Redundant braking system of semi-trailer tractor and working method of redundant braking system

Abstract

The invention provides a redundant braking system of a semi-trailer tractor and a working method of the redundant braking system, and relates to the technical field of vehicle braking. The system comprises a first vehicle control unit, an electronic braking system, a second vehicle control unit, an electronic parking braking system and a trailer valve. Wherein the first vehicle control unit is used for controlling the electronic braking system to brake the tractor and the trailer; the second vehicle control unit is used for controlling the electronic parking braking system and the trailer valve to brake the tractor and the trailer under the condition that the electronic braking system breaks down. In the embodiment, the original vehicle electronic parking brake system EPB is used as the redundant brake of the electronic brake system EBS, so that the redundant brake can be provided when the brake of the electronic brake system EBS fails, and the driving safety is effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of vehicle braking, and in particular to a redundant braking system of a semi-trailer tractor and a working method thereof. Background Art

[0002] With the continuous development of automobile electrification and intelligence, the demand for the development of redundant braking systems is increasing. For example, when the main brake module fails and the driver does not take over during vehicle driving, a redundant braking system is required to execute the braking command.

[0003] In the related art, due to the complex structure of the vehicle redundant braking system, the manufacture, inspection and maintenance of the redundant braking system are relatively difficult and costly. Summary of the invention

[0004] The present invention provides a redundant braking system of a semi-trailer tractor and a working method thereof, which utilizes the original vehicle electronic parking brake system EPB as a redundant brake of an electronic brake system EBS, thereby providing redundant braking when the electronic brake system EBS fails, effectively meeting the need to switch to the redundant brake system to achieve braking in the event of a main brake failure, and improving driving safety.

[0005] The present invention provides a redundant braking system for a semitrailer tractor, comprising: A first vehicle controller, an electronic brake system, a second vehicle controller, an electronic parking brake system and a trailer valve; wherein, The first vehicle controller is used to control the electronic braking system to brake the tractor and the trailer; the second vehicle controller is used to control the electronic parking brake system and the trailer valve to brake the tractor and the trailer when the electronic braking system fails.

[0006] According to a redundant braking system of a semi-trailer tractor provided by the present invention, the redundant braking system of the semi-trailer tractor further comprises: Wheel speed sensors and ABS valves; The second vehicle controller is also used to: during the process of controlling the electronic parking brake system and the trailer valve to brake the tractor and the trailer, control the ABS valve to control the wheel braking force according to the wheel speed reported by the wheel speed sensor.

[0007] According to a redundant braking system of a semi-trailer tractor provided by the present invention, the first vehicle controller is further used for: When a fault is detected in the electronic braking system, target information is sent to the intelligent driving system; the target information is used to indicate the fault of the electronic braking system and request to switch to the electronic parking brake system for service braking.

[0008] A redundant braking system for a semitrailer tractor provided by the present invention further includes: A human-machine display unit; the human-machine display unit is used to display the current braking status; the braking status includes at least one of the following: a braking status based on an electronic braking system, a braking status based on an electronic parking brake system, and a braking switching status; the braking switching status indicates that the electronic braking system fails and switches from the braking status based on the electronic braking system to the braking status based on the electronic parking brake system.

[0009] The present invention also provides a semi-trailer tractor, comprising a redundant braking system of the semi-trailer tractor.

[0010] The present invention also provides a redundant braking method for a semi-trailer tractor, comprising the following steps: Control the electronic brake system to brake the tractor and trailer.

[0011] The present invention also provides a redundant braking method for a semi-trailer tractor, comprising the following steps: In the event of a failure in the electronic brake system, the electronic parking brake system and trailer valve are controlled to brake the tractor and trailer.

[0012] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the redundant braking method for a semi-trailer tractor as described in any one of the above is implemented.

[0013] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the redundant braking method for a semi-trailer tractor as described above is implemented.

[0014] The present invention provides a redundant braking system for a semi-trailer tractor and a working method thereof, which utilizes the original vehicle electronic parking brake system EPB as a redundant brake for the electronic braking system EBS, thereby providing redundant braking when the electronic braking system EBS fails, effectively meeting the need to switch to the redundant braking system to achieve braking in the event of a main brake failure, and improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1This is one of the schematic diagrams of the redundant braking system of the semi-trailer tractor provided by the present invention.

