Vehicle brake system and related method

Abstract

The invention discloses a vehicle braking system and a related method, the system comprises an electro-hydraulic braking system (EHB) and an electro-mechanical braking system (EMB), the EHB is used for braking a front axle, the EMB is used for braking a rear axle, a control unit EHB ECU of the EHB is in communication connection with a control unit EMB ECU of the EMB, the EHB comprises at least two devices, the at least two devices are identical in function, and the EHB is used for braking the front axle and the EMB is used for braking the rear axle. First equipment in the at least two pieces of equipment works; and when the first equipment fails, the second equipment in the at least two pieces of equipment works. According to the embodiment of the invention, at least two devices with the same function are arranged in the EHB of the EHB and EMB hybrid braking system, so that the system redundancy is increased, and the system reliability is improved.

Description

Vehicle braking system and related methods Technical Field

[0001] The present application relates to the field of vehicle intelligent control technology, and in particular to a vehicle braking system and related methods. Background Art

[0002] Current passenger car braking systems primarily include electronic hydraulic brakes (EHB), hybrid brakes combining EHB and electro-mechanical brakes (EMB), and pure EMB systems. EHB systems suffer from issues such as insufficient pressure build-up rate and insufficient redundancy. EMB systems are difficult and expensive to place on the front axle rim. This placement poses significant challenges to the current mainstream 12V battery system and also requires changes to the power supply circuits of other controllers.

[0003] Although the currently proposed hybrid braking system of EHB and EMB has solved some of the problems of separate EHB and EMB systems, such as difficult layout, high cost, and insufficient decompression rate, it still has problems such as insufficient redundancy, resulting in low reliability of the braking system, which may cause great trouble to the vehicle use process.

[0004] Summary of the Invention

[0005] An embodiment of the present application provides a vehicle braking system and related methods. The system is an EHB and EMB hybrid braking system. By setting at least two devices with the same function in the EHB, the system redundancy is increased, thereby improving the system reliability.

[0006] In a first aspect, a vehicle braking system is provided, characterized in that the system includes an electronic hydraulic braking system EHB and an electronic mechanical braking system EMB, the EHB is used for front axle braking, the EMB is used for rear axle braking, the control unit EHB ECU of the EHB is communicatively connected with the control unit EMB ECU of the EMB, wherein:

[0007] The EHB includes at least two devices, and the at least two devices have the same function, and the first device of the at least two devices is working;

[0008] When the first device fails, the second device of the at least two devices operates.

[0009] In an embodiment of the present application, the vehicle braking system is an EHB and EMB hybrid braking system. By setting at least two devices with the same function in the EHB, the system redundancy is increased, and the braking failures that may occur in the system due to insufficient redundancy are reduced, thereby improving the system reliability.

[0010] In a possible implementation, the at least two devices are at least two EHB ECUs, the first device is a first EHB ECU, and the second device is a second EHB ECU.

[0011] In a possible implementation, when the first EHB ECU is working, the second EHB ECU is used to perform driver backup of the vehicle.

[0012] As can be seen, in the embodiment of the present application, at least two EHB ECUs are provided in the EHB included in the vehicle braking system, one of which is used for drive control, and the other EHB ECU is used for drive program backup. This allows the other EHB ECU to perform subsequent drive control based on the backup drive program if the EHB ECU used for drive control fails. This improves the redundancy of the EHB ECUs in the vehicle braking system, thereby improving the reliability of the vehicle braking system.

[0013] In a possible implementation, at least two devices are dual coils, the first device is a first coil in the dual coil, and the second coil is a second coil in the dual coil.

[0014] It can be seen that in the embodiment of the present application, in the EHB and EMB hybrid braking system, dual coils are set for the components in the EHB, which reduces the possible failures of the system due to insufficient coil redundancy, improves the coil redundancy of the vehicle braking system, and thus improves the reliability of the vehicle braking system.

[0015] In a possible implementation, at least two devices are six-phase motors, the first device is a first three-phase motor in the six-phase motor, and the second device is a second three-phase motor in the six-phase motor.

[0016] It can be seen that in the embodiment of the present application, in the EHB and EMB hybrid braking system, a six-phase motor is provided in the EHB to reduce possible failures of the system due to insufficient motor redundancy, improve the motor redundancy of the vehicle braking system, and thereby improve the reliability of the vehicle braking system.

