Vehicle braking system, method, vehicle, electronic device and medium

Abstract

The present invention provides a vehicle braking system, method, vehicle, electronic equipment and medium, wherein the vehicle braking method includes a control unit, a brake unit, an integrated brake control assembly, a redundant brake control unit, a brake button and a first sensor module, the integrated brake control assembly is used to drive the brake unit to brake, the redundant brake control unit includes a pressure building module, the pressure building module is used to generate hydraulic pressure to drive the brake unit to brake, the pressure building module is electrically connected to the control unit, the brake button is arranged in the vehicle's cab, the first sensor module is used to detect the pressing depth of the brake button, the first sensor module is electrically connected to the control unit, when the integrated brake control assembly is in a fault state, the driver can brake the vehicle by pressing the brake button, the braking operation can be convenient, more labor-saving, and the vehicle driving safety is ensured.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle braking system, method, vehicle, electronic equipment and medium. Background Art

[0002] At present, in order to meet the functional safety requirements of L3 and above autonomous driving, vehicles need to be equipped with redundant brake control units (RBU), but the functions and working scenarios of RBU on the market are limited. When the integrated brake control assembly (IBC) is in a faulty state, the RBU will take over the brake and enter the mechanical backup mode. At this time, the master cylinder connected to the brake pedal is directly connected to the brake. When the driver steps on the brake pedal, the brake pedal directly drives the master cylinder to push the oil into the brake to achieve braking. This causes the resistance of the brake pedal to become particularly large, which is not conducive to the driver stepping on the brake pedal. In emergency braking situations, it is easy to brake in time. Summary of the invention

[0003] The present invention provides a vehicle braking system, method, vehicle, electronic equipment and medium. When a redundant braking control unit takes over the brake, the driver can press a brake button to control the brake unit to brake, and electronic power-assisted braking can be provided, so that the driver can brake in time to ensure driving safety.

[0004] According to a first aspect of an embodiment of the present invention, a vehicle braking system is applied to a vehicle, and the vehicle braking system includes: a control unit; a brake unit; an integrated brake control assembly, used to drive the brake unit to brake; a redundant brake control unit, including a pressure building module, the pressure building module is used to generate hydraulic pressure to drive the brake unit to brake, the pressure building module is electrically connected to the control unit; a brake button is provided in a cab of the vehicle; a first sensor module is used to detect the pressing depth of the brake button, the first sensor module is electrically connected to the control unit; wherein the control unit is configured to control the pressure building module to drive the brake unit to brake according to the pressing depth when the integrated brake control assembly is in a fault state.

[0005] The vehicle braking system according to the embodiment of the present invention has at least the following beneficial effects:

[0006] The embodiment of the present invention sets a brake button. When the integrated brake control assembly is in a fault state, the redundant brake control unit takes over the control of the brake unit. When the driver presses the brake button, the first sensor module can detect the pressing depth of the brake button and transmit the signal of the pressing depth to the control unit. The control unit can control the pressure building module to generate a hydraulic pressure corresponding to the pressing depth, so that the pressure building module drives the brake unit to brake, thereby realizing the driver's braking intention. The embodiment of the present invention provides an electronically assisted braking method. Compared with the traditional mechanical backup mode of braking by stepping on the brake pedal, the embodiment of the present invention allows the driver to brake more conveniently and with less effort, thereby ensuring timely braking and driving safety.

[0007] According to some embodiments of the present invention, the vehicle braking system includes a master cylinder, a brake pedal and a second sensor module, the brake pedal is located in the cab of the vehicle, the brake pedal is connected to the master cylinder, the master cylinder is connected to the brake unit through a hydraulic pipeline, the hydraulic pipeline is provided with a switch valve, the switch valve is used to conduct or block the hydraulic pipeline, the second sensor module is used to detect the hydraulic pressure of the master cylinder, and the second sensor module is electrically connected to the control unit.

[0008] According to some embodiments of the present invention, the brake button includes a button body and a damping module, the damping module is used to provide a pressing damping force to the button body, and the pressing damping force is positively correlated with the pressing depth.

