Vehicle brake system, control method, vehicle, electronic device, and medium

Abstract

The application provides a vehicle braking system, a control method, a vehicle, an electronic device and a medium, wherein the vehicle braking 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 right front brake and a first master cylinder cavity, the second branch is connected with the first branch and a left front brake, the third branch is connected with a left rear brake and a second master cylinder cavity, the fourth branch is connected with the third branch and a right rear brake, the fifth branch is connected with the 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, ABS, TCS, VDC and other functions can still be realized, and the safety of a driver is ensured.

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 RBUs ​​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 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, VDC, etc., 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 the driver.

[0004] A vehicle braking system according to an embodiment of a first aspect of the present invention includes a brake pedal, an integrated brake control assembly, a redundant brake control system, and a brake unit, wherein the brake unit includes a left front brake, a left rear brake, a right front brake, and a right rear brake, and the redundant brake control system includes:

[0005] Servo cylinder;

[0006] 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;

[0007] a first branch connecting the first master cylinder chamber and the right front brake;

[0008] a second branch connecting the first branch and the left front brake;

[0009] a third branch connecting the second master cylinder cavity and the left rear brake;

[0010] a fourth branch connecting the third branch and the right rear brake;

[0011] a fifth branch connecting the servo cylinder and the first branch;

[0012] a sixth branch connecting the servo cylinder and the third branch;

[0013] a first on-off valve and a first control valve arranged in the first branch respectively, the first control valve is located between the connection position of the fifth branch and the first branch and the connection position of the second branch and the first branch, the first on-off valve is located between the connection position of the second branch and the first branch and the right front brake;

[0014] a second on-off valve and a second control valve, the second control valve is arranged in the second branch, the second control valve is located between the connection position of the sixth branch and the second branch and the connection position of the fourth branch and the second branch, the second on-off valve is arranged in the fourth branch;

[0015] a third on-off valve arranged in the fifth branch;

[0016] a fourth on-off valve arranged in the sixth branch;

[0017] When the integrated brake control assembly is in a failure state, the redundant brake control system takes over the control of the brake unit.

[0018] According to the vehicle brake system of the embodiment of the present application, at least the following beneficial effects are achieved:

[0019] By improving the redundant brake control system, the embodiments of the present invention can primarily achieve precise control of the braking of a specific wheel, allowing the redundant brake control system to implement functions such as ABS, TCS, and VDC. Specifically, for the VDC function, if the integrated brake control assembly fails and the vehicle body yaws out of control, when the driver brakes, the system closes the first and second switch valves. By controlling the opening and closing of the first and second control valves, the front and rear wheels on the left side of the vehicle can be braked separately, achieving vehicle yaw control. For the TCS function, if the integrated brake control assembly fails, the redundant brake control system determines whether the slip rate of a specific drive wheel is excessive. By activating the servo cylinder and controlling the opening and closing of each switch valve and control valve, the corresponding drive wheel can be braked, slightly braking the slipping drive wheel to increase friction with the ground. For the ABS function, the opening and closing of the first and second control valves, first and second switch valves can be jointly controlled. When excessive braking force is detected on a corresponding wheel, the valve controlling that wheel can be closed to achieve the ABS braking effect.

[0020] According to some embodiments of the present invention, 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 chamber. When the third switch valve is in an open state, the fifth switch valve is in a closed state.

[0021] 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.

[0022] A method for controlling a vehicle braking system according to a second embodiment of the present invention is applied to the vehicle braking system according to the first embodiment, and the method for controlling a vehicle braking system includes:

[0023] In response to receiving a first fault signal, the first fault signal indicates that the integrated brake control assembly is in a fault state;

[0024] Obtain the slip rate of the wheel. When the slip rate is greater than or equal to a first threshold, activate 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.

[0025] The control method of the vehicle braking system according to the embodiment of the present invention has at least the following beneficial effects:

[0026] When the integrated brake control assembly is in a faulty state, the redundant brake control system takes over the brake unit. When the slip ratio 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 and safe braking of the vehicle.

[0027] According to some embodiments of the present invention, the first branch is provided with a fifth switch valve, the fifth switch valve being located between the first master cylinder chamber and a connection point where the fifth branch connects to the first branch; the second branch is provided with a sixth switch valve, the sixth switch valve being located between the second master cylinder chamber and a connection point where the sixth branch connects to the second branch; and when the slip ratio is greater than or equal to a first threshold, the method further includes:

[0028] The fifth on-off valve and the sixth on-off valve are closed.

[0029] According to some embodiments of the present invention, the control method includes:

[0030] In response to receiving a second fault signal, the second fault signal indicates that the servo cylinder is in a fault state;

[0031] The third on-off valve and the fourth on-off valve are closed, and the fifth on-off valve and the sixth on-off valve are opened.

