Vehicle braking system, control method, vehicle, electronic equipment and medium

Abstract

The invention provides a vehicle brake system, a control method, a vehicle, electronic equipment and a medium wherein the vehicle brake system comprises a brake pedal, a brake unit and a redundant brake control system, the redundant brake control system comprises a brake master cylinder, a servo cylinder, a first branch, a second branch, a third branch, a fourth branch, a fifth branch and a sixth branch, the first branch is connected with a first main cylinder cavity and a right front brake, the second branch is connected with the first branch and a left front brake, the third branch is connected with a second main cylinder cavity and a left rear brake, the fourth branch is connected with the third branch and a right rear brake, the fifth branch is connected with a servo cylinder and the first branch, and the sixth branch is connected with the servo cylinder and the third branch. When the redundant brake control system takes over the brake unit, the functions of ABS, TCS, VDC and the like can still be achieved, and the safety of a driver is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle braking system, a control method, a vehicle, an electronic device and a 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 systems (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. When the IBC fails, the current RBU generally cannot realize functions such as ABS, TCS, and VDC, resulting in inflexible braking function and a greater safety risk. Summary of the invention

[0003] The present invention provides a vehicle braking system, a control method, a vehicle, an electronic device and a medium. When a redundant braking control system takes over a brake unit, functions such as ABS, TCS and VDC can still be realized to ensure the safety of drivers.

[0004] A vehicle braking system according to an embodiment of a first aspect of the present invention comprises a brake pedal, an integrated brake control assembly, a redundant brake control system and a brake unit, wherein the brake unit comprises a left front brake, a left rear brake, a right front brake and a right rear brake, and the redundant brake control system comprises: Servo cylinder; A brake master cylinder comprises a cylinder body, a first piston, a second piston, a first elastic element and a second elastic element, wherein the first piston, the second piston, the first elastic element and the second elastic element are respectively arranged in the cylinder body, the cylinder body comprises a first master cylinder cavity and a second master cylinder cavity, the first master cylinder cavity is located between the inner wall of the cylinder body and the first piston, the first elastic element is located in the first master cylinder cavity, one end of the first elastic element is connected to the inner wall of the cylinder body, and the other end is connected to the first piston, the second master cylinder cavity is located between the first piston and the second piston, the second elastic element is located in the second master cylinder cavity, one end of the second elastic element is connected to the first piston, and the other end is connected to the second piston, and the brake pedal is connected to the second piston; a first branch connecting the first master cylinder chamber and the right front brake; a second branch connecting the first branch and the left front brake; a third branch connecting the second master cylinder chamber and the left rear brake; a fourth branch connecting the third branch and the right rear brake; a fifth branch, connecting the servo cylinder and the first branch; a sixth branch, connecting the servo cylinder and the third branch; A first switch valve and a first control valve are respectively arranged on the first branch, the first control valve is located at a connection position where the fifth branch is connected to the first branch and a connection position where the second branch is connected to the first branch, and the first switch valve is located between a connection position where the second branch is connected to the first branch and the right front brake; a second switch valve and a second control valve, wherein the second control valve is arranged on the second branch, the second control valve is located at a connection position where the sixth branch is connected to the second branch and a connection position where the fourth branch is connected to the second branch, and the second switch valve is arranged on the fourth branch; A third switch valve is provided on the fifth branch; a fourth switch valve, arranged on the sixth branch; Wherein, when the integrated brake control assembly is in a fault state, the redundant brake control system takes over the control of the brake unit.