[0017] Figure 2 This is the second schematic diagram of the redundant braking system of the semi-trailer tractor provided by the present invention.

[0018] Figure 3 It is a flow chart of the redundant braking working method of the semi-trailer tractor provided by the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Combine the following Figure 1-Figure 3 The invention describes a redundant braking system of a semi-trailer tractor and a working method thereof.

[0021] In order to facilitate a clearer understanding of the technical solutions of the embodiments of the present application, some technical contents related to the embodiments of the present application are first introduced.

[0022] Semi-trailer tractors are the main types of vehicles for trunk logistics and bulk cargo transportation, and they are used for container transportation and box-type cargo transportation. With the increasing demand for assisted driving and intelligent driving, there is an increasing demand for the development of redundant braking systems in view of the current safety status of the braking function of semi-trailer tractors. For example, when the main brake module fails during vehicle driving and the driver does not take over, a redundant braking system is required to execute the braking command. In related technologies, due to the complex structure of the vehicle's redundant braking system, the manufacture, inspection, and maintenance of the redundant braking system are relatively difficult and costly.

[0023] For example, in the technical solution with the patent number ZL2019114075612 and the name "A Redundant Braking System Supporting Fully Autonomous Driving of Commercial Vehicles", a dual EBS working device is disclosed, including a main control module, a redundant control module, a wheel speed sensor, a redundant wheel speed sensor, etc. The cost of adding a redundant control module in this solution is high and the cost performance is poor. Moreover, the main control module and the redundant control module integrate the commonly used front axle ABS valve body, single-channel EBS valve, rear axle ABS valve body, and dual-channel EBS valve, which are large in size and weight, and are difficult to arrange based on the actual compact chassis space of existing models. The main controller fails to achieve the front axle driving air pressure braking, and the redundant controller fails to achieve the rear axle driving braking. Full redundant control of the front and rear axles is not considered.

[0024] The patent number is ZL202210453212X, and the technical solution named "An ABS system brake redundancy working method device and ABS system" does not mention matching redundant wheel speed sensors, so the anti-lock function cannot be realized; nor does it mention the communication solution for responding to external braking requests, so assisted driving and intelligent driving cannot be realized. Moreover, the ECU does not realize redundant communication or redundant power distribution, and redundant braking cannot be realized in the case of power distribution failure or communication failure.

[0025] In the technical solution of the patent number ZL2023102975081, entitled "A Redundant Safety Air Pressure Braking System for Tractor Vehicles", the ECU does not implement a dual-controller solution, cannot form controller hardware redundancy, cannot respond to external braking requests, and simply implements front axle braking based on the outlet air pressure of the proportional relay valve, cannot achieve high-precision braking, and poses a safety risk. The system only implements redundant front axle braking through the proportional relay valve, but cannot achieve redundant rear axle braking with a larger load capacity, and does not utilize the adhesion of the rear drive wheels relative to the traction train. In addition, the anti-lock function cannot be achieved by implementing front axle braking through the proportional relay valve.

[0026] That is, in the prior art, if a dual-controller solution for the braking system is adopted, its cost is too high, the controller layout is difficult, and it is impossible to avoid braking system failures caused by vehicle bus communication failures. If a dual-control ABS system is adopted, it does not have redundant wheel speed sensors, nor does it share ABS solenoid valves, and does not involve redundant communications and redundant power supplies, and the safety level is low. If a proportional relay valve is used, when the EBS system fails, the outlet of the proportional relay valve is connected to the inlet, and the outlet air pressure of the electronic braking system acts on the ABS solenoid valve through the proportional relay valve to achieve front axle braking, but its poor braking accuracy can only achieve mechanical redundancy, and cannot achieve the wire control requirements, and does not meet the overall design requirements of assisted driving and intelligent driving.

[0027] Figure 1 1 is a schematic diagram of a redundant braking system of a semi-trailer tractor provided by the present invention, the system comprising: A first vehicle controller, an electronic brake system, a second vehicle controller and an electronic parking brake system; wherein, A first vehicle controller, an electronic brake system, a second vehicle controller, an electronic parking brake system and a trailer valve; wherein, The first vehicle controller is used to control the electronic braking system to brake the tractor and trailer; the second vehicle controller is used to control the electronic parking brake system and the trailer valve to brake the tractor and trailer in the event of a failure in the electronic braking system.