[0017] In one possible implementation, the dual coil is located on one or more of the following components: the normally open valve of the master cylinder, the normally closed valve of the first electric cylinder, the normally closed valve of the second electric cylinder, the boost valve of the left front wheel, the boost valve of the right front wheel, the pressure reducing valve of the left front wheel, or the pressure reducing valve of the right front wheel.

[0018] In one possible implementation, the EMB also includes two EMB mechanical parts, and the connection method between the EMB ECU and the EMB mechanical parts includes one of the following: the EMB ECU is a single EMB ECU, and the single EMB ECU is connected to the two EMB mechanical parts in a non-integrated manner; or the EMB ECU is two EMB ECUs, and the two EMB ECUs are respectively connected to the two EMB mechanical parts in an integrated manner; or the two EMB ECUs are respectively connected to the two EMB mechanical parts in a non-integrated manner.

[0019] In a second aspect, a vehicle braking method is provided, characterized in that it is applied to a vehicle braking system, the system including an electronic hydraulic braking system EHB and an electronic mechanical braking system EMB, the EHB is used for front axle braking, the EMB is used for rear axle braking, the control unit EHB ECU of the EHB is communicatively connected with the control unit EMB ECU of the EMB, wherein:

[0020] The EHB includes at least two devices, and the at least two devices have the same function. The device works through the first device among the at least two devices. When the first device fails, the device works through the second device among the at least two devices.

[0021] In a possible implementation, the at least two devices are at least two EHB ECUs, the first device is a first EHB ECU, and the second device is a second EHB ECU.

[0022] In a possible implementation, when the first EHB ECU is working, the second EHB ECU is used to perform driver backup of the vehicle.

[0023] In a possible implementation, at least two devices are dual coils, the first device is a first coil in the dual coil, and the second coil is a second coil in the dual coil.

[0024] In a possible implementation, at least two devices are six-phase motors, the first device is a first three-phase motor in the six-phase motor, and the second device is a second three-phase motor in the six-phase motor.

[0025] In one possible implementation, the dual coil is located on one or more of the following components: the normally open valve of the master cylinder, the normally closed valve of the first electric cylinder, the normally closed valve of the second electric cylinder, the boost valve of the left front wheel, the boost valve of the right front wheel, the pressure reducing valve of the left front wheel, or the pressure reducing valve of the right front wheel.

[0026] In one possible implementation, the EMB also includes two EMB mechanical parts, and the connection method between the EMB ECU and the EMB mechanical parts includes one of the following: the EMB ECU is a single EMB ECU, and the single EMB ECU is connected to the two EMB mechanical parts in a non-integrated manner; or the EMB ECU is two EMB ECUs, and the two EMB ECUs are respectively connected to the two EMB mechanical parts in an integrated manner; or the two EMB ECUs are respectively connected to the two EMB mechanical parts in a non-integrated manner.

[0027] In a third aspect, an embodiment of the present application provides a device comprising a communication interface and a processor, wherein the communication interface is used for the device to communicate with other devices, such as for transmitting and receiving data or signals. Exemplarily, the communication interface may be a transceiver, a circuit, a bus, a module, or other types of communication interfaces. The processor is used to call a set of programs, instructions, or data to execute the method described in the first aspect above. The device may also include a memory for storing programs, instructions, or data called by the processor. The memory is coupled to the processor, and when the processor executes the instructions or data stored in the memory, the method described in the second aspect or any one of the second aspects may be implemented.

[0028] In a fourth aspect, an embodiment of the present application further provides a communication device, characterized in that the communication device includes a processor, a transceiver, a memory, and computer execution instructions stored in the memory and executable on the processor, and when the computer execution instructions are executed, the communication device executes the method in the second aspect or any possible implementation of the second aspect.

[0029] In the fifth aspect, an embodiment of the present application also provides a computer-readable storage medium, which stores computer-readable instructions. When the computer-readable instructions are executed on a computer, the computer executes the method in the second aspect or any possible implementation of the second aspect.