[0009] A vehicle braking method according to an embodiment of a second aspect of the present invention is applied to a vehicle braking system according to an embodiment of the first aspect, and the vehicle braking method comprises:

[0010] In response to receiving a fault signal, the fault signal indicates that the integrated brake control assembly is in a fault state;

[0011] When a first braking request is received, obtaining a pressing depth of the brake button, wherein the first braking request is characterized by the driver pressing the brake button;

[0012] determining a first target hydraulic pressure of the vehicle according to the pressing depth;

[0013] The pressure building module is controlled to generate the first target hydraulic pressure to drive the brake unit to brake.

[0014] The vehicle braking method according to the embodiment of the present invention has at least the following beneficial effects:

[0015] The embodiment of the present invention sets a brake button. When the integrated brake control assembly is in a fault state, the redundant brake control unit takes over the control of the brake unit. When the driver presses the brake button, the brake button is set, and the control unit receives a first braking request. The first sensor module can detect the pressing depth of the brake button. The control unit obtains the pressing depth of the first sensor module, and the control unit determines the first target hydraulic pressure of the vehicle according to the pressing depth. The control unit controls the pressure building module to generate a corresponding hydraulic pressure, so that the pressure building module drives the brake unit to brake the vehicle with the first target hydraulic pressure. The embodiment of the present invention mainly provides an electronic power-assisted braking method. Compared with the traditional mechanical backup mode of braking by stepping on the brake pedal, the embodiment of the present invention allows the driver to brake more conveniently, ensuring timely braking and driving safety.

[0016] According to some embodiments of the present invention, determining the first target hydraulic pressure of the vehicle according to the pressing depth of the brake button includes:

[0017] Acquire a preset relationship function between the pressing depth and the first target hydraulic pressure, wherein the preset relationship function is a monotonically increasing function;

[0018] The pressing depth is substituted into the preset relationship function to obtain the first target hydraulic pressure.

[0019] According to some embodiments of the present invention, the vehicle braking system includes a master cylinder, a brake pedal, and a second sensor module, the brake pedal is located in the cab of the vehicle, the brake pedal is connected to the master cylinder, the master cylinder is connected to the brake unit through a hydraulic pipeline, the hydraulic pipeline is provided with a switch valve, the switch valve is used to conduct or block the hydraulic pipeline, the second sensor module is used to detect the hydraulic pressure of the master cylinder, and the second sensor module is electrically connected to the control unit;

[0020] The vehicle braking method further comprises:

[0021] When a first braking request and a second braking request are received simultaneously, the switch valve is controlled to switch to a closed state, wherein the first braking request is characterized by the driver pressing the brake button, and the second braking request is characterized by the driver stepping on the brake pedal;

[0022] Acquiring the pressing depth of the brake button and the hydraulic pressure of the master cylinder;

[0023] determining a first hydraulic pressure according to the pressing depth;

[0024] determining a maximum value between the first hydraulic pressure and the hydraulic pressure of the master cylinder as a second target hydraulic pressure;

[0025] The pressure building module is controlled to generate the second target hydraulic pressure to drive the brake unit to brake.

[0026] A vehicle according to an embodiment of a third aspect of the present invention comprises the vehicle braking system of the embodiment of the first aspect.

[0027] The vehicle according to the embodiment of the present invention comprises the vehicle braking system of the first aspect embodiment and therefore has at least the above-mentioned beneficial effects, which will not be elaborated herein.

[0028] According to an embodiment of the fourth aspect of the present invention, the electronic device comprises: at least one processor; at least one memory for storing at least one program; when the at least one program is executed by the at least one processor, the at least one processor implements the vehicle braking method as described in the embodiment of the second aspect.

[0029] The electronic device according to the embodiment of the present invention has at least the above-mentioned beneficial effects, as its processor implements the vehicle braking method of the above-mentioned embodiment, which will not be described in detail here.

[0030] According to the computer-readable storage medium of the fifth aspect embodiment of the present invention, processor-executable instructions are stored therein, and the processor-executable instructions are used to execute the vehicle braking method of the second aspect embodiment when executed by the processor.

[0031] A computer program product according to an embodiment of the sixth aspect of the present invention comprises a computer program, and when the computer program is executed by a processor, the vehicle braking method of the embodiment of the second aspect is implemented.

