motor are obtained by the obtaining module. When the first braking force provided by the maximum hydraulic backup deceleration and the maximum anti-drag deceleration meets the target deceleration request, the control module controls the hydraulic backup unit and the drive motor to provide braking force for the vehicle, so that the vehicle can mobilize the hydraulic backup unit and the drive motor to brake according to the deceleration request, and the vehicle has higher braking capacity. At the same time, the control module reasonably allocates the braking force according to the size of the braking force required by the deceleration request, so that the drive motor can obtain the maximum energy recovery, thereby improving the cruising range of the vehicle. In addition, when the braking force required by the target deceleration request is large, the control module controls the EPB to provide the braking force corresponding to the electronic parking deceleration, so that the vehicle can brake stably, thereby enhancing the redundant braking capacity of the vehicle and improving the safety of the vehicle.

[0058] Corresponding to the above-mentioned embodiment, the embodiment of the present application also provides a hydraulic brake assembly, as shown in Figure 1 , the hydraulic brake assembly 100 comprises an electronic hydraulic brake system EHB, a hydraulic backup unit 110, a drive motor M and a controller (not shown).

[0059] Among them, the EHB is used to provide braking force for the front and rear axles of the vehicle; the EHB and the hydraulic backup unit 110 are connected through a hydraulic circuit, and the hydraulic backup unit 110 is used to provide braking force for the front axle of the vehicle; the drive motor M is used to provide braking force for the front and rear axles of the vehicle; the controller is connected with the EHB, the hydraulic backup unit 110 and the drive motor M respectively, and the controller is configured to: when the EHB is abnormal and the hydraulic backup unit 110 is normal, obtain the target deceleration request of the vehicle, the maximum hydraulic backup deceleration of the hydraulic backup unit and the maximum anti-drag deceleration of the drive motor, and when the first braking force provided by the maximum hydraulic backup deceleration and the maximum anti-drag deceleration meets the target deceleration request, control the hydraulic backup unit 110 and the drive motor M to provide braking force for the vehicle.

[0060] It should be noted that, as shown in Figure 1 , the drive motor M includes a front motor arranged on the front axle of the vehicle for providing braking force for the front axle of the vehicle, and a rear motor arranged on the rear axle for providing braking force for the rear axle of the vehicle.

[0061] According to one embodiment of the present application, when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse traction deceleration together does not satisfy the target deceleration request, the controller is further configured to control the drive motor M to provide a braking force corresponding to the maximum reverse traction deceleration, and control the hydraulic backup unit 110 to provide a braking force corresponding to the maximum hydraulic backup deceleration, and control the EPB to provide a braking force corresponding to the electronic parking deceleration, so as to provide the braking force to the vehicle.

[0062] According to one embodiment of the present application, referring to FIG. 1, the hydraulic braking assembly 100 further comprises an electronic parking brake system EPB; and the controller is further configured to, when the second braking force provided by the maximum reverse traction deceleration does not satisfy the target deceleration request, control the drive motor M to provide a braking force corresponding to the maximum reverse traction deceleration, and control the EPB to provide a braking force corresponding to the electronic parking deceleration, so as to provide the braking force to the vehicle. Figure 3

[0063] According to one embodiment of the present application, when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse traction deceleration together does not satisfy the target deceleration request, the controller is further configured to control the drive motor M to provide a braking force corresponding to the maximum reverse traction deceleration, and control the hydraulic backup unit 110 to provide a braking force corresponding to the maximum hydraulic backup deceleration, and control the EPB to provide a braking force corresponding to the electronic parking deceleration, so as to provide the braking force to the vehicle.

[0064] According to one embodiment of the present application, referring to FIG. 1, the hydraulic braking assembly 100 further comprises an electronic parking brake system EPB; and the controller is further configured to, when the second braking force provided by the maximum reverse traction deceleration does not satisfy the target deceleration request, control the drive motor M to provide a braking force corresponding to the maximum reverse traction deceleration, and control the EPB to provide a braking force corresponding to the electronic parking deceleration, so as to provide the braking force to the vehicle. Figure 3 According to one embodiment of the present application, when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse traction deceleration together does not satisfy the target deceleration request, the controller is further configured to control the drive motor M to provide a braking force corresponding to the maximum reverse traction deceleration, and control the hydraulic backup unit 110 to provide a braking force corresponding to the maximum hydraulic backup deceleration, and control the EPB to provide a braking force corresponding to the electronic parking deceleration, so as to provide the braking force to the vehicle.