[0005] The vehicle braking system according to the embodiment of the present invention has at least the following beneficial effects: The embodiment of the present invention improves the redundant brake control system, and can mainly realize accurate control of the braking of a certain wheel, so that the redundant brake control system can realize functions such as ABS, TCS, and VDC. Specifically, for the VDC function, when the integrated brake control assembly fails, if the vehicle body yaws out of control, when the driver brakes, the system closes the first switch valve and the second switch valve, and by controlling the first control valve and the second control valve, the front and rear wheels on the left side of the vehicle can be braked respectively to achieve the yaw control of the whole vehicle; for the TCS function, when the integrated brake control assembly fails, the redundant brake control system determines whether the slip rate of a certain driving wheel is too large, and by starting the servo cylinder and controlling the switches of each switch valve and control valve, the corresponding driving wheel can be controlled to brake, and the slipping driving wheel can be slightly braked to increase the friction with the ground; for the ABS function, the switches of the first control valve, the second control valve, the first switch valve, and the second switch valve can be jointly controlled. When it is detected that the braking force of the corresponding wheel is too large, the valve controlling the wheel can be closed accordingly to achieve the ABS braking effect.

[0006] According to some embodiments of the present invention, the first branch is provided with a fifth switch valve, and the fifth switch valve is located between the connection position where the fifth branch is connected to the first branch and the first master cylinder chamber, and when the third switch valve is in an open state, the fifth switch valve is in a closed state.

[0007] According to some embodiments of the present invention, the second branch is provided with a sixth switch valve, which is located between the connection position where the sixth branch is connected to the second branch and the second master cylinder chamber, and when the fourth switch valve is in an open state, the sixth switch valve is in a closed state.

[0008] A control method for a vehicle braking system 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 control method for a vehicle braking system includes: In response to receiving a first fault signal, the first fault signal indicates that the integrated brake control assembly is in a fault state; The slip rate of the wheel is obtained. When the slip rate is greater than or equal to a first threshold, the servo cylinder is turned on, the first control valve, the second control valve, the third switch valve and the fourth switch valve are opened, and the first switch valve and the second switch valve are closed.

[0009] The control method of the vehicle braking system according to the embodiment of the present invention has at least the following beneficial effects: When the integrated brake control assembly is in a faulty state, the redundant brake control system takes over the brake unit. When the slip rate is greater than or equal to the first threshold, it indicates that the vehicle body is swaying. At this time, the first switch valve and the second switch valve are controlled to close. At this time, if the driver steps on the brake pedal, the servo cylinder pushes the oil into the left front brake and the left rear brake to control the braking of the left front brake and the left rear brake, which can stabilize the vehicle body and ensure stable braking of the vehicle, which is safer.

[0010] According to some embodiments of the present invention, the first branch is provided with a fifth switch valve, the fifth switch valve is located between the connection position where the fifth branch is connected to the first branch and the first master cylinder cavity, the second branch is provided with a sixth switch valve, the sixth switch valve is located between the connection position where the sixth branch is connected to the second branch and the second master cylinder cavity, and when the slip rate is greater than or equal to the first threshold, the method further includes: The fifth opening and closing valve and the sixth opening and closing valve are closed.

[0011] According to some embodiments of the present invention, the control method comprises: In response to receiving a second fault signal, the second fault signal characterizing that the servo cylinder is in a fault state; The third opening and closing valve and the fourth opening and closing valve are closed, and the fifth opening and closing valve and the sixth opening and closing valve are opened.

[0012] According to some embodiments of the present invention, the vehicle braking system includes a vehicle speed sensor and a plurality of wheel speed sensors, the plurality of wheel speed sensors are arranged in one-to-one correspondence with a plurality of wheels of the vehicle, and obtaining the slip rate of the wheel includes: Acquiring the vehicle speed from the vehicle speed sensor and the wheel speeds from the plurality of wheel speed sensors; Determine an average value of the wheel speeds of the plurality of wheel speed sensors as a first value; determining a difference between the vehicle speed and the first value as a second value; The quotient of the second value and the vehicle speed is determined as the slip rate of the wheel.

[0013] According to some embodiments of the present invention, when the slip rate is greater than or equal to a first threshold, the method further comprises: A first signal is generated to an engine of a vehicle, the first signal being characterized by reducing the output torque of the engine.