[0032] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0034] Figure 1 A flowchart of the steps of a vehicle braking method according to some embodiments of the present invention;

[0035] Figure 2 A flowchart of the steps of a vehicle braking method according to some embodiments of the present invention;

[0036] Figure 3 A flowchart of the steps of a vehicle braking method according to some embodiments of the present invention;

[0037] Figure 4 A schematic diagram of a module of a vehicle braking system according to some embodiments of the present invention;

[0038] Figure 5 A schematic diagram of a module of a vehicle braking system according to some embodiments of the present invention;

[0039] Figure 6 It is a schematic diagram of the hardware structure of an electronic device according to some embodiments of the present invention. DETAILED DESCRIPTION

[0040] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0041] Reference Figure 4 As shown, a vehicle braking system provided by an embodiment of the present invention is applied to a vehicle, and the vehicle braking system includes a brake unit, an integrated brake control assembly (IBC), a redundant brake control unit (RBU) and a brake button. When the vehicle has four wheels, the brake unit includes a left front brake unit, a right front brake unit, a left rear brake unit and a right rear brake unit, and these four units correspond to the four wheels of the vehicle for controlling braking.

[0042] Reference Figure 5 As shown, specifically, the vehicle braking system also includes a control unit, the integrated braking control assembly is used to drive the brake unit to brake, the integrated braking control assembly includes a first pressure building module, the first pressure building module is used to generate hydraulic pressure, the control unit can directly control the first pressure building module to generate hydraulic pressure, the first pressure building module can push the oil into the brake unit to drive the brake unit to achieve braking, and the first pressure building module is electrically connected to the control unit. The integrated braking control assembly also includes a stroke sensor, the stroke sensor is electrically connected to the control unit, the vehicle braking system also includes a brake pedal, the brake pedal is located in the vehicle's cab, the stroke sensor is used to detect the stroke of the brake pedal, the control unit can obtain the stroke of the brake pedal, the control unit can convert the target hydraulic pressure of the first pressure building module according to the stroke of the brake pedal, and then input the target hydraulic pressure into the first pressure building module, so that the first pressure building module generates the target hydraulic pressure to achieve driving the brake unit to brake.

[0043] Reference Figure 5As shown, the redundant brake control unit includes a second pressure-building module, which is used to generate hydraulic pressure. The control unit can directly control the second pressure-building module to generate hydraulic pressure. The second pressure-building module can push the oil into the brake unit to drive the brake unit to achieve braking. The second pressure-building module is electrically connected to the control unit. The brake button is arranged in the driving room of the vehicle. The vehicle braking system includes a first sensor module. The first sensor module can detect the pressing depth of the brake button. The pressing depth can also be understood as the stroke of the brake button. The first sensor module is electrically connected to the control unit. The control unit can obtain the pressing depth of the brake button. The pressing depth can be used to know whether the driver presses the brake button. The control unit can convert the target hydraulic pressure of the second pressure-building module according to the pressing depth of the brake button, and then input the target hydraulic pressure into the second pressure-building module, so that the second pressure-building module generates the target hydraulic pressure to drive the brake unit to brake. It should be noted that as the pressing depth of the brake button is different, the target hydraulic pressure generated by the second pressure-building module is different, and the braking force actually provided by the brake unit is also different, thereby realizing variable deceleration braking and more flexible braking effect.

[0044] It should be noted that when the integrated brake control assembly is in a normal state, the integrated brake control assembly takes over the control of the brake unit. At this time, the redundant brake control unit does not work, and the solenoid valve between the redundant brake control unit and the brake unit is in a closed state to disconnect the redundant brake control unit and the brake unit. At this time, even if the driver presses the brake button, the vehicle brake will not be triggered, which can prevent accidental touch. When the integrated brake control assembly is in a faulty state, the redundant brake control unit will take over the control of the brake unit, and the second pressure building module will mainly generate hydraulic pressure to drive the brake unit to brake the wheel. Specifically, when the driver presses the brake button, the control unit will control the second pressure building module to generate hydraulic pressure and push the oil into the brake unit, thereby driving the brake unit to achieve braking.

[0045] It should be noted that, in some embodiments, the brake unit includes a brake disc and a caliper, and the brake disc rotates synchronously with the wheel. When the first pressure building module or the second pressure building module generates hydraulic pressure, the caliper is pushed by oil to clamp the brake disc to brake the wheel. The braking force of the caliper is positively correlated with the hydraulic pressure. The greater the hydraulic pressure, the greater the braking force of the caliper.

[0046] It should be noted that, in some embodiments, the brake button is connected to the control unit via a hard wire to ensure a stable connection.

