Brake system, control method thereof and vehicle

Abstract

The invention relates to a braking system, a control method thereof and a vehicle, and the control method comprises the following steps: after a braking instruction is obtained, obtaining the states of a first caliper assembly and a second caliper assembly, and when an electronic braking mode of the first caliper assembly is in a failure state, starting a braking mode of the second caliper assembly; according to the braking instruction, the first caliper assembly is controlled to conduct hydraulic braking on the front wheels of the vehicle in the hydraulic braking mode, and the second caliper assembly can be controlled to conduct electronic braking on the rear wheels of the vehicle. Besides, when the electronic braking modes of the first caliper assembly and the second caliper assembly fail, the front wheels of the vehicle can be braked through the hydraulic braking mode of the first caliper assembly, the backup braking function is achieved, and the braking safety of the vehicle is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle braking, and in particular, to a braking system and a control method thereof and a vehicle. Background Art

[0002] The vehicle's braking system is a system that applies a certain degree of braking force to the vehicle's wheels, thereby forcibly braking the vehicle. The function of the brake control system is to force the vehicle to slow down or even stop according to the requirements of the driver or controller, or to stabilize the stopped vehicle under various road conditions (for example, on a slope), or to keep the speed of the vehicle traveling downhill stable.

[0003] Since traditional braking systems often use hydraulic braking, but hydraulic braking has problems such as complicated layout, slow response, low energy efficiency, and high redundancy of hydraulic systems, it is expensive. Therefore, electronic mechanical braking (EMB) systems have emerged. Electronic mechanical braking systems have various advantages such as simple layout and fast response, so they can better meet the needs of the rapid development of automobile technology, especially the needs of the development of automobile electrification.

[0004] However, the current EMB caliper loses its function of clamping the brake disc once electrical failure occurs, making braking impossible. Summary of the invention

[0005] The purpose of the present disclosure is to provide a braking system and a control method thereof and a vehicle. The control method of the braking system, after obtaining a braking instruction, obtains the states of the first caliper assembly and the second caliper assembly. When the electronic braking mode of the first caliper assembly is in a failed state, the first caliper assembly is controlled according to the control instruction to perform hydraulic braking on the front wheels of the vehicle in the hydraulic braking mode, and the rear wheels of the vehicle can also be electronically braked by controlling the second caliper assembly. In addition, when the electronic braking modes of the first caliper assembly and the second caliper assembly are both failed, the front wheels of the vehicle can also be braked by the hydraulic braking mode of the first caliper assembly, so as to realize the backup braking function and improve the braking safety of the vehicle.

[0006] In order to achieve the above-mentioned object, the present disclosure provides, in a first aspect, a control method of a braking system for a vehicle, wherein the braking system comprises two first caliper assemblies for braking the front wheels of the vehicle and two second caliper assemblies for braking the rear wheels of the vehicle, wherein the first caliper assemblies comprise a hydraulic braking mode and an electronic braking mode, and the second caliper assemblies comprise an electronic braking mode; the method comprises:

[0007] Get braking command;

[0008] Acquire the status of the first caliper assembly and the second caliper assembly; wherein the status includes a normal state or a failure state;

[0009] When the electronic braking mode of the first caliper assembly is in a failed state, the first caliper assembly is controlled to perform hydraulic braking on the front wheels of the vehicle in the hydraulic braking mode according to the braking instruction, and the second caliper assembly is controlled to perform electronic braking on the rear wheels of the vehicle.

[0010] Optionally, when the electronic braking mode of the first caliper assembly is in a failed state, controlling the first caliper assembly to perform hydraulic braking on the front wheels of the vehicle in a hydraulic braking mode according to the braking instruction, and controlling the second caliper assembly to perform electronic braking on the rear wheels of the vehicle, comprises:

[0011] Get the pedal force of the brake pedal;

[0012] acquiring a target deceleration of the vehicle according to the pedal force;

[0013] A second clamping force of a second caliper assembly is determined based on the pedal force and the target deceleration.

[0014] Optionally, determining the second clamping force of the second caliper assembly according to the pedal force and the target deceleration comprises:

[0015] calculating a first clamping force of the first caliper assembly in a hydraulic braking mode according to the pedal force;

[0016] A second clamping force of the second caliper assembly is obtained according to the first clamping force and the target deceleration.

[0017] Optionally, obtaining the pedal force of the brake pedal includes:

[0018] acquiring a pedal travel of the first caliper assembly in a hydraulic braking mode;

[0019] A pedal force of the brake pedal is determined based on the pedal travel.

[0020] Optionally, the method further comprises:

[0021] When the electronic braking mode of at least one first caliper assembly or the electronic braking mode of at least one second caliper assembly is in a failed state, the first caliper assembly is controlled according to the braking instruction to hydraulically brake the front wheels of the vehicle in a hydraulic braking mode.

[0022] In a second aspect of the present disclosure, a braking system is further provided, comprising:

[0023] A first caliper assembly, used for braking the front wheels of the vehicle, comprising a hydraulic brake mechanism having a hydraulic brake mode and a first electronic brake mechanism having an electronic brake mode;

[0024] A second caliper assembly, for braking the rear wheels of the vehicle, comprising a second electronic braking mechanism having an electronic braking mode;

[0025] a pedal assembly connected to the hydraulic brake mechanism; and

[0026] The control assembly is communicatively connected with the pedal assembly, the first caliper assembly and the second caliper assembly respectively.

[0027] Optionally, the control component is configured to: obtain a braking instruction;

[0028] Used to obtain the status of the first caliper assembly and the second caliper assembly; wherein the status includes a normal state or a failure state;

[0029] When the electronic braking mode of the first caliper assembly is in a failed state, the first caliper assembly is controlled to perform hydraulic braking on the front wheels of the vehicle in the hydraulic braking mode according to the braking instruction, and the second caliper assembly is controlled to perform electronic braking on the rear wheels of the vehicle.