[0032] According to some embodiments of the present invention, the vehicle braking system includes a vehicle speed sensor and a plurality of wheel speed sensors, wherein the plurality of wheel speed sensors are provided in a one-to-one correspondence with the plurality of wheels of the vehicle, and obtaining the slip rate of the wheel includes:

[0033] acquiring the vehicle speed from the vehicle speed sensor and the wheel speeds from the plurality of wheel speed sensors;

[0034] determining an average value of the wheel speeds of the plurality of wheel speed sensors as a first value;

[0035] determining a difference between the vehicle speed and the first value as a second value;

[0036] The quotient of the second value and the vehicle speed is determined as the slip rate of the wheel.

[0037] According to some embodiments of the present invention, when the slip ratio is greater than or equal to a first threshold, the method further includes:

[0038] A first signal is generated to an engine of a vehicle, the first signal being characterized by reducing the output torque of the engine.

[0039] The vehicle according to the third aspect of the embodiments of the present application comprises the vehicle braking system according to the first aspect of the embodiments of the present application.

[0040] The vehicle according to the embodiments of the present application, due to comprising the vehicle braking system according to the first aspect of the embodiments of the present application, has at least the beneficial effects described above, which will not be repeated here.

[0041] The electronic device according to the fourth aspect of the embodiments of the present application comprises at least one processor, at least one memory for storing at least one program, and the at least one program is executed by the at least one processor to enable the at least one processor to implement the control method of the vehicle braking system according to the second aspect of the embodiments of the present application.

[0042] The electronic device according to the embodiments of the present application, due to its processor implementing the control method of the vehicle braking system according to the embodiments described above, has at least the beneficial effects described above, which will not be repeated here.

[0043] The computer readable storage medium according to the fifth aspect of the embodiments of the present application stores processor executable instructions, and the processor executable instructions are executed by the processor to implement the control method of the vehicle braking system according to the second aspect of the embodiments of the present application.

[0044] The computer program product according to the sixth aspect of the embodiments of the present application comprises a computer program, and the computer program is executed by the processor to implement the control method of the vehicle braking system according to the second aspect of the embodiments of the present application.

[0045] Additional aspects and advantages of the present application will be given in part in the following description, become apparent from the following description, or be understood by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0046] The present application will be further described below in conjunction with the drawings and embodiments, wherein:

[0047] Figure 1 The schematic diagram of the module of the vehicle braking system according to some embodiments of the present application;

[0048] Figure 2 The step flow chart of the control method of the vehicle braking system according to some embodiments of the present application;

[0049] Figure 3 The step flow chart of the control method of the vehicle braking system according to some embodiments of the present application;

[0050] Figure 4 The schematic diagram of the hardware structure of the electronic device according to some embodiments of the present application.

[0051] REFERENCE NUMERALS:

[0052] Brake master cylinder 100, first master cylinder chamber 110, second master cylinder chamber 120, first elastic element 130, second elastic element 140, first piston 150, second piston 160;

[0053] 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

[0054] The following describes embodiments of the present invention in detail. Examples of the embodiments 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 intended only to explain the present invention and are not to be construed as limiting the present invention.

[0055] 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 wet 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 vehicle's stability under various road conditions and prevent the vehicle from losing control. VAFs (Vehicle Active Functions): Vehicle active function, 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.

[0056] Reference Figure 1 As 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. Figure 1 FL stands for the left front brake, which is used to brake the left front wheel; FR stands for the right front brake, which is used to brake the right front wheel; RL stands for the left rear brake, which is used to brake the left rear wheel; and RR stands for the right rear brake, which is used to brake the right rear wheel.

[0057] Reference Figure 1As 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.

[0058] The first branch connects the first master cylinder chamber to the right front brake, the second branch connects the first branch to the left front brake, the third branch connects the second master cylinder chamber to the left rear brake, the fourth branch connects the third branch to the right rear brake, the fifth branch connects the servo cylinder to the first branch, and the sixth branch connects the servo cylinder to the third branch. A first switching valve and a first control valve are respectively located in the first branch. The first control valve is located at the connection point where the fifth branch connects to the first branch and the connection point where the second branch connects to the first branch. The first switching valve is located between the connection point where the second branch connects to the first branch and the right front brake. The second control valve is located in the second branch. The second control valve is located at the connection point where the sixth branch connects to the second branch and the connection point where the fourth branch connects to the second branch. The second switching valve is located in the fourth branch. The third switching valve is located in the fifth branch, and the fourth switching valve is located in the sixth branch. When the integrated brake control assembly is in a faulty state, the redundant brake control system takes over control of the brake unit.

[0059] 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.