[0014] 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.

[0015] 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.

[0016] 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 control method of the vehicle braking system as described in the embodiment of the second aspect.

[0017] The electronic device according to the embodiment of the present invention has at least the above-mentioned beneficial effects, as its processor implements the control method of the vehicle braking system of the above-mentioned embodiment, which will not be described in detail here.

[0018] According to a computer-readable storage medium of an embodiment of the fifth aspect of the present invention, processor-executable instructions are stored therein, and when the processor-executable instructions are executed by the processor, they are used to execute the control method of the vehicle braking system of the embodiment of the second aspect.

[0019] 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 control method of the vehicle braking system according to the embodiment of the second aspect is implemented.

[0020] 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

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 A schematic diagram of a module of a vehicle braking system according to some embodiments of the present invention; Figure 2 A flowchart of the steps of a method for controlling a vehicle braking system according to some embodiments of the present invention; Figure 3 A flowchart of the steps of a method for controlling a vehicle braking system according to some embodiments of the present invention; Figure 4 It is a schematic diagram of the hardware structure of an electronic device according to some embodiments of the present invention.

[0022] Reference numerals: A brake master cylinder 100, a first master cylinder chamber 110, a second master cylinder chamber 120, a first elastic element 130, a second elastic element 140, a first piston 150, and a second piston 160; The first branch 200 , the second branch 210 , the third branch 220 , the fourth branch 230 , the fifth branch 240 , and the sixth branch 250 . DETAILED DESCRIPTION

[0023] 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.

[0024] First of all, it needs to be explained that ABS (Anti-lock Braking System): Anti-lock Braking System, refers to preventing the wheels from locking during emergency braking, maintaining the adhesion of the tires to the ground, shortening the braking distance, and improving the steering stability of the vehicle. TCS (Traction Control System): Traction Control System, refers to preventing the drive wheels from slipping and improving the acceleration performance of the vehicle, especially on slippery roads or when starting. VDC (Vehicle Dynamic Control): Vehicle dynamic control system, refers to the comprehensive control of the vehicle's steering, acceleration and braking to improve the stability of the vehicle under various road conditions and prevent the vehicle from losing control. VAFs (Vehicle Active Functions): Vehicle active functions, this is not a separate system, but a general term for a series of active safety functions, including the above-mentioned ABS, TCS, VDC and some other advanced active safety systems, such as adaptive cruise control, lane keeping assist, etc.

[0025] Reference Figure 1As shown, a vehicle braking system provided by an embodiment of the present invention is applied to a vehicle. The vehicle braking system includes a brake pedal, a brake unit, an integrated brake control assembly (IBC) and a redundant brake control system (RBU). The brake unit includes a left front brake, a left rear brake, a right front brake and a right rear brake, wherein: Figure 1 FL stands for left front brake, which is used to brake the left front wheel; FR stands for right front brake, which is used to brake the right front wheel; RL stands for left rear brake, which is used to brake the left rear wheel; and RR stands for right rear brake, which is used to brake the right rear wheel.

[0026] Reference Figure 1 As shown, the redundant braking control system includes a brake master cylinder, a servo cylinder, a first branch, a second branch, a third branch, a fourth branch, a fifth branch and a sixth branch. The brake master cylinder includes a cylinder body, a first piston, a second piston, a first elastic element and a second elastic element. The first piston, the second piston, the first elastic element and the second elastic element are respectively arranged in the cylinder body. The cylinder body includes a first master cylinder cavity and a second master cylinder cavity. The first master cylinder cavity is located between the inner wall of the cylinder body and the first piston. The first elastic element is located in the first master cylinder cavity. One end of the first elastic element is connected to the inner wall of the cylinder body, and the other end is connected to the first piston. The second master cylinder cavity is located between the first piston and the second piston. The second elastic element is located in the second master cylinder cavity. One end of the second elastic element is connected to the first piston, and the other end is connected to the second piston. The brake pedal is connected to the second piston.