[0028] Specifically, the redundant braking system of the semi-trailer tractor in the embodiment of the present application includes a first vehicle controller, an electronic braking system, a second vehicle controller, an electronic parking brake system and a trailer valve. Optionally, the electronic braking system (Electronically Controlled Brake System, EBS) is the main braking system, and the electronic parking brake system (Electrical Parking Brake, EPB) is the redundant braking system. Optionally, when the first vehicle controller monitors the failure of the electronic braking system, the first vehicle controller coordinates with the second vehicle controller, and takes over the braking through the second vehicle controller and the electronic parking brake system, thereby realizing redundant braking. That is, in the embodiment of the present application, when an external braking request is received, in the case of a failure of the electronic braking system, that is, in the case of a failure of the main braking system, under the control of the second vehicle controller, the tractor and trailer can be braked through the electronic parking brake system and the trailer valve, thereby meeting the safety requirements of advanced intelligent driving for the wire-controlled chassis function and effectively improving driving safety.

[0029] For example, a schematic diagram of a redundant braking system of a semi-trailer tractor is provided in an embodiment of the present application, such as Figure 2 As shown in the figure, based on the redundant communication and redundant power distribution of the original vehicle, without making too many adjustments to the chassis braking system architecture of the basic vehicle model, the redundant braking system design is carried out using the original vehicle EPB, and redundant wheel speed sensors are added. The complete system composition of redundant VCU, rear axle ABS solenoid valve, EBP module valve, etc. is reused. The structure is simple, which effectively meets the demand of switching the main brake failure to the redundant braking system to achieve braking, meets the safety requirements of advanced intelligent driving for the wire-controlled chassis function, and effectively improves driving safety.

[0030] It should be noted that the redundant braking system of the semi-trailer tractor in the embodiment of the present application, in view of the requirements of intelligent driving and functional safety, makes full use of the original vehicle's electronic parking brake system EPB as a redundant brake of the electronic brake system EBS on the basis of the original vehicle's redundant communication and redundant power distribution, so that the original vehicle's electronic parking brake system EPB can not only realize parking braking, but also provide redundant braking when the main brake fails. The redundant braking system of the semi-trailer tractor in the embodiment of the present application has a simple structure and a high reuse rate of parts. It does not require too much modification of the basic vehicle model. By using the original vehicle's electronic parking brake system EPB as a redundant brake of the electronic brake system EBS, the demand for switching to the redundant braking system to realize braking in the event of a main brake failure can be effectively met, which is of great significance to the overall design of the vehicle's assisted driving and intelligent driving scheme, and effectively improves driving safety.

[0031] The redundant braking system of the semi-trailer tractor in the above-mentioned embodiment utilizes the original vehicle electronic parking brake system EPB as a redundant brake for the electronic braking system EBS, thereby providing redundant braking when the electronic braking system EBS fails, effectively meeting the need to switch to the redundant braking system to achieve braking in the event of a main brake failure, and improving driving safety.

[0032] In one embodiment, the redundant braking system of the semi-trailer tractor further includes: Wheel speed sensors and ABS valves; The second vehicle controller is also used to: during the process of controlling the electronic parking brake system and the trailer valve to brake the tractor and the trailer, control the ABS valve to control the wheel braking force according to the wheel speed reported by the wheel speed sensor.

[0033] Specifically, the electronic parking brake system EPB of the original vehicle does not have an anti-lock function. The redundant braking system of the semi-trailer tractor of the present application collects the wheel speed through a newly added wheel speed sensor and reports it to the second vehicle controller, so that the second vehicle controller can determine whether to use the ABS valve in the original vehicle to control the wheel braking force during the braking process of the vehicle by the electronic parking brake system based on the wheel speed reported by the wheel speed sensor, thereby activating the ABS function and effectively improving driving safety.

[0034] The redundant braking system of the semi-trailer tractor in the above-mentioned embodiment only needs to add a wheel speed sensor to collect the wheel speed during the braking process of the vehicle by the electronic parking brake system, and then the ABS function can be started by using the ABS valve in the original vehicle through the second vehicle controller. The implementation method is simple, the cost-effectiveness is high, and driving safety is effectively improved.