[0065] According to one embodiment of the present application, after the step of providing the braking force to the vehicle, the controller is further configured to, when the vehicle is in a non-moving state, control the EHB to provide a parking on both sides or a parking on one side.

[0066]

[0067] ​​It should be noted that the description of the hydraulic brake assembly in the present application refers to the description of the control method of the hydraulic brake in the present application, which will not be repeated here.

[0068] According to the hydraulic brake assembly of the embodiment of the present application, when the electronic hydraulic brake system EHB is abnormal and the hydraulic backup unit is normal, the controller obtains the target deceleration request of the vehicle and the maximum hydraulic backup deceleration of the hydraulic backup unit and the maximum reverse drag deceleration provided by the drive motor, and when the first braking force provided by the maximum hydraulic backup deceleration and the maximum reverse drag deceleration together meets the target deceleration request, the controller controls the hydraulic backup unit and the drive motor to provide braking force for the vehicle, so that the vehicle can mobilize the hydraulic backup unit and the drive motor to brake according to the deceleration request, and the vehicle has higher braking capacity; at the same time, the controller reasonably allocates the braking force according to the size of the braking force required by the deceleration request, so that the drive motor can obtain the maximum energy recovery, thereby improving the cruising range of the vehicle; in addition, when the braking force required by the target deceleration request is large, the controller controls the EPB to provide the braking force corresponding to the electronic parking deceleration, so that the vehicle can be braked stably, thereby enhancing the redundant braking capacity of the vehicle and improving the safety of the vehicle.

[0069] Corresponding to the above-mentioned embodiments, the embodiments of the present application also provide a vehicle, as shown in Figure 5 The vehicle 1000 includes the aforementioned hydraulic brake assembly 100.

[0070] According to the vehicle of the embodiment of the present application, through the aforementioned hydraulic brake assembly, the vehicle can mobilize the hydraulic backup unit, the drive motor and the electronic parking system to brake according to the target deceleration request, so that the vehicle has higher braking capacity, thereby improving the safety of the vehicle; at the same time, the drive motor can obtain the maximum energy recovery, thereby improving the cruising range of the vehicle.

[0071] It is to be appreciated that the above description and the examples that follow are intended to be illustrative only and that changes can be made to the description, as represented by the above listed elements, by the steps recited in the flow charts, and by the examples that follow, without departing from the spirit of the application. Accordingly, the scope of the present application is intended to be defined only by the appended claims.

[0072] It should be understood that aspects of the application can be implemented in hardware, software, firmware or a combination thereof. In the above embodiments, various steps or methods can be implemented in software or firmware that is stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any of the following techniques, which are well known in the art of hardware implementation, can be used: a hybrid of the above techniques, a mixture of two or more of the above techniques, or a combination of the above techniques with other techniques not listed above.

[0073] In the description of the present application, the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. The illustrative appearances of the above-mentioned terms in various places in the specification are not intended to exclude that the terms in one place can refer to the same feature, structure, material, or characteristic as in another place, even if the above-mentioned terms are not explicitly used in one place. Furthermore, it is intended that the specific features, structures, materials, or characteristics described can be combined in any and all suitable ways.

[0074] In addition, the terms "first", "second", etc. are used only for the purpose of description, and should not be understood as indicating or implying relative importance or implying a number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified and limited.

[0075] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. 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.

[0076] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A control method for hydraulic braking, characterized in that, It is applied to a domain controller, which controls a hydraulic braking assembly, the hydraulic braking assembly including an electro-hydraulic braking system (EHB), a hydraulic backup unit, and a drive motor, wherein the EHB and the hydraulic backup unit are connected via a hydraulic circuit; the method includes: When the EHB is abnormal and the hydraulic backup unit is normal, the target deceleration request of the vehicle, the maximum hydraulic backup deceleration of the hydraulic backup unit, and the maximum anti-drag deceleration of the drive motor are obtained. When the first braking force provided by the maximum hydraulic backup deceleration and the maximum anti-drag deceleration meets the target deceleration request, the hydraulic backup unit and the drive motor are controlled to provide braking force to the vehicle.