[0027] Among them, the first branch connects the first master cylinder chamber and the right front brake, the second branch connects the first branch and the left front brake, the third branch connects the second master cylinder chamber and the left rear brake, the fourth branch connects the third branch and the right rear brake, the fifth branch connects the servo cylinder and the first branch, the sixth branch connects the servo cylinder and the third branch, the first switch valve and the first control valve are respectively arranged in the first branch, the first control valve is located at the connection position where the fifth branch is connected to the first branch and the connection position where the second branch is connected to the first branch, the first switch valve is located between the connection position where the second branch is connected to the first branch and the right front brake, the second control valve is arranged in the second branch, the second control valve is located at the connection position where the sixth branch is connected to the second branch and the connection position where the fourth branch is connected to the second branch, and the second switch valve is arranged in the fourth branch. The third switch valve is arranged in the fifth branch, and the fourth switch valve is arranged in the sixth branch. When the integrated brake control assembly is in a fault state, the redundant brake control system takes over the control of the brake unit.

[0028] The first switch valve and the second switch valve can be understood as wheel cylinder isolation valves, which are used to isolate the servo cylinder from the right front brake and isolate the servo cylinder from the right rear brake respectively.

[0029] It should be noted that, in this embodiment, by improving the redundant brake control system, the redundant brake control system can accurately control the braking of one wheel alone, specifically, the left front brake, the left rear brake, the right front brake or the right rear brake can be controlled alone for braking, and the braking is more accurate. In the case of IBC failure, the ABS, TCS, VDC and other functions can still be realized to ensure driving safety. The above-mentioned switch valve and control valve can be set as an electromagnetic reversing valve.

[0030] Among them, the servo cylinder can generate hydraulic pressure, and the redundant brake control system controls the hydraulic pressure output by the servo cylinder according to the stroke of the brake pedal, pushing the oil into the fifth branch and the sixth branch. By controlling the opening and closing of the third switch valve or the fourth switch valve, the oil output to the first branch or the second branch can be controlled. The first branch is controlled by the first control valve and the first switch valve to output to FL or FR, and the second branch is controlled by the second control valve and the second switch valve to output to RL or RR, so as to accurately control the braking of a single wheel.

[0031] For the VDC function, when the integrated brake control assembly fails, if the vehicle body yaws out of control (specifically, it can be judged by the data monitored by sensors such as wheel speed sensor, steering wheel angle sensor, lateral acceleration sensor or yaw angular velocity sensor), when the driver presses the brake pedal, the system closes the first switch valve and the second switch valve, and by controlling the switches of the first control valve and the second control valve, it can brake the front and rear wheels on the left side of the vehicle respectively to achieve vehicle yaw control; for the TCS function, when the integrated brake control assembly fails, the redundant brake control system judges the slip rate of a certain drive wheel (specifically, it can be judged by the data monitored by the wheel speed sensor and vehicle speed sensor The servo cylinder is started and the switches of the above-mentioned switch valves and control valves are controlled to control the corresponding driving wheels to brake, and the slipping driving wheels are lightly braked to increase the friction with the ground. When the vehicle is a four-wheel drive vehicle, when both the front and rear axles slip, the four-wheel drive device is disconnected or the rear wheel drive torque is greatly reduced, and the TCS control of the front wheels is performed to restore the driving force of the whole vehicle. For the ABS function, the switches of the first control valve, the second control valve, the first switch valve and the second switch valve can be jointly controlled. When it is detected that the braking force of the corresponding wheel is too large, the valve controlling the wheel can be closed accordingly to achieve the ABS braking effect.

[0032] In some embodiments, pressure sensors are provided in the left front brake, left rear brake, right front brake and right rear brake, which are mainly used to detect the brake fluid pressure. When the brake fluid pressure is too high, the corresponding valve of the brake can be controlled to close, thereby realizing the ABS function.