[0047] In some embodiments, the first pressure building module includes a hydraulic pump, which may be a plunger pump, which is electrically connected to the control unit, and the hydraulic pump may be used to generate a hydraulic pressure for driving the brake unit to brake. In some embodiments, the second pressure building module includes a hydraulic pump, which may be a plunger pump, which is electrically connected to the control unit, and the hydraulic pump may be used to generate a hydraulic pressure for driving the brake unit to brake. The first pressure building module and the second pressure building module may independently drive the brake unit to achieve vehicle braking.

[0048] In some embodiments, the control unit can be understood as an ECU unit, which is used to execute relevant control logic instructions.

[0049] In some embodiments, the brake button can be integrated into the armrest of the steering wheel, which can make it convenient for the driver to press the brake button, facilitating the driver to operate the brake button and achieve timely braking. The brake button can also be directly set on the steering wheel. For example, the brake button and the horn button are arranged side by side so that the brake button faces the driver, which can facilitate the driver to press the brake button as soon as possible in an emergency.

[0050] Reference Figure 5 As shown, in some embodiments, the vehicle braking system further includes a master cylinder and a second sensor module, the master cylinder can be understood as a hydraulic cylinder, the brake pedal is connected to the master cylinder, the master cylinder is connected to the brake unit through a hydraulic pipeline, the hydraulic pipeline can be understood as a part of the redundant brake control unit, the hydraulic pipeline is provided with a switch valve, the switch valve is connected between the master cylinder and the brake unit, the switch valve can be understood as a solenoid valve, the switch valve is used to conduct or disconnect the hydraulic pipeline between the master cylinder and the brake unit, the second sensor module is used to detect the hydraulic pressure of the master cylinder, when the driver steps on the brake pedal, the brake pedal will push the master cylinder to move, thereby generating hydraulic pressure, the second sensor module is electrically connected to the control unit, and the control unit can obtain the hydraulic pressure data detected by the second sensor module. The second sensor module can be set as a pressure sensor to detect the hydraulic pressure of the master cylinder.

[0051] It should be noted that when the integrated brake control assembly is in a normal state, the switch valve is in a closed state, and the switch valve disconnects the hydraulic pipeline connecting the master cylinder and the brake unit, that is, the master cylinder is not directly connected to the brake unit. When the driver steps on the brake pedal, the brake pedal pushes the master cylinder to move, but the master cylinder does not push the oil into the brake unit. The control unit determines the corresponding hydraulic pressure based on the stroke of the brake pedal detected by the stroke sensor, and then controls the first pressure building module to generate the hydraulic pressure to drive the brake unit for braking.

[0052] When the integrated brake control assembly is in a faulty state, the redundant brake control unit takes over the control of the brake unit, and the control unit controls the switch valve to remain in the open state. The switch valve conducts the hydraulic pipeline connecting the master cylinder and the brake unit, thereby entering the mechanical backup mode, so that the driver can drive the brake unit to brake by stepping on the brake pedal, ensuring that the braking effect can be achieved in an emergency. In addition, the driver can also press the brake button, and the first sensor module can detect the pressing depth of the brake button. The control unit can convert the target hydraulic pressure of the second pressure building module according to the pressing depth of the brake button, and then input the target hydraulic pressure into the first pressure building module, so that the first pressure building module generates the target hydraulic pressure to drive the brake unit to brake. It can be understood as providing an electronic power-assisted method to achieve braking, which can facilitate the driver to brake the vehicle in time, and the operation is more labor-saving. In addition, the second pressure building module can generate a large enough hydraulic pressure to drive the brake unit to brake, ensuring that the driver's emergency braking needs are met.

[0053] It needs to be explained that when a component in the integrated brake control assembly fails and causes abnormal braking function, the integrated brake control assembly is in a faulty state. For example, when a travel sensor or the first pressure building module used to detect the travel of the brake pedal in the integrated brake control assembly fails, resulting in the braking function cannot be performed normally, at this time, the integrated brake control assembly is in a faulty state.

[0054] In some embodiments, when the integrated brake control assembly is in a faulty state, and one of the second pressure building module, the brake button, and the first sensor module is in a faulty state, at this time, the control unit controls the switch valve to remain in an open state, and the switch valve conducts the hydraulic pipeline connecting the master cylinder and the brake unit, allowing the master cylinder and the brake unit to be directly connected, thereby allowing the system to enter a mechanical backup mode, allowing the driver to drive the brake unit to achieve braking by stepping on the brake pedal, ensuring that the braking operation can be completed in an emergency.