[0030] In a sixth aspect, embodiments of the present application provide a chip system, comprising a processor and further comprising a memory, for implementing the method of the second aspect or any possible implementation of the second aspect. The chip system may be composed of a chip alone, or may include a chip and other discrete devices.

[0031] Optionally, the chip system also includes a transceiver.

[0032] In the seventh aspect, an embodiment of the present application also provides a computer program product, comprising instructions, which, when executed on a computer, enables the computer to execute a method as in the first aspect or any possible implementation of the first aspect, or to execute a method as in the second aspect or any possible implementation of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments.

[0034] FIG1 is a schematic diagram of a vehicle drive system provided in an embodiment of the present application;

[0035] FIG2 is a schematic diagram of an EHB and EMB hybrid system provided in an embodiment of the present application;

[0036] FIG3 is a schematic diagram of another EHB and EMB hybrid system provided in an embodiment of the present application;

[0037] FIG4 is a schematic diagram of another EHB and EMB hybrid system provided in an embodiment of the present application;

[0038] FIG5 is a schematic diagram of a vehicle braking system provided in an embodiment of the present application;

[0039] FIG6 is a schematic diagram of an EMB integration method provided in an embodiment of the present application;

[0040] FIG7 is a flow chart of a vehicle braking method provided in an embodiment of the present application;

[0041] FIG8 is a schematic structural diagram of a communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] The terms "first," "second," "third," and "fourth," etc., in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, rather than to describe a particular order. In addition, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or modules is not limited to the listed steps or modules, but may optionally include steps or modules not listed, or may optionally include other steps or modules inherent to the process, method, product, or apparatus.

[0043] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0044] "Multiple" refers to two or more. "And / or" describes the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0045] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0046] First, the professional terms that may be involved in the embodiments of this application are introduced.

[0047] EHB system: It is a wire-controlled braking system. Some mechanical components are replaced by electronic components. The brake pedal is not directly connected to the brake wheel cylinder. Instead, the driver's operation is collected as the control intention, and the braking operation is completed by the hydraulic actuator. Braking control is performed by sensing the urgency of the driver's control pedal, rather than by the force felt by the mechanical components. It improves the braking efficiency and avoids the risk of the driver unconsciously reducing the braking force due to vibration caused by the reaction force of the hydraulic-mechanical braking system. Please refer to Figure 1, which is a schematic diagram of a vehicle drive system provided by an embodiment of the present application. As shown in (a) in Figure 1, it is a schematic diagram of an EHB system. The components are connected through hydraulic brake pipes, and the brake pedal is connected to the hydraulic actuator. The control intention determined by the brake pedal is transmitted to the hydraulic actuator to complete the braking operation.

[0048] The EMB system is also a brake-by-wire system. It uses electricity as its energy source, with a motor driving the brake pads. Energy is transmitted via wires, and signals are transmitted via data lines to complete the braking process. Advantages of the EMB system include fewer mechanical connections, smooth load transfer, stable braking performance, high transmission efficiency, and environmental benefits. Figure 1 (b) shows a schematic diagram of an EMB system. Components are connected by wires, and the motor drives the brake pads to complete the braking operation.

[0049] A hybrid EHB and EMB system uses both EHB and EMB to provide braking control. Typically, different braking methods are used for the front and rear wheels, avoiding some of the drawbacks of separate EHB and EMB systems. Figure 1 (c) shows a schematic diagram of a hybrid EHB and EMB system, with the front wheels braked using EHB and the rear wheels braked using EMB.

[0050] The EHB and EMB hybrid system can be configured in a variety of ways. See Figure 2 for a schematic diagram of an EHB and EMB hybrid system provided in an embodiment of this application (this system is provided by patent CN108189824A). As shown in Figure 2, this is a braking system solution that uses an EHB at the front of the vehicle and an EMB at the rear. The EHB ECU is connected to the front left (FL) wheel (FL wheel is also referred to as FL) and the front right (FR) wheel (FR wheel is also referred to as FR), while the EMB is connected to the rear left (RL) wheel (RL wheel is also referred to as RL) and the rear right (RR) wheel (RR wheel is also referred to as RR). In this solution, the EHB and EMB can back up each other, supporting autonomous driving levels above L3. The EMB's mechanical and electronic control units (ECU) are integrated, enabling independent control of the EMB. However, in this system, if the EHB's coil, motor, or ECU fails, only the EMB provides backup, resulting in low reliability.