[0035] In one embodiment, the first vehicle controller is further used for: When a fault in the electronic braking system is detected, target information is sent to the intelligent driving system; the target information is used to indicate a fault in the electronic braking system and request switching to the electronic parking brake system for service braking.

[0036] Specifically, the first vehicle controller in the embodiment of the present application is used to monitor the state of the electronic braking system, and in the case of monitoring that the electronic braking system has a fault, report the fault information of the electronic braking system to the intelligent driving system, and request to switch to the electronic parking brake system for service braking. After receiving the information reported by the electronic braking system, the intelligent driving system can also instruct the second vehicle controller and the electronic parking brake system to take over the braking, thereby achieving redundant braking, effectively meeting the need to switch to the redundant braking system to achieve braking in the event of a main brake failure, and improving driving safety. Optionally, in the case of monitoring that the electronic braking system has a fault, the first vehicle controller can also directly communicate and coordinate with the second vehicle controller to switch to the electronic parking brake system for service braking, which is not specifically limited in the embodiment of the present application.

[0037] In the redundant braking system of the semi-trailer tractor in the above embodiment, when the first vehicle controller monitors that the electronic braking system has a fault, it requests to switch to the electronic parking brake system for driving braking, which can effectively meet the need to switch to the redundant braking system to achieve braking in the event of a main brake failure, thereby improving driving safety.

[0038] In one embodiment, the redundant braking system further comprises: Human-machine display unit; the human-machine display unit is used to display the current braking status; the braking status includes at least one of the following: a braking status based on an electronic braking system, a braking status based on an electronic parking brake system, and a braking switching status; the braking switching status indicates that a failure has occurred in the electronic braking system, and the braking status switches from the braking status based on the electronic braking system to the braking status based on the electronic parking brake system.

[0039] Specifically, the redundant braking system in the embodiment of the present application further includes a human-machine display unit. The human-machine display unit is used to display the current braking state, that is, whether the braking is currently performed by the main braking system or the redundant braking system, or whether the main braking system is currently switching to the redundant braking system, so as to intuitively and accurately provide the user with the current braking state, so that the user can further take effective measures to ensure driving safety according to the current braking state.

[0040] The redundant braking system of the semi-trailer tractor in the above embodiment displays the current braking status in real time through the human-machine display unit, so that the user can accurately know the current braking status and further take reasonable and effective measures to improve driving safety according to the current braking status.

[0041] Exemplarily, an embodiment of the present application further provides a redundant braking method for a semi-trailer tractor, which is applied to a first vehicle controller in an electronic parking brake system in a redundant braking system, comprising: Control the electronic brake system to brake the tractor and trailer.

[0042] Specifically, when the electronic brake system is in a normal state, the original vehicle's brake system can be fully utilized for driving braking, that is, the tractor and trailer are braked based on the electronic brake system, and the braking efficiency is relatively high.

[0043] Exemplarily, an embodiment of the present application further provides a redundant braking method for a semi-trailer tractor, which is applied to a second vehicle controller in an electronic parking brake system in a redundant braking system, comprising: In the event of a failure in the electronic brake system, the electronic parking brake system and trailer valve are controlled to brake the tractor and trailer.

[0044] Specifically, in the embodiment of the present application, the original vehicle electronic parking brake system EPB is used as a redundant brake for the electronic braking system EBS. In the event of a failure in the electronic braking system, that is, a failure in the main braking system, it is possible to promptly switch to the electronic parking brake system to brake the vehicle, that is, redundant braking can be provided when the main brake fails. The implementation method is simple and does not require too much modification to the basic vehicle model. It is of great significance to the overall design of the vehicle's assisted driving and intelligent driving solutions, and effectively improves driving safety.

[0045] For example, Figure 3 As shown, the present application also provides a schematic diagram of a redundant braking method for a semi-trailer tractor, which is as follows: When the intelligent driving controller triggers a braking request, if the first vehicle controller determines that the EBS fails or the EBS does not respond to the braking request, it switches to the electronic parking brake system to brake the vehicle. Further, during the electronic parking brake system braking process, the wheel speed is collected through the wheel speed sensor, so that the second vehicle controller starts the ABS function using the ABS valve in the original vehicle according to the wheel speed reported by the wheel speed sensor. The implementation method is simple, cost-effective, and can effectively improve driving safety.