[0055] In addition, in some embodiments, when the integrated brake control assembly is in a faulty state, the redundant brake control unit takes over control of the brake unit. At this time, if it is detected that the driver presses the brake button and steps on the brake pedal at the same time, the control unit controls the switch valve to switch to a closed state. The control unit can first obtain the hydraulic pressure of the brake pedal pushing the master cylinder detected by the second sensor module, and determine the corresponding first hydraulic pressure according to the pressing depth of the brake button, and then determine which of the first hydraulic pressure and the hydraulic pressure of the master cylinder is greater, select the largest hydraulic pressure value and input it into the second pressure building module, so that the second pressure building module generates the hydraulic pressure and drives the brake unit to brake. In this way, when the driver presses the brake button and steps on the brake pedal at the same time, it can provide the maximum braking force to ensure that the vehicle can meet the braking requirements and improve safety.

[0056] In some embodiments, when the vehicle is in an L3 or higher level autonomous driving mode, if a fault is detected in the integrated brake control assembly, the redundant brake control unit takes over the brake unit, and the control unit directly controls the second pressure building module to drive the brake unit to stop the vehicle, thereby ensuring driving safety. Then, the vehicle exits the autonomous driving mode, allowing the driver to take over driving the vehicle. At this time, the vehicle braking can be controlled by pressing the brake button, which is a relatively labor-saving operation and is convenient for the driver to drive the vehicle to a maintenance site for maintenance.

[0057] In some embodiments, when the vehicle is in an L2 or lower level autonomous driving mode, if a fault is detected in the integrated brake control assembly, the redundant brake control unit will take over the brake unit, and then allow the driver to take full control of driving the vehicle to ensure that the vehicle can brake normally.

[0058] It should be noted that the present invention has expanded the working scenario of the redundant brake control unit. When the IBC fails under normal driving, the RBU can be controlled by the brake button with travel to achieve variable deceleration braking, supporting the driver to complete normal braking. In addition, the IBC has a CDP function, that is, vehicle dynamic deceleration (Car Dynamic Parking). After the IBC fails, the CDP function also fails. The brake button of the present invention can achieve variable deceleration braking. When the IBC fails, it can replace the CDP function to ensure more stable parking. Different from the CDP function, the solution of the present invention can provide the driver with variable deceleration braking capability, that is, as the depth of pressing the brake button increases, the braking force generated is also greater, and the deceleration of the vehicle is also greater. The deceleration of the vehicle changes with the depth of pressing the brake button. In addition, when the brake button is pressed to decelerate the vehicle, if the driver also steps on the brake pedal at this time, the RBU will compare the current corresponding braking force of the two, and brake according to the maximum braking force requirement, and there will be no braking interference between the two.

[0059] In some embodiments, the brake button includes a button body and a damping module. The damping module is used to provide a pressing damping force to the button body. The driver needs to overcome the pressing damping force before pressing the button body. This can give the driver a better pressing feedback and allow the driver to correctly perceive the braking force corresponding to the pressing force. It should be noted that the greater the pressing depth of the button body, the greater the hydraulic pressure generated by the second pressure building module, and the greater the braking force generated by the brake unit. Therefore, the pressing damping force is required to be positively correlated with the pressing depth, that is, the greater the pressing depth, the greater the pressing damping force, which can give the driver a better pressing feedback.

[0060] In some embodiments, the damping module may include a spring or a spring structure. For example, one end of the spring abuts against the shell, and the other end of the spring abuts against the button body. When the driver presses the button body, the spring is also pressed. Since general spring structures satisfy Hooke's law, the greater the pressing depth of the brake button, the greater the deformation of the spring, and the greater the elastic force that needs to be overcome, thereby satisfying the requirement that the pressing damping force is positively correlated with the pressing depth.