[0033] Reference Figure 1As shown, in some embodiments, the first branch is provided with a fifth switch valve, and the fifth switch valve is located between the connection position where the fifth branch is connected to the first branch and the first master cylinder chamber. When the third switch valve is in an open state, the fifth switch valve is in a closed state. The fifth switch valve can be understood as a master cylinder isolation valve. When the servo cylinder is working, the fifth switch valve can isolate the first branch to prevent the oil pushed out by the servo cylinder from entering the brake master cylinder.

[0034] Reference Figure 1 As shown, in some embodiments, the second branch is provided with a sixth switch valve, which is located between the connection position where the sixth branch is connected to the second branch and the second master cylinder chamber, and when the fourth switch valve is in an open state, the sixth switch valve is in a closed state. The sixth switch valve can be understood as a master cylinder isolation valve.

[0035] 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 system takes over the brake unit, and the control unit directly controls the vehicle to stop, thereby ensuring driving safety, and then the vehicle exits the autonomous driving mode.

[0036] In some embodiments, when the vehicle is in an L2 or lower level autonomous driving mode, if a failure of the integrated brake control assembly is detected, the redundant brake control system takes over the brake unit and then allows the driver to take full control of driving the vehicle.

[0037] Reference Figure 1 As shown, a control method for a vehicle braking system provided in an embodiment of the present invention is applied to the vehicle braking system of the above embodiment, and the control method for a vehicle braking system includes step S100 and step S200.

[0038] Step S100: In response to receiving a first fault signal, the first fault signal indicates that the integrated brake control assembly is in a fault state.

[0039] It should be noted that in this step, after the integrated brake control assembly fails, the redundant brake control system takes over the brake unit.

[0040] Step S200: Obtain the slip rate of the wheel. When the slip rate is greater than or equal to the first threshold, start the servo cylinder, open the first control valve, the second control valve, the third switch valve and the fourth switch valve, and close the first switch valve and the second switch valve.

[0041] It should be noted that in this step, when the slip rate is greater than or equal to the first threshold value, it indicates that the vehicle body is swaying. At this time, the first switch valve and the second switch valve are controlled to be closed. If the driver steps on the brake pedal, the servo cylinder pushes the oil into the left front brake and the left rear brake to control the braking of the left front brake and the left rear brake, which can stabilize the vehicle body and ensure stable braking of the vehicle, which is safer.

[0042] In some embodiments, the above control method further includes the following steps: Acquiring a slip ratio of the wheel, when the slip ratio is greater than or equal to a first threshold and a braking request is received, the braking request is characterized by the driver pressing the brake pedal; The first on-off valve and the second on-off valve are closed, and the third on-off valve and the fourth on-off valve are opened.

[0043] It should be noted that this embodiment can brake the front and rear wheels on the left side of the vehicle when the vehicle body yaws out of control, thereby achieving yaw control of the entire vehicle. When the driver applies the brakes, the vehicle can be controlled to stabilize, with good braking effect, thereby ensuring the safety of the driver.

[0044] In some embodiments, the first branch is provided with a fifth switch valve, which is located between the connection position where the fifth branch is connected to the first branch and the first master cylinder cavity, and the second branch is provided with a sixth switch valve, which is located between the connection position where the sixth branch is connected to the second branch and the second master cylinder cavity. In step S200, when the slip rate is greater than or equal to the first threshold value, step S210 is also included.

[0045] Step S210: close the fifth switch valve and the sixth switch valve.

[0046] It should be noted that in this step, after closing the fifth switch valve and the sixth switch valve, the first branch and the brake master cylinder can be disconnected, and the second branch and the brake master cylinder can be disconnected, so that the oil pushed out by the servo cylinder will not enter the brake master cylinder, ensuring that the driver can step on the brake pedal.