[0060] It should be noted that this embodiment improves the redundant braking control system, enabling it to precisely and independently control the braking of a single wheel. Specifically, it can independently control the left front brake, left rear brake, right front brake, or right rear brake. This provides more precise braking. Even in the event of IBC failure, ABS, TCS, VDC, and other functions can still be implemented, ensuring driving safety. The aforementioned switching valve and control valve can be configured as electromagnetic reversing valves.

[0061] The servo cylinder can generate hydraulic pressure, the redundant brake control system controls the hydraulic pressure output by the servo cylinder according to the stroke of the brake pedal, pushes the oil into the fifth branch and the sixth branch, controls the opening and closing of the third switch valve or the fourth switch valve to control the output of the oil to the first branch or the second branch, 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.

[0062] For the VDC function, when the integrated brake control assembly fails, if the vehicle body appears out-of-control yaw (which can be judged by monitoring data of a wheel speed sensor, a steering wheel angle sensor, a lateral acceleration sensor or a yaw rate sensor), when the driver steps on the brake pedal, the system closes the first switch valve and the second switch valve, and controls the opening and closing of the first control valve and the second control valve to realize the braking of the front and rear wheels on the left side of the vehicle, so as to realize the yaw control of the vehicle; for the TCS function, when the integrated brake control assembly fails, the redundant brake control system judges whether the slip rate of a certain drive wheel (which can be monitored by a wheel speed sensor and a vehicle speed sensor) is too large, controls the opening and closing of the servo cylinder and the above-mentioned switch valves and control valves to control the braking of the corresponding drive wheel, and slightly brakes the slipping drive wheel to increase the friction with the ground. When the vehicle is a four-wheel drive vehicle, if the front and rear axles both slip, the four-wheel drive device is disconnected or the rear wheel drive torque is greatly reduced, and the TCS control is performed on the front wheels to restore the driving force of the vehicle; for the ABS function, the opening and closing of the first control valve, the second control valve, the first switch valve and the second switch valve are jointly controlled, when it is detected that the braking force of the corresponding wheel is too large, the valve controlling the wheel is closed to realize the ABS braking effect.

[0063] In some embodiments, pressure sensors are arranged in the left front brake, the left rear brake, the right front brake and the right rear brake, which are mainly used to detect the hydraulic pressure of the brake fluid, when the hydraulic pressure of the brake fluid is too large, the corresponding valve of the brake can be controlled to be closed, so as to realize the ABS function.

[0064] Referring to Figure 1 In some embodiments, the first branch is provided with a fifth switch valve, the fifth switch valve is located between the connection position of the fifth branch connected to the first branch and the first master cylinder cavity, and the fifth switch valve is in a closed state when the third switch valve is in an open state. The fifth switch valve can be understood as a master cylinder isolation valve. When the servo cylinder works, 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.

[0065] Referring to Figure 1As shown, in some embodiments, the second branch is provided with a sixth on-off valve, located between the connection point where the sixth branch connects to the second branch and the second master cylinder chamber. When the fourth on-off valve is open, the sixth on-off valve is closed. The sixth on-off valve can be understood as a master cylinder isolation valve.

[0066] In some embodiments, when the vehicle is in an autonomous driving mode of L3 or above, if a failure 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, ensuring driving safety. Then, the vehicle exits the autonomous driving mode.

[0067] 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.

[0068] Reference Figure 1 As shown, a control method for a vehicle braking system provided by 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.

[0069] 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.

[0070] 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.

[0071] Step S200: Obtain the slip rate of the wheel. When the slip rate is greater than or equal to a first threshold, activate 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.

[0072] It should be noted that in this step, 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. 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 and safe braking of the vehicle.

[0073] In some embodiments, the control method further includes the following steps:

[0074] Obtaining 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 being characterized by the driver depressing the brake pedal;

[0075] Close the first on-off valve and the second on-off valve, and open the third on-off valve and the fourth on-off valve.

[0076] 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, ensuring the safety of the driver.

[0077] 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 chamber, 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 chamber. In step S200, when the slip rate is greater than or equal to the first threshold, step S210 is also included.

[0078] Step S210: Close the fifth on-off valve and the sixth on-off valve.

[0079] 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.

[0080] 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.

[0081] In some embodiments, the above control method further includes step S300 and step S400.

[0082] Step S300: In response to receiving a second fault signal, the second fault signal indicates that the servo cylinder is in a fault state;

[0083] 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.

[0084] 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 the 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.

[0085] In some embodiments, the vehicle braking system comprises a vehicle speed sensor and a plurality of wheel speed sensors, the plurality of wheel speed sensors are arranged one-to-one corresponding to a plurality of wheels of the vehicle, and in step S200, the slip rate of the wheel is obtained, and this step comprises step S220, step S230, step S240 and step S250.

[0086] Step S220: obtaining the vehicle speed of the vehicle speed sensor and the wheel speed of the plurality of wheel speed sensors.