[0061] In some embodiments, the first sensing module includes a stroke sensor, which can detect the pressing depth of the brake button. In some other embodiments, the first sensing module includes a speed sensor, which can detect the pressing speed of the brake button. The control unit can determine the corresponding hydraulic pressure through the pressing speed, and then control the second pressure building module to generate the hydraulic pressure to drive the brake unit to brake, wherein the pressing speed is positively correlated with the corresponding hydraulic pressure, and the greater the pressing speed, the greater the corresponding hydraulic pressure. Similarly to the above embodiment, a preset relationship function between the pressing speed and the hydraulic pressure can be established, through which the hydraulic pressure corresponding to the pressing speed can be directly obtained, so that the corresponding hydraulic pressure can be generated according to the pressing speed of the button body by the driver. In some other embodiments, the first sensing module includes the above-mentioned stroke sensor and speed sensor, and the hydraulic pressure required by the driver can be determined by comprehensively considering the pressing depth and pressing speed of the brake button.

[0062] Reference Figure 1 As shown, a vehicle braking method is provided in an embodiment of the present invention. The vehicle braking method is applied to the vehicle braking system of the above embodiment. The vehicle braking method includes step S100, step S200, step S300 and step S400.

[0063] Step S100: In response to receiving a fault signal, the fault signal indicates that the integrated brake control assembly is in a fault state.

[0064] It should be noted that in this step, when the integrated brake control assembly is in a fault state, at this time, in order to ensure the normal braking function, the redundant brake control unit takes over the control of the brake unit.

[0065] Step S200: when a first braking request is received, the pressing depth of the brake button is obtained, where the first braking request is characterized by the driver pressing the brake button.

[0066] It should be noted that in this step, when the driver presses the brake button, the brake button sends a first braking request to the control unit. After receiving the request, the control unit obtains the pressing depth of the brake button recorded by the first sensor module.

[0067] Step S300: determining a first target hydraulic pressure according to the pressing depth.

[0068] It should be noted that in this step, the control unit determines the first target fluid pressure according to the pressing depth of the brake button. The pressing depth is positively correlated with the first target fluid pressure, and the first target fluid pressure is greater than the pressing force of the brake button by the driver. The brake button achieves braking through electronic power assistance, which makes the operation more labor-saving.

[0069] Step S400: controlling the second pressure building module to generate a first target hydraulic pressure to drive the brake unit to brake.

[0070] In some embodiments, step S300 specifically includes step S310 and step S320.

[0071] Step S310: obtaining a preset relationship function between the pressing depth and the first target fluid pressure, wherein the preset relationship function is a monotonically increasing function.

[0072] It should be noted that in this step, the preset relationship function is a preset function, which can be obtained in advance by means of calibration and stored in a storage device. The corresponding first target hydraulic pressure can be obtained by substituting the pressing depth into the preset relationship function. The preset relationship function is a monotonically increasing function, which means that the pressing depth is positively correlated with the first target hydraulic pressure. The greater the pressing depth, the greater the corresponding first target hydraulic pressure. Specifically, the preset relationship function is F: d→p, d is the pressing depth of the brake button, and p is the hydraulic pressure corresponding to the pressing depth d. The preset relationship function is a monotonically increasing function, which means that any d0>d1 satisfies F(d0)=p0≥F(d1)=p1. The preset relationship function can be a strictly increasing function, that is, any d0>d1 satisfies F(d0)=p0>F(d1)=p1. The preset relationship function can be a linear function or a nonlinear function.

[0073] In some other embodiments, when the driver presses the brake button, the control unit can input a constant hydraulic pressure to the second pressure building module to brake the vehicle with a constant braking force, that is, no matter how deep the brake button is pressed, the braking force is constant.

[0074] Step S320: Substitute the pressing depth into a preset relationship function to obtain a first target hydraulic pressure.

[0075] In this step, the corresponding first target hydraulic pressure can be obtained by substituting the pressing depth into the preset relationship function.

[0076] It should be noted that in the case of emergency braking, in order to ensure that the vehicle can brake in time, the driver may press the brake button and the brake pedal at the same time. At this time, the oil in the second pressure building module and the master cylinder is connected to the oil in the brake unit, and the brake button and the brake pedal may interfere with each other. Based on this, refer to Figure 4 As shown, in some embodiments, the vehicle braking method further includes step S500, step S600, step S700, step S800 and step S900.

[0077] Step S500: When a first braking request and a second braking request are received simultaneously, the switch valve is controlled to switch to a closed state, the first braking request being characterized by the driver pressing a brake button, and the second braking request being characterized by the driver stepping on a brake pedal.