[0046] That is, this application realizes a redundant braking system based on redundant power distribution, redundant communication, hardware design, etc. The main innovations are as follows: (1) In response to the requirements of intelligent driving and functional safety, a redundant braking system is designed based on redundant communication and redundant power distribution.

[0047] That is, the redundant braking system of the semi-trailer tractor of the present application is based on the redundant communication and redundant power distribution of the original vehicle. Without making too many adjustments to the chassis braking system architecture of the basic vehicle model, the redundant braking system is designed using the original vehicle EPB, and redundant wheel speed sensors, air pressure sensors, wiring harnesses, etc. are added. The complete system composition of redundant VCU, rear axle ABS solenoid valve, EBP module valve, etc. is reused. The structure is simple, which effectively meets the demand of switching the main brake failure to the redundant braking system to achieve braking, meets the safety requirements of advanced intelligent driving for the wire-controlled chassis function, and effectively improves driving safety.

[0048] (2) Design a redundant braking system. The redundant VCU (second vehicle controller) of the vehicle collects redundant wheel speed signals, receives brake signals, vehicle speed signals and other signals to determine the vehicle status and activate the anti-lock braking function.

[0049] That is, the redundant braking system of the semi-trailer tractor of the present application collects the wheel speed through the newly added wheel speed sensor and reports it to the second vehicle controller, so that the second vehicle controller can determine whether to use the ABS valve in the original vehicle to control the wheel braking force during the braking process of the vehicle by the electronic parking brake system based on the wheel speed reported by the wheel speed sensor, thereby activating the ABS function and effectively improving driving safety.

[0050] (3) Design a redundant brake switching system. When the main brake EBS fails, the vehicle's main VCU (first vehicle controller) coordinates with the vehicle's redundant VCU (second vehicle controller), and the vehicle's redundant VCU takes over the braking.

[0051] That is, the redundant braking system of the semi-trailer tractor in the embodiment of the present application has a simple structure and does not require much modification to the basic vehicle model. The original vehicle electronic parking brake system EPB is used as a redundant brake for the electronic brake system EBS.

[0052] When an external braking request is received, in the event of an electronic braking system failure, that is, a main braking system failure, the electronic parking brake system can be switched to for braking the vehicle in a timely manner, effectively meeting the need to switch to a redundant braking system to achieve braking when the main braking failure occurs, and meeting the safety requirements of advanced intelligent driving for the wire-controlled chassis function. This is of great significance to the overall design of the vehicle's assisted driving and intelligent driving solutions, and effectively improves driving safety.

[0053] (4) Design a solution that uses the original vehicle's EPB and ECU to control the ABS valve body to work together to achieve redundant braking and anti-lock braking functions.

[0054] That is, the redundant braking system of the semi-trailer tractor in the embodiment of the present application only needs to add a wheel speed sensor to collect the wheel speed during the braking process of the vehicle by the electronic parking brake system, and then the ABS function can be started by using the ABS valve in the original vehicle through the second vehicle controller. The implementation method is simple, the cost-effectiveness is high, and driving safety is effectively improved.

[0055] (5) Design relevant HMI and fault prompts. The instrument and central control screen display the main brake status and switching status in real time. When switching to redundant braking, the redundant braking status is displayed in real time.

[0056] That is, the redundant braking system in the embodiment of the present application also includes a human-machine display unit. The human-machine display unit can display the current braking state, that is, whether the braking is currently performed by the main braking system or the redundant braking system, or whether the main braking system is currently switching to the redundant braking system, thereby providing the user with the current braking state intuitively and accurately, so that the user can further take effective measures to ensure driving safety according to the current braking state.

[0057] The redundant braking working device of the semi-trailer tractor provided by the present invention is described below. The redundant braking working device of the semi-trailer tractor described below and the redundant braking method of the semi-trailer tractor described above can be referred to each other. The redundant braking working device of the semi-trailer tractor of the embodiment of the present application is applied to the first vehicle controller in the electronic braking system in the redundant braking system, including: Braking module: The braking module is used to control the electronic braking system to brake the tractor and trailer.

[0058] Optionally, the braking module is also used to send target information to the intelligent driving system when a fault in the electronic braking system is monitored; the target information is used to indicate a fault in the electronic braking system and request switching to the electronic parking brake system for service braking.