[0051] Alternatively, refer to Figure 3, which shows a schematic diagram of another hybrid EHB and EMB system according to an embodiment of the present application (this system is provided by patent CN102029915A). As shown in Figure 3, this system also utilizes an EHB at the front of the vehicle and an EMB at the rear. The central ECU, also known as the EHB ECU, is responsible for primary control. Unlike the previous solution, this solution separates the EMB ECU from its mechanical components, minimizing the impact of thermal loads and road vibration on the ECU. However, if the EHB coil, motor, or ECU fails, only the EMB provides backup. If the EMB ECU fails, only the front axle hydraulics provide backup.

[0052] Alternatively, refer to Figure 4, which is a schematic diagram of another EHB and EMB hybrid system provided in an embodiment of the present application. As shown in Figure 4, it uses F-2×EHB+R-EMB as the main solution, that is, the front axle adopts two independent electronic hydraulic brake units (realized by connecting two hydraulic actuators respectively through the brake control unit), and the mechanical parts of the EMB used in the rear axle are separated from its ECU (wherein the brake control unit 2 represents the EMB ECU), thereby avoiding the impact of thermal load and road vibration on the ECU. In addition, EHB and EMB back up each other. When a single EMB or EHB fails, independent control of the three wheels can still be achieved, which can support intelligent driving above L4. The determination of this solution is that when a single EHB of the front wheel fails, braking of the three wheels is achieved. During emergency braking, unexpected yaw may occur, affecting the safety of autonomous driving.

[0053] It can be seen that although the existing hybrid braking system of EHB and EMB has solved the defects of the separate EHB system and EMB system to a certain extent, it still has the problem of low reliability of the braking system caused by insufficient redundancy.

[0054] Based on this, an embodiment of the present application provides a vehicle braking system, which includes an electronic hydraulic braking system EHB and an electronic mechanical braking system EMB (an EHB and EMB hybrid braking system). The EHB is connected to FL and FR for front axle braking. The EMB is connected to RL and RR for rear axle braking. The control unit EHB ECU of the EHB is connected to the control unit EMB ECU of the EMB, for example, via a controller area network (CAN) bus. The EHB ECU includes a coil and a motor, wherein:

[0055] The EHB includes at least two devices, and the at least two devices have the same function. The first device among the at least two devices works; when the first device fails, the second device among the at least two devices works.

[0056] As can be seen from the preceding description, the hybrid braking system of EHB and EMB suffers from insufficient redundancy. Therefore, the EHB is equipped with at least two functionally identical devices to achieve full redundancy. When both devices are functioning normally, one can function normally. If a failure occurs, the other replaces the faulty device, providing full redundancy. This improves system reliability.

[0057] Specifically, referring to FIG. 5 , a vehicle braking system according to an embodiment of the present application is shown. As shown in FIG. 5 , the at least two devices in the EHB can be at least two EHB ECUs. The at least two EHB ECUs can be separate but connected (wired or wirelessly), or integrated into the same molded housing. The at least two EHB ECUs include a first EHB ECU and a second EHB ECU, which correspond to EHB ECU A and EHB ECU B in FIG. The first EHB ECU (which can be any one of the at least two EHB ECUs) is responsible for controlling vehicle drive in the absence of a fault, fulfilling the drive function of the EHB in the system. In some cases, an EHB ECU may fail, causing drive control to fail. For example, failure of any one or more of the ECU's microcontroller unit (MCU), valve drive, coil, electric drive, or motor can result in drive control failure of the EHB ECU. If drive control by the first EHB ECU fails, the second EHB ECU can be used to perform drive control.

[0058] Optionally, when the first EHB ECU is operating, the second EHB ECU can serve as a backup driver for the vehicle. This way, if the first EHB ECU fails, the backup driver in the second EHB ECU allows seamless continued drive control based on the first EHB ECU's drive control, minimizing or eliminating the potential impact of a failure in the first EHB ECU's drive control.