[0078] It should be noted that in this step, when the driver presses the brake button and steps on the brake pedal at the same time, the control unit controls the switch valve to switch to the closed state, which can block the hydraulic pipeline, thereby disconnecting the master cylinder and the brake unit, and the oil in the second pressure building module will not flow back into the master cylinder and prevent the driver from stepping on the brake pedal. At this time, the control unit first determines which of the brake pedal and the brake button corresponds to a larger hydraulic pressure, and then inputs the corresponding hydraulic pressure to the second pressure building module, so that the second pressure building module drives the brake unit to brake with the hydraulic pressure, which can ensure normal braking of the vehicle, and the brake button and the brake pedal do not interfere with each other's braking.

[0079] Step S600: Acquire the pressing depth of the brake button and the hydraulic pressure of the master cylinder.

[0080] In this step, the pressing depth of the brake button can be obtained through the first sensor module, and the hydraulic pressure of the master cylinder can be obtained through the second sensor module.

[0081] Step S700: determining the first hydraulic pressure according to the pressing depth.

[0082] In this step, the first hydraulic pressure may be obtained by referring to step S300, and the first hydraulic pressure corresponding to the pressing depth may be obtained by substituting the pressing depth into the preset relationship function.

[0083] Step S800: Determine the maximum value between the first hydraulic pressure and the hydraulic pressure of the master cylinder as the second target hydraulic pressure.

[0084] Step S900: controlling the pressure building module to generate a second target hydraulic pressure to drive the brake unit to brake.

[0085] In this embodiment, when the driver presses the brake button and steps on the brake pedal at the same time, the switch valve is first closed to disconnect the master cylinder and the brake unit, and then the first hydraulic pressure corresponding to the brake button and the hydraulic pressure of the master cylinder are obtained. By judging which hydraulic pressure corresponds to the brake button and the brake pedal is greater, that is, which one expresses a greater braking force, the largest hydraulic pressure is selected and input into the second pressure building module, so that the second pressure building module generates a greater hydraulic pressure, so that the vehicle obtains a greater braking force, ensuring that the driver's braking needs are met. Since the control unit runs at a high speed, the control unit takes a short time to judge and calculate the hydraulic pressure, which can ensure timely braking of the vehicle.

[0086] An embodiment of the present invention further provides a vehicle, comprising the vehicle braking system of the above embodiment.

[0087] Specifically, the vehicle of the embodiment of the present invention may be a private car, such as a sedan, SUV, MPV or pickup truck. The vehicle may also be an operating vehicle, such as a van, bus, small truck or large trailer. The vehicle may be a gasoline vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it may be a hybrid vehicle or a pure electric vehicle.

[0088] An embodiment of the present invention further provides an electronic device, comprising at least one processor and at least one memory, wherein the memory is used to store at least one program. When the at least one program is executed by the at least one processor, the at least one processor implements the vehicle braking method as described in the above embodiment.

[0089] Reference Figure 6 As shown, Figure 6The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes: a processor, which can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solution provided in the embodiment of the present application; a memory, which can be implemented in the form of a read-only memory (Read Only Memory, ROM), a static storage device, a dynamic storage device or a random access memory (Random Access Memory, RAM), etc. The memory can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program codes are stored in the memory and called by the processor to execute the vehicle braking method of the embodiments of this application; the input / output interface is used to realize information input and output; the communication interface is used to realize the communication interaction between this device and other devices, and communication can be realized through wired methods (such as USB, network cables, etc.) or wireless methods (such as mobile networks, WIFI, Bluetooth, etc.); the bus transmits information between the various components of the device (such as the processor, memory, input / output interface and communication interface); wherein the processor, memory, input / output interface and communication interface realize communication connection with each other within the device through the bus.

[0090] An embodiment of the present invention further provides a computer-readable storage medium, which includes a stored program, wherein when the program is run, the processor of the device where the program is located is controlled to execute the vehicle braking method of the above embodiment.

[0091] An embodiment of the present invention further provides a computer program product, including a computer program, which implements the vehicle braking method of the above embodiment when the computer program is executed by a processor.

[0092] In the description of the present invention, it should be understood that descriptions involving orientation, such as orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0093] In the description of the present invention, "a plurality" means more than two. If there is a description of "first" or "second", it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0094] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0095] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0096] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0097] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0098] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program that has a predetermined function and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories), or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be part of an overall module or unit that includes the function of the module or unit.