2. The hydraulic braking control method according to claim 1, characterized in that, The step of controlling the hydraulic backup unit and the drive motor to provide braking force to the vehicle when the first braking force jointly provided by the maximum hydraulic backup deceleration and the maximum anti-drag deceleration satisfies the target deceleration request includes: When the first braking force provided by the maximum hydraulic backup deceleration and the maximum anti-drag deceleration satisfies the target deceleration request, the drive motor is controlled to provide braking force corresponding to the maximum anti-drag deceleration, and the hydraulic backup unit is controlled to provide braking force corresponding to the remaining deceleration, so as to provide braking force to the vehicle, wherein the remaining deceleration = target deceleration request - maximum anti-drag deceleration.

3. The hydraulic braking control method according to claim 2, characterized in that, The hydraulic braking assembly further includes: an electronic parking brake system (EPB); the method further includes: When the first braking force provided by the maximum hydraulic backup deceleration and the maximum anti-drag deceleration does not meet the target deceleration request, the drive motor is controlled to provide braking force corresponding to the maximum anti-drag deceleration, the hydraulic backup unit is controlled to provide braking force corresponding to the maximum hydraulic backup deceleration, and the EPB is controlled to provide braking force corresponding to the electronic parking deceleration, so as to provide braking force to the vehicle.

4. The hydraulic braking control method according to claim 1, characterized in that, The method further includes: When the EHB malfunctions and the hydraulic backup unit malfunctions, the target deceleration request of the vehicle and the maximum anti-drag deceleration of the drive motor are obtained. When the second braking force provided by the maximum anti-drag deceleration speed meets the target deceleration request, the drive motor is controlled to provide braking force corresponding to the target deceleration request to provide braking force to the vehicle.

5. The hydraulic braking control method according to claim 4, characterized in that, The hydraulic braking assembly further includes: an electronic parking brake system (EPB); the method further includes: When the second braking force provided by the maximum anti-drag deceleration does not meet the target deceleration request, the drive motor is controlled to provide braking force corresponding to the maximum anti-drag deceleration, and the EPB is controlled to provide braking force corresponding to the electronic parking deceleration, so as to provide braking force to the vehicle.

6. The hydraulic braking control method according to claim 1, characterized in that, The method further includes: When the EHB is normal, obtain the target deceleration request of the vehicle and the maximum anti-drag deceleration of the drive motor; The drive motor is controlled to provide braking force corresponding to the maximum anti-drag deceleration, and the EHB is controlled to provide braking force corresponding to the remaining deceleration, so as to provide braking force to the vehicle, wherein the remaining deceleration = target deceleration request - maximum anti-drag deceleration.

7. The hydraulic braking control method according to claim 3 or 5, characterized in that, Following the step of providing braking force to the vehicle, the method further includes: When the vehicle is not in motion, control the EHB to park on both sides or on one side.

8. A domain controller, characterized in that, It is used to control a hydraulic braking assembly, which includes an electro-hydraulic braking system (EHB), a hydraulic backup unit, and a drive motor. The EHB and the hydraulic backup unit are connected via a hydraulic circuit. The domain controller includes: The acquisition module is used to acquire the vehicle's target deceleration request, the maximum hydraulic backup deceleration of the hydraulic backup unit, and the maximum anti-drag deceleration of the drive motor when the EHB is abnormal and the hydraulic backup unit is normal. The control module is used to control the hydraulic backup unit and the drive motor to provide braking force to the vehicle when the first braking force provided by the maximum hydraulic backup deceleration and the maximum anti-drag deceleration meets the target deceleration request.

9. A hydraulic braking assembly, characterized in that, It includes: An electro-hydraulic braking system (EHB) is used to provide braking force to the front and rear axles of a vehicle. A hydraulic backup unit is provided, wherein the EHB and the hydraulic backup unit are connected via a hydraulic circuit, and the hydraulic backup unit is used to provide braking force to the front axle of the vehicle. A drive motor is used to provide braking force to the front and rear axles of the vehicle; A controller, connected to the EHB, the hydraulic backup unit, and the drive motor, is configured to: when the EHB is abnormal and the hydraulic backup unit is normal, acquire the target deceleration request of the vehicle, the maximum hydraulic backup deceleration of the hydraulic backup unit, and the maximum anti-drag deceleration of the drive motor; and when the first braking force provided by the maximum hydraulic backup deceleration and the maximum anti-drag deceleration satisfies the target deceleration request, control the hydraulic backup unit and the drive motor to provide braking force to the vehicle.

10. A vehicle, characterized in that, This includes the domain controller according to claim 8, or the hydraulic braking assembly according to claim 9.

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