[0059] The same operating principle applies when the system includes at least two EHB ECUs and further EHB ECUs. ECUs other than the first EHB ECU can perform driver program backup. For example, if a third EHB ECU is provided, while the first and second EHB ECUs are performing driver program control, the third EHB ECU also performs driver program backup. If the second EHB ECU fails, the third EHB ECU can perform subsequent driver program control based on its backup information. If the system includes further EHB ECUs, the operating principle is similar and will not be further elaborated here.

[0060] As can be seen, in the embodiment of the present application, at least two EHB ECUs are provided in the EHB included in the vehicle braking system, one of which is used for driving control, and the other EHB ECU is used for driving program backup. This allows the other EHB ECU to perform subsequent driving control based on the backup driving program if the EHB ECU used for driving control fails. This improves the redundancy of the vehicle braking system, thereby improving the reliability of the vehicle braking system.

[0061] Optionally, at least two devices are double coils, the first device is the first coil in the double coil, and the second coil is the second coil in the double coil.

[0062] For details, see Figure 5. The vehicle system includes a master cylinder unit consisting of an oil reservoir, a single-chamber master cylinder (MastCyld), a test separation valve (TSV), a pedal travel sensor (PTS), and a brake pedal. The oil reservoir is connected to the TSV, which is connected to the single-chamber master cylinder, which is connected to the brake pedal. The PTS is also connected between the two. The vehicle system also includes a pressure-building unit, which includes a motor position sensor (MPS), a permanent-magnet synchronous motor (PMSM), a brake circuit pressure sensor (BCPS), a plunger normally closed valve (PNC), a master cylinder normally open valve (MC_NO), a pedal simulation valve (PSV), an isolation valve (ISO), a dump valve (Dump), a master cylinder pressure sensor (MCPS), and a pedal simulator. The piston is connected to the oil tank, the PMSM, and the PNCs (including PNC1 and PNC2). The BCPS is also connected between the piston and the PNCs. PNC2 is connected to the left front wheel's boost valve (ISO_FL), while PNC1 is connected to the right front wheel's boost valve (ISO_FR). The other end of ISO_FL is connected to FL, and the other end of ISO_FR is connected to FR. FL is also connected to the left front wheel's pressure reducing valve, Dump_FL, and FR is also connected to the right front wheel's pressure reducing valve, Dump_FR. The other ends of Dump_FL and Dump_FL are connected to the oil tank. Furthermore, the other ends of PNC1 and PNC2 are connected to MC_NO, which in turn is connected to MCPS and PSV. The other end of MCPS is connected to the single-chamber master cylinder, and the other end of PSV is connected to the pedal simulator.

[0063] The pressure building unit includes several valves, each of which includes a coil. The coils on the valves in the embodiment of the present application can be double coils, including all the coils on the valves being double coils, or the coils on some of the valves being double coils. Specifically, the components in the pressure building unit (i.e., the vehicle system) that include a bidirectional coil can be one or more of the following: MC_NO, PNC1, PNC2, ISO_FR, ISO_FL, Dump_FL, or Dump_FR.

[0064] The valve is equipped with two coils. Normally, the first coil is energized to operate. If the first coil fails, the second coil is energized and operates. This reduces system failures in the vehicle braking system caused by insufficient coil redundancy and improves vehicle system reliability.

[0065] Optionally, at least two devices are six-phase motors, the first device is a first three-phase motor in the six-phase motor, and the second device is a second three-phase motor in the six-phase motor.

[0066] For details, see Figure 5. The PMSM in Figure 5 can be a six-phase motor. A six-phase motor actually consists of two three-phase motors: a first three-phase motor and a second three-phase motor. Normally, the first three-phase motor provides power conversion. However, if the first three-phase motor fails, the second three-phase motor can take over and provide subsequent power conversion. This reduces system failures in the vehicle braking system caused by insufficient motor redundancy, thereby improving vehicle system reliability.

[0067] It should be noted that the at least two devices in the embodiment of the present application may include one or more of at least two EHB-ECUs, dual coils, and six-phase motors. That is to say, the vehicle-mounted system may include only at least two EHB-ECUs, dual coils, or six-phase motors, or may include two EHB-ECUs and dual coils, an EHB-ECU and a six-phase motor, a dual coil and a six-phase motor, or an EHB-ECU, a dual coil, and a six-phase motor. More redundant devices can better improve the reliability of the vehicle's braking system. However, too many redundant devices may also lead to increased costs. Therefore, redundant devices can be added as needed.