[0099] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0100] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0101] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Acce Memory, referred to as RAM), disk or optical disk and other media that can store program codes.

[0102] The step numbers in the above method embodiment are only provided for the convenience of explanation and description, and no limitation is imposed on the order of the steps. The execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

Claims

1. A vehicle braking system, characterized in that: Applied to a vehicle, the vehicle braking system comprises: Control unit; Brake unit; An integrated brake control assembly, used for driving the brake unit to brake; A redundant brake control unit, comprising a pressure building module, the pressure building module comprising a hydraulic pump, the pressure building module being used to generate hydraulic pressure to drive the brake unit to brake, the pressure building module being electrically connected to the control unit; A brake button is provided in the driving compartment of the vehicle; A first sensor module, used to detect the pressing depth of the brake button, the first sensor module is electrically connected to the control unit; Wherein, the control unit is configured to control the pressure building module to drive the brake unit to brake according to the pressing depth when the integrated brake control assembly is in a fault state, and the vehicle braking system also includes a master cylinder, a brake pedal and a second sensor module, the brake pedal is connected to the master cylinder, the master cylinder and the brake unit are connected through a hydraulic pipeline, the hydraulic pipeline is provided with a switch valve, the switch valve is used to conduct or block the hydraulic pipeline, the second sensor module is used to detect the hydraulic pressure of the master cylinder, the second sensor module is electrically connected to the control unit, and the control unit is configured to control the first braking request and the second braking request when the first braking request and the second braking request are received at the same time. The switch valve is switched to a closed state, the first braking request is characterized by the driver pressing the brake button, and the second braking request is characterized by the driver stepping on the brake pedal, the pressing depth of the brake button and the hydraulic pressure of the master cylinder are obtained, the first hydraulic pressure is determined according to the pressing depth, the maximum value between the first hydraulic pressure and the hydraulic pressure of the master cylinder is determined as the second target hydraulic pressure, the pressure building module is controlled to generate the second target hydraulic pressure to drive the brake unit to brake, and when the integrated brake control assembly is in a faulty state and one of the pressure building module, the brake button and the first sensor module is in a faulty state, the switch valve is controlled to remain in an open state.

2. The vehicle braking system according to claim 1, characterized in that: The brake button includes a button body and a damping module, wherein the damping module is used to provide a pressing damping force to the button body, and the pressing damping force is positively correlated with the pressing depth.

3. A vehicle braking method, characterized in that: Applied to the vehicle braking system of claim 1, the vehicle braking method comprises: In response to receiving a fault signal, the fault signal indicates that the integrated brake control assembly is in a fault state; When a first braking request is received, obtaining a pressing depth of the brake button, wherein the first braking request is characterized by the driver pressing the brake button; determining a first target fluid pressure according to the pressing depth; Controlling the pressure building module to generate the first target hydraulic pressure to drive the brake unit to brake; When a first braking request and a second braking request are received simultaneously, the switch valve is controlled to switch to a closed state, wherein the first braking request is characterized by the driver pressing the brake button, and the second braking request is characterized by the driver stepping on the brake pedal; Acquiring the pressing depth of the brake button and the hydraulic pressure of the master cylinder; determining a first hydraulic pressure according to the pressing depth; determining a maximum value between the first hydraulic pressure and the hydraulic pressure of the master cylinder as a second target hydraulic pressure; Controlling the pressure building module to generate the second target hydraulic pressure to drive the brake unit to brake; When the integrated brake control assembly is in a fault state and one of the pressure building module, the brake button and the first sensor module is in a fault state, the switch valve is controlled to remain in an open state.

4. The vehicle braking method according to claim 3, characterized in that: The step of determining the first target hydraulic pressure of the vehicle according to the pressing depth of the brake button comprises: Acquire a preset relationship function between the pressing depth and the first target hydraulic pressure, wherein the preset relationship function is a monotonically increasing function; The pressing depth is substituted into the preset relationship function to obtain the first target hydraulic pressure.

5. A vehicle, characterized in that: A vehicle braking system comprising any one of claims 1 to 2.

6. An electronic device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the vehicle braking method according to any one of claims 3 to 4.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the vehicle braking method according to any one of claims 3 to 4 is executed in a processor of a device where the program is controlled.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the vehicle braking method according to claims 3 to 4 is implemented.

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