[0047] In some embodiments, the first master cylinder cavity is communicated with the oil storage tank to realize oil return, and the second master cylinder cavity is communicated with the oil storage tank to realize oil return.

[0048] In some embodiments, the above control method further includes step S300 and step S400.

[0049] Step S300: In response to receiving a second fault signal, the second fault signal indicates that the servo cylinder is in a fault state; Step S400: close the third on-off valve and the fourth on-off valve, and open the fifth on-off valve and the sixth on-off valve.

[0050] In this embodiment, when the servo cylinder is in a faulty state, the third switch valve and the fourth switch valve are closed, and the vehicle enters a mechanical backup mode. When the driver steps on the brake pedal, the brake pedal pushes the first piston and the second piston, thereby pushing the oil into the above-mentioned four brakes through the first branch and the second branch, realizing mechanical backup. When the servo cylinder fails, the vehicle can still be braked, which is safer.

[0051] In some embodiments, the vehicle braking system includes a vehicle speed sensor and multiple wheel speed sensors, and the multiple wheel speed sensors are arranged one-to-one corresponding to multiple wheels of the vehicle. In step S200, the slip rate of the wheel is obtained. This step includes step S220, step S230, step S240 and step S250.

[0052] Step S220: Acquire the vehicle speed from the vehicle speed sensor and the wheel speeds from the plurality of wheel speed sensors.

[0053] Step S230: Determine that an average value of the wheel speeds of the plurality of wheel speed sensors is a first value.

[0054] Step S240: Determine the difference between the vehicle speed and the first value as a second value.

[0055] Step S250: Determine the quotient of the second value and the vehicle speed as the slip rate of the wheel.

[0056] It should be noted that this embodiment provides a step of comprehensively evaluating the slip ratio of the vehicle, and controls the above-mentioned switch valve and control valve to be opened or closed according to the slip ratio.

[0057] An embodiment of the present invention further provides a vehicle, comprising the vehicle braking system of the above embodiment.

[0058] 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.

[0059] 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 brake system control method as described in the above embodiment.

[0060] Reference Figure 4 As shown, Figure 4The 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 control method of the vehicle braking system in 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.

[0061] 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 control method of the vehicle braking system of the above embodiment is executed in a processor of the device where the program is located.

[0062] An embodiment of the present invention further provides a computer program product, including a computer program, which implements the vehicle braking system control method of the above embodiment when the computer program is executed by a processor.

[0063] 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.

[0064] 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 used 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.

[0065] 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.

[0066] 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.

[0067] 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. 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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 each embodiment method 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.

[0072] 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: The invention comprises a brake pedal, an integrated brake control assembly, a redundant brake control system and a brake unit, wherein the brake unit comprises a left front brake, a left rear brake, a right front brake and a right rear brake, and the redundant brake control system comprises: Servo cylinder; A brake master cylinder comprises a cylinder body, a first piston, a second piston, a first elastic element and a second elastic element, wherein the first piston, the second piston, the first elastic element and the second elastic element are respectively arranged in the cylinder body, the cylinder body comprises a first master cylinder cavity and a second master cylinder cavity, the first master cylinder cavity is located between the inner wall of the cylinder body and the first piston, the first elastic element is located in the first master cylinder cavity, one end of the first elastic element is connected to the inner wall of the cylinder body, and the other end is connected to the first piston, the second master cylinder cavity is located between the first piston and the second piston, the second elastic element is located in the second master cylinder cavity, one end of the second elastic element is connected to the first piston, and the other end is connected to the second piston, and the brake pedal is connected to the second piston; a first branch connecting the first master cylinder chamber and the right front brake; a second branch connecting the first branch and the left front brake; a third branch connecting the second master cylinder chamber and the left rear brake; a fourth branch connecting the third branch and the right rear brake; a fifth branch, connecting the servo cylinder and the first branch; a sixth branch, connecting the servo cylinder and the third branch; A first switch valve and a first control valve are respectively arranged on the first branch, the first control valve is located at a connection position where the fifth branch is connected to the first branch and a connection position where the second branch is connected to the first branch, and the first switch valve is located between a connection position where the second branch is connected to the first branch and the right front brake; a second switch valve and a second control valve, wherein the second control valve is arranged on the second branch, the second control valve is located at a connection position where the sixth branch is connected to the second branch and a connection position where the fourth branch is connected to the second branch, and the second switch valve is arranged on the fourth branch; A third switch valve is provided on the fifth branch; a fourth switch valve, arranged on the sixth branch; Wherein, when the integrated brake control assembly is in a fault state, the redundant brake control system takes over the control of the brake unit.