[0068] Furthermore, the EHB-ECU is also a component of the aforementioned pressure-building unit. As shown in Figure 5, the EHB ECU can be physically connected to other components of the pressure-building unit. Furthermore, the PTS in the master cylinder unit can output two signals: one connected to the EMB ECU and the other to the EHB-ECU. EHB ECU A manages basic braking, dynamics, value-added functions, and parking brakes, while EHB ECU B backs up the driver program. The EMB ECU acts as the execution unit, executing and providing feedback on control information. If EHB ECU A fails, EHB ECU B can continue driving according to the backup driver program, while the EMB ECU's operating state remains unchanged. Even if both EHB ECU A and EHB ECU B fail, the EMB ECU can still identify the driver's braking intention through a signal connection with the PTS, providing backup braking intent recognition. Even in the event of a failure of the EMB alone, including failure of the EMB ECU or its mechanical components, the EHB braking system can still provide full backup of basic braking, dynamics, and value-added functions for the front axle.

[0069] Optionally, the EMB also includes two EMB mechanical parts, and the connection method between the EMB ECU and the EMB mechanical parts includes one of the following: the EMB ECU is a single EMB ECU, and the single EMB ECU is connected to the two EMB mechanical parts in a non-integrated manner; or the EMB ECU is two EMB ECUs, and the two EMB ECUs are respectively connected to the two EMB mechanical parts in an integrated manner; or the two EMB ECUs are respectively connected to the two EMB mechanical parts in a non-integrated manner.

[0070] As described above, the vehicle braking system includes an EMB, which includes an EMB mechanical component for connecting to the EMB ECU to complete the EMB braking process. The EMB provided in the embodiment of the present application may include two EMB mechanical components. The connection method between the EMB mechanical component and the EMB ECU includes any of the following three methods:

[0071] 1. A single EMB ECU is connected to two EMB mechanical components in a non-integrated manner. Specifically, please refer to Figure 6, which is a schematic diagram of an EMB integration method provided in an embodiment of the present application. As shown in (a) of Figure 6, the EMB includes a single EMB ECU. Since the EMB is used for rear axle braking, the EMB ECU is connected to the left rear wheel RL EMB mechanical component and the right rear wheel RR EMB mechanical component in a non-integrated manner. The EMB mechanical components (including the RL EMB mechanical component and the RR EMB mechanical component) can be composed of components such as an MPS, a brake pedal position sensor (BBPS), a caliper, and a PMSM.

[0072] 2. Two EMB ECUs are integrated with two EMB mechanical components. As shown in Figure 6(b), one EMB ECU is integrated with the RL EMB mechanical component, and the other EMB ECU is integrated with the RR EMB mechanical component.

[0073] 3. The two EMB ECUs are connected to the two EMB mechanical components in a non-integrated manner. As shown in Figure 6 (c), one of the two EMB ECUs is connected to the RL EMB mechanical component in a non-integrated manner, and the other EMB ECU is connected to the RR EMB mechanical component in a non-integrated manner.

[0074] The EMB ECU and the EMB mechanical components may also be integrated in other ways, which are not specifically limited in the present embodiment. It should also be noted that the EMB ECU can be developed independently or used with other controllers for compatibility control, which can reduce system layout costs.

[0075] As shown in FIG7 , a vehicle braking method provided by an embodiment of the present application is applied to a vehicle braking system, which includes an electronic hydraulic braking system EHB and an electronic mechanical braking system EMB. The EHB is used for front axle braking, and the EMB is used for rear axle braking. The control unit EHB ECU of the EHB is communicatively connected with the control unit EMB ECU of the EMB, wherein:

[0076] 201. The EHB includes at least two devices, and the at least two devices have the same function, and work is performed through the first device of the at least two devices;

[0077] 202. When the first device fails, the second device among the at least two devices performs the operation.

[0078] It can be seen that in the embodiment of the present application, the vehicle braking system is an EHB and EMB hybrid braking system. By setting at least two devices with the same function in the EHB, the system redundancy is increased, and the braking failures that may occur in the system due to insufficient redundancy are reduced, thereby improving the system reliability.