[0059] The embodiment of the present application also provides a redundant braking working device of a semi-trailer tractor, which is applied to a second vehicle controller in an electronic parking brake system in a redundant braking system, including: Braking module: The braking module is used to control the electronic parking brake system and trailer valve to brake the tractor and trailer in the event of a failure in the electronic braking system.

[0060] Optionally, the brake module is also used to control the ABS valve to control the wheel braking force according to the wheel speed reported by the wheel speed sensor during the process of controlling the electronic parking brake system and the trailer valve to brake the tractor and the trailer.

[0061] Illustratively, a semi-trailer tractor is also provided in an embodiment of the present application, including a redundant braking system of the semi-trailer tractor as described above, which can promptly switch to the electronic parking brake system to brake the vehicle in case of a main braking system failure, effectively meeting the need to switch to the redundant braking system to achieve braking in case of a main braking failure, and meeting the safety requirements of advanced intelligent driving for the wire-controlled chassis function, which is of great significance to the overall design of the vehicle's assisted driving and intelligent driving solutions, and effectively improves driving safety.

[0062] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the redundant braking method for a semi-trailer tractor provided by the above-mentioned methods. The method includes: controlling an electronic braking system to brake the tractor and the trailer; or, in the event of a failure of the electronic braking system, controlling an electronic parking brake system and a trailer valve to brake the tractor and the trailer.

[0063] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the redundant braking method for the semi-trailer tractor provided by the above methods, which method includes: controlling the electronic braking system to brake the tractor and the trailer; or, in the event of a failure of the electronic braking system, controlling the electronic parking brake system and the trailer valve to brake the tractor and the trailer.

[0064] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0065] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A redundant braking system for a semi-trailer tractor, characterized in that: include: A first vehicle controller, an electronic brake system, a second vehicle controller, an electronic parking brake system and a trailer valve; wherein, The first vehicle controller is used to control the electronic braking system to brake the tractor and the trailer; the second vehicle controller is used to control the electronic parking brake system and the trailer valve to brake the tractor and the trailer when the electronic braking system fails.

2. The redundant braking system of a semitrailer tractor according to claim 1, characterized in that: The redundant braking system of the semi-trailer tractor further comprises: Wheel speed sensors and ABS valves; The second vehicle controller is also used to: during the process of controlling the electronic parking brake system and the trailer valve to brake the tractor and the trailer, control the ABS valve to control the wheel braking force according to the wheel speed reported by the wheel speed sensor.

3. The redundant braking system of a semitrailer tractor according to claim 1, characterized in that: The first vehicle controller is also used for: When a fault is detected in the electronic braking system, target information is sent to the intelligent driving system; the target information is used to indicate the fault of the electronic braking system and request to switch to the electronic parking brake system for service braking.

4. The redundant braking system of a semitrailer tractor according to any one of claims 1 to 3, characterized in that: The redundant braking system of the semi-trailer tractor also includes: A human-machine display unit; the human-machine display unit is used to display the current braking status; the braking status includes at least one of the following: a braking status based on an electronic braking system, a braking status based on an electronic parking brake system, and a braking switching status; the braking switching status indicates that the electronic braking system fails and switches from the braking status based on the electronic braking system to the braking status based on the electronic parking brake system.

5. A semi-trailer tractor, characterized in that: A redundant braking system for a semitrailer tractor comprising any one of claims 1-4.

6. A working method, applied to the first vehicle controller in the redundant braking system of the semi-trailer tractor according to any one of claims 1 to 4, characterized in that: The method comprises: Control the electronic brake system to brake the tractor and trailer.

7. A working method, applied to the second vehicle controller in the redundant braking system of the semi-trailer tractor according to any one of claims 1 to 4, characterized in that: The method comprises: In the event of a failure in the electronic brake system, the electronic parking brake system and trailer valve are controlled to brake the tractor and trailer.

8. A working device, applied to the first vehicle controller in the redundant braking system of the semi-trailer tractor according to any one of claims 1 to 4, characterized in that: include: Braking module; The brake module is used to control the electronic brake system to brake the tractor and the trailer.

9. A working device, applied to a second vehicle controller in a redundant braking system of a semitrailer tractor as claimed in any one of claims 1 to 4, characterized in that: include: Braking module; the braking module is used to control the electronic parking brake system and the trailer valve to brake the tractor and trailer in the event of a failure in the electronic braking system.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the working method according to claim 6 or 7 is implemented.

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