2. The vehicle braking system according to claim 1, characterized in that: The first branch is provided with a fifth switch valve, and the fifth switch valve is located between the connection position where the fifth branch is connected to the first branch and the first master cylinder chamber. When the third switch valve is in an open state, the fifth switch valve is in a closed state.

3. The vehicle braking system according to claim 1, characterized in that: The second branch is provided with a sixth switch valve, which is located between the connection position where the sixth branch is connected to the second branch and the second master cylinder chamber. When the fourth switch valve is in an open state, the sixth switch valve is in a closed state.

4. A method for controlling a vehicle braking system, characterized in that: Applied to the vehicle braking system of claim 1, the control method comprises: In response to receiving a first fault signal, the first fault signal indicates that the integrated brake control assembly is in a fault state; The slip rate of the wheel is obtained. When the slip rate is greater than or equal to a first threshold, the servo cylinder is turned on, the first control valve, the second control valve, the third switch valve and the fourth switch valve are opened, and the first switch valve and the second switch valve are closed.

5. The control method of the vehicle braking system according to claim 4, characterized in that: The first branch is provided with a fifth switch valve, the fifth switch valve is located between the connection position where the fifth branch is connected to the first branch and the first master cylinder cavity, the second branch is provided with a sixth switch valve, the sixth switch valve is located between the connection position where the sixth branch is connected to the second branch and the second master cylinder cavity, and when the slip rate is greater than or equal to the first threshold, the further comprising: The fifth opening and closing valve and the sixth opening and closing valve are closed.

6. The control method of the vehicle braking system according to claim 5, characterized in that: The control method comprises: In response to receiving a second fault signal, the second fault signal characterizing that the servo cylinder is in a fault state; The third opening and closing valve and the fourth opening and closing valve are closed, and the fifth opening and closing valve and the sixth opening and closing valve are opened.

7. The control method of the vehicle braking system according to claim 5, characterized in that: The vehicle braking system includes a vehicle speed sensor and a plurality of wheel speed sensors, wherein the plurality of wheel speed sensors are arranged in one-to-one correspondence with the plurality of wheels of the vehicle, and the obtaining of the slip rate of the wheel includes: Acquiring the vehicle speed from the vehicle speed sensor and the wheel speeds from the plurality of wheel speed sensors; Determine an average value of the wheel speeds of the plurality of wheel speed sensors as a first value; determining a difference between the vehicle speed and the first value as a second value; The quotient of the second value and the vehicle speed is determined as the slip rate of the wheel.

8. The control method of the vehicle braking system according to claim 4, characterized in that: When the slip ratio is greater than or equal to a first threshold, the method further comprises: A first signal is generated to an engine of a vehicle, the first signal being characterized by reducing the output torque of the engine.

9. A vehicle, characterized in that: A vehicle braking system comprising any one of claims 1 to 3.

10. 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 any one of claims 4 to 8.

11. A computer-readable storage medium, characterized in that: Used to store computer programs / instructions, characterized in that when the computer programs / instructions are executed by a processor, the steps of the vehicle braking system control method according to any one of claims 4 to 8 are implemented.

12. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the vehicle braking system control method according to any one of claims 4 to 8 are implemented.

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