[0079] In an optional example, the at least two devices are at least two EHB ECUs, the first device is a first EHB ECU, and the second device is a second EHB ECU.

[0080] In an optional example, when the first EHB ECU is working, the second EHB ECU is used to perform driver backup of the vehicle.

[0081] In an optional example, at least two devices are dual coils, the first device is a first coil in the dual coil, and the second coil is a second coil in the dual coil.

[0082] In an optional example, at least two devices are six-phase motors, the first device is a first three-phase motor in the six-phase motor, and the second device is a second three-phase motor in the six-phase motor.

[0083] In an optional example, the dual coil is located on one or more of the following components: the master cylinder normally open valve MC_NO, the first electric cylinder normally closed valve PNC, the second PNC, the boost valve of the left front wheel, the boost valve of the right front wheel, the pressure reducing valve of the left front wheel, or the pressure reducing valve of the right front wheel.

[0084] In an optional example, the EMB also includes two EMB mechanical parts, and the connection method between the EMB ECU and the EMB mechanical parts includes one of the following: the EMB ECU is a single EMB ECU, and the single EMB ECU is connected to the two EMB mechanical parts in a non-integrated manner; or the EMB ECU is two EMB ECUs, and the two EMB ECUs are respectively connected to the two EMB mechanical parts in an integrated manner; or the two EMB ECUs are respectively connected to the two EMB mechanical parts in a non-integrated manner.

[0085] As shown in FIG8 , FIG8 is a schematic diagram showing the structure of a communication device in an embodiment of the present application. The structure of the communication device can refer to the structure shown in FIG8 . The communication device 900 includes: a processor 111 and a transceiver 112, wherein the processor 111 and the transceiver 112 are electrically coupled;

[0086] The processor 111 is configured to execute part or all of the computer program instructions in the memory. When the part or all of the computer program instructions are executed, the device executes the method described in any one of the above embodiments.

[0087] The transceiver 112 is used to communicate with other devices.

[0088] Optionally, a memory 113 is further included for storing computer program instructions. Optionally, the memory 113 (memory 1) is located within the device, the memory 113 (memory 2) is integrated with the processor 111, or the memory 113 (memory 3) is located outside the device.

[0089] It should be understood that the communication device 900 shown in FIG8 may be a chip or circuit. For example, the chip or circuit may be provided within a terminal device or a communication device. The transceiver 112 may also be a communication interface. A transceiver includes a receiver and a transmitter. Furthermore, the communication device 900 may also include a bus system.

[0090] The processor 111, memory 113, and transceiver 112 are connected via a bus system. The processor 111 is configured to execute instructions stored in the memory 113 to control the transceiver to receive and transmit signals, thereby completing the vehicle braking step in the implementation method of this application. The memory 113 may be integrated into the processor 111 or provided separately from the processor 111.

[0091] As an implementation method, the function of the transceiver 112 can be considered to be implemented by a transceiver circuit or a dedicated transceiver chip. The processor 111 can be considered to be implemented by a dedicated processing chip, a processing circuit, a processor or a general-purpose chip. The processor can be a central processing unit (CPU), a network processor (NP) or a combination of a CPU and an NP. The processor can further include a hardware chip or other general-purpose processor. The above-mentioned hardware chip can be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above-mentioned PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) and other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. or any combination thereof. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0092] It should also be understood that the memory mentioned in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0093] An embodiment of the present application provides a computer-readable storage medium storing a computer program for executing the vehicle braking method in the above embodiment.

[0094] An embodiment of the present application provides a computer program product containing instructions, which, when executed on a computer, enables the computer to execute the vehicle braking method in the above embodiment.

[0095] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0096] Those skilled in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0097] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and modules described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0098] 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 modules is only a logical function division. In actual implementation, there may be other division methods, such as multiple modules 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 through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

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

[0100] In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0101] If the function is implemented in the form of a software function module 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 the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of 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: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and other media that can store program codes.

[0102] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A vehicle braking system, characterized in that: The system includes an electronic hydraulic brake system EHB and an electronic mechanical brake system EMB, wherein the EHB is used for front axle braking and the EMB is used for rear axle braking. The control unit EHB ECU of the EHB is communicatively connected with the control unit EMB ECU of the EMB, wherein: The EHB includes at least two devices, and the at least two devices have the same function, and the first device of the at least two devices is working; When the first device fails, the second device of the at least two devices operates.