[0087] Step S230: determining the average value of the wheel speed of the plurality of wheel speed sensors as a first value.

[0088] Step S240: determining the difference between the vehicle speed and the first value as a second value.

[0089] Step S250: determining the quotient of the second value and the vehicle speed as the slip rate of the wheel.

[0090] It should be noted that the embodiment provides a step of comprehensively judging the slip rate of the vehicle, and the opening or closing of the above-mentioned on-off valve and control valve is controlled according to the slip rate.

[0091] The embodiment of the present application also provides a vehicle comprising the vehicle braking system of the above-mentioned embodiment.

[0092] Specifically, the vehicle of the embodiment of the present application can be a private car, such as a sedan, an SUV, an MPV or a pickup truck, etc. The vehicle can also be an operating vehicle, such as a van, a bus, a small truck or a large trailer, etc. The vehicle can be an oil car or a new energy car. When the vehicle is a new energy car, it can be a hybrid car or a pure electric car.

[0093] The embodiment of the present application also provides an electronic device comprising at least one processor and at least one memory, 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 control method of the vehicle braking system of the above-mentioned embodiment.

[0094] Referring to Figure 4 , as shown in the figure, Figure 4The hardware structure of an electronic device of another embodiment is illustrated. 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 (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solution provided by the embodiment of the present application; a memory, which can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory can store an operating system and other applications. 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 communication interaction between this device and other devices, and communication can be realized through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.); the bus transmits information between the various components of the device (such as 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.

[0095] An embodiment of the present invention further provides a computer-readable storage medium, which includes a stored program, wherein when the program runs, the processor of the device where the program is located controls the execution of the vehicle braking system control method of the above embodiment.

[0096] 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.

[0097] In the description of the present invention, it should be understood that descriptions involving orientation, such as the orientation or positional relationship indicated by up, down, etc., are based on the orientation or positional relationship shown in the accompanying 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 cannot be understood as a limitation on the present invention.

[0098] In the description of the present invention, "a plurality" refers to more than two. The use of "first" or "second" is solely for the purpose of distinguishing technical features and should not be construed 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.

[0099] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting 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.

[0100] 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 sequential order. 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, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof 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 clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0101] It should be understood that in this 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 previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items 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.

[0102] In the several embodiments provided in this 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 merely schematic. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, 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.

[0103] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or part of a computer program that has a predetermined function and works together with other related parts to achieve a predetermined goal. It can be implemented in whole or in part using software, hardware (such as processing circuits or memory), 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 functionality of the module or unit.

[0104] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0105] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0106] 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 enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0107] The step numbers in the above method embodiment are only provided for the convenience of explanation and description, and do not limit 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 system comprises a brake pedal, an integrated brake control assembly, a redundant brake control system and a brake unit. The brake unit comprises a left front brake, a left rear brake, a right front brake and a right rear brake. 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, each provided on the first branch; the first control valve being located at a connection point between the fifth branch and the first branch and a connection point between the second branch and the first branch; and the first switch valve being located between a connection point between the second branch and the first branch and the right front brake; a second switch valve and a second control valve, the second control valve being provided on the second branch, the second control valve being located at a connection position between the sixth branch and the second branch and a connection position between the fourth branch and the second branch, the second switch valve being provided on the fourth branch; a third switch valve, provided on the fifth branch; a fourth switch valve, provided 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, which 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 the open state, the fifth switch valve is in the 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 the open state, the sixth switch valve is in the closed state.

4. A method for controlling a vehicle braking system, characterized in that: Applied to the vehicle braking system according to 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; Obtain the slip rate of the wheel. When the slip rate is greater than or equal to a first threshold, activate 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.

5. The method for controlling a vehicle braking system according to claim 4, wherein: The first branch is provided with a fifth switch valve, the fifth switch valve being located between the connection point where the fifth branch is connected to the first branch and the first master cylinder chamber; the second branch is provided with a sixth switch valve, the sixth switch valve being located between the connection point where the sixth branch is connected to the second branch and the second master cylinder chamber; and when the slip ratio is greater than or equal to a first threshold, the further comprising: The fifth on-off valve and the sixth on-off valve are closed.

6. The method for controlling a vehicle braking system according to claim 5, wherein: The control method includes: In response to receiving a second fault signal, the second fault signal indicates that the servo cylinder is in a fault state; The third on-off valve and the fourth on-off valve are closed, and the fifth on-off valve and the sixth on-off valve are opened.

7. The method for controlling a vehicle braking system according to claim 5, wherein: The vehicle braking system includes a vehicle speed sensor and a plurality of wheel speed sensors, wherein the plurality of wheel speed sensors are provided in a one-to-one correspondence with the 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; determining 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 method for controlling a vehicle braking system according to claim 4, wherein: 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 the vehicle braking system according to 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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