2. The system according to claim 1, wherein: The at least two devices are at least two EHB ECUs, the first device is a first EHB ECU, and the second device is a second EHB ECU.

3. The system according to claim 2, characterized in that When the first EHB ECU is operating, the second EHB ECU is used to perform driver backup of the vehicle.

4. The system according to any one of claims 1 to 3, characterized in that: The at least two devices are double coils, the first device is a first coil in the double coils, and the second coil is a second coil in the double coils.

5. The system according to claim 4, characterized in that The dual coil is located on one or more of the following components: the normally open valve of the master cylinder, the normally closed valve of the first electric cylinder, the normally closed valve of the second electric cylinder, the boost valve of the left front wheel, the boost valve of the right front wheel, the pressure reducing valve of the left front wheel, or the pressure reducing valve of the right front wheel.

6. The system according to any one of claims 1 to 5, characterized in that: The at least two devices are six-phase motors, the first device is a first three-phase motor among the six-phase motors, and the second device is a second three-phase motor among the six-phase motors.

7. The system according to any one of claims 1 to 6, characterized in that: The EMB further includes two EMB mechanical parts, and the connection method between the EMB ECU and the EMB mechanical parts includes one of the following: The EMB ECU is a single EMB ECU, and the single EMB ECU is connected to the two EMB mechanical parts in a non-integrated manner; or The EMB ECUs are two EMB ECUs, and the two EMB ECUs are connected to the two EMB mechanical parts in an integrated manner; or the two EMB ECUs are connected to the two EMB mechanical parts in a non-integrated manner.

8. A vehicle braking method, characterized in that: Applicable to a vehicle braking system, the system includes an electronic hydraulic braking system EHB and an electronic mechanical braking system EMB, the EHB is used for front axle braking, the EMB is used for rear axle braking, the EHB control unit EHB ECU is communicatively connected with the EMB control unit EMB ECU, wherein, The EHB includes at least two devices, and the at least two devices have the same function, and work is performed through the first device of the at least two devices; When the first device fails, the second device among the at least two devices performs the work.

9. The method according to claim 8, characterized in that The at least two devices are at least two EHB ECUs, the first device is a first EHB ECU, and the second device is a second EHB ECU.

10. The method according to claim 9, characterized in that When the first EHB ECU is operating, the second EHB ECU is used to perform driver backup of the vehicle.

11. The method according to any one of claims 8 to 10, characterized in that: The at least two devices are double coils, the first device is a first coil in the double coils, and the second coil is a second coil in the double coils.

12. The method according to claim 11, characterized in that The dual coil is located on one or more of the following components: the normally open valve of the master cylinder, the normally closed valve of the first electric cylinder, the normally closed valve of the second electric cylinder, the boost valve of the left front wheel, the boost valve of the right front wheel, the pressure reducing valve of the left front wheel, or the pressure reducing valve of the right front wheel.

13. The method according to any one of claims 8 to 12, characterized in that: The at least two devices are six-phase motors, the first device is a first three-phase motor among the six-phase motors, and the second device is a second three-phase motor among the six-phase motors.

14. The method according to any one of claims 8 to 13, characterized in that: The EMB further includes two EMB mechanical parts, and the connection method between the EMB ECU and the EMB mechanical parts includes one of the following: The EMB ECU is a single EMB ECU, and the single EMB ECU is connected to the two EMB mechanical parts in a non-integrated manner; or The EMB ECUs are two EMB ECUs, and the two EMB ECUs are connected to the two EMB mechanical parts in an integrated manner; or the two EMB ECUs are connected to the two EMB mechanical parts in a non-integrated manner.

15. A communication device, characterized in that: The communication device includes a processor, a transceiver, a memory, and computer-executable instructions stored in the memory and executable on the processor. When the computer-executable instructions are executed, the communication device performs the method according to any one of claims 8 to 14.

16. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a communication device, the communication device is caused to execute the method according to any one of claims 8 to 14.

17. A computer program product, comprising: A computer program which, when executed, causes the method according to any one of claims 8 to 14 to be performed.

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