[0030] Optionally, the pedal assembly includes a brake pedal and a brake cylinder;

[0031] The brake pedal is connected to the piston rod of the brake cylinder, and the hydraulic chamber of the brake cylinder is connected to the hydraulic brake mechanism through a brake pipeline.

[0032] Optionally, the brake system further comprises a first sensor for detecting pedal force and / or a second sensor for detecting brake line pressure;

[0033] The first sensor and the second sensor are respectively connected to the control component for communication, and the control component is used to obtain the target deceleration of the vehicle according to the pedal force or the brake line pressure, and obtain the second clamping force of the second caliper assembly according to the pedal force and the target deceleration.

[0034] Optionally, the pedal assembly further comprises a first control valve;

[0035] The first control valve is disposed in the brake pipeline between the hydraulic chamber and the hydraulic brake mechanism, and is used to control the on-off of the brake fluid between the hydraulic chamber and the hydraulic brake mechanism; and or

[0036] The pedal assembly further includes a second control valve and a pedal feel simulator. The pedal feel simulator is in communication with the hydraulic chamber through the second control valve and is used to provide a pedal feel when the first electronic brake mechanism of the first caliper assembly is in operation.

[0037] Optionally, the first caliper assembly comprises:

[0038] A first caliper body including a first cavity opening laterally;

[0039] a first brake disc, located at the opening of the first cavity;

[0040] A first friction plate, located at one side of the first brake disc;

[0041] The first connecting member is slidably connected to the first cavity and is located on a side of the first friction plate away from the first brake disc. The first connecting member and the inner side wall of the first cavity form a first hydraulic chamber. A liquid inlet that is connected to the first hydraulic chamber and is used to connect to the pedal assembly is formed on the first caliper body. The first connecting member is configured as follows: when brake fluid of a preset pressure is introduced into the first hydraulic chamber through the liquid inlet, the first connecting member can push the first friction plate to clamp the first brake disc to achieve hydraulic braking.

[0042] Optionally, the first caliper assembly further includes a first brake unit and a first drive unit connected to the first brake unit;

[0043] The first brake unit can push the first connecting member to move toward the first friction plate, so that the first friction plate clamps the first brake disc to achieve electronic braking.

[0044] Optionally, the first caliper body is further provided with an exhaust port communicated with the first hydraulic chamber, and the exhaust port is connected to a blocking member.

[0045] Optionally, the first caliper body also includes a first clamping portion formed on a side of the first cavity away from the first driving unit, a second friction plate is provided between the first clamping portion and the first brake disc, and the first caliper body can push the second friction plate to clamp the first brake disc for braking through the first clamping portion.

[0046] Optionally, the first caliper assembly further comprises a first caliper bracket, and the first caliper body is slidably connected to the first caliper bracket;

[0047] When the first brake unit or the brake fluid in the first hydraulic chamber pushes the first connecting member and the first friction pad to clamp one side of the first brake disc for braking, the first brake unit can push the first caliper body toward the first drive unit so that the first clamping part pushes the second friction pad to clamp the opposite side of the first brake disc.

[0048] Optionally, the first brake unit includes a first lead screw and a first lead screw nut connected to one end of the first lead screw, and the first lead screw nut abuts against the first connecting member;

[0049] The other end of the first lead screw is connected to the first driving unit, and the first driving unit is used to drive the first lead screw to rotate and drive the first lead screw nut to move;

[0050] One end of the first screw nut away from the first driving unit can abut against the first connecting member.

[0051] Optionally, a first flange portion is provided on the first screw, and the first flange portion is configured as follows: when the first screw nut or the brake fluid in the first hydraulic chamber pushes the first connecting member and the first friction pad to brake one side of the first brake disc, the first flange portion can push the first caliper body in a direction toward the first drive unit, so that the first clamping portion pushes the second friction pad to brake the opposite side of the first brake disc.

[0052] Optionally, the first caliper assembly further includes a first clamping force detection mechanism disposed in the first cavity, and the first clamping force detection mechanism is located between the first caliper body and the first brake unit, for detecting the clamping force during braking.

[0053] Optionally, the braking system also includes a hydraulic balancing mechanism connected to the fluid inlet, and the hydraulic balancing mechanism is configured to: when the first connecting member releases the brake on the first brake disc, it can suck in and store brake fluid; when the first connecting member brakes the first brake disc, it can replenish the brake fluid into the first hydraulic chamber.

[0054] Optionally, the hydraulic balancing mechanism includes a cylinder body having a third cavity, a piston slidably arranged in the cylinder body, and an elastic member connecting the piston to one end of the cylinder body, the piston and part of the inner wall of the third cavity form a second hydraulic chamber, and the cylinder body is formed with an inlet connected to the second hydraulic chamber.

[0055] According to a third aspect of the present disclosure, a vehicle is further provided, wherein the vehicle includes a control method for the braking system provided by the first aspect of the present disclosure or includes the braking system provided by the second aspect of the present disclosure.

[0056] Through the above technical solution, i.e., the control method of the brake system disclosed in the present invention, after obtaining the brake command, by obtaining the states of the first caliper assembly and the second caliper assembly, when the electronic brake mode of the first caliper assembly is in a failed state, the first caliper assembly is controlled according to the brake command to perform hydraulic braking on the front wheels of the vehicle in the hydraulic brake mode, and the rear wheels of the vehicle can also be electronically braked by controlling the second caliper assembly. In addition, when the electronic brake modes of the first caliper assembly and the second caliper assembly are both failed, the front wheels of the vehicle can also be braked by the hydraulic brake mode of the first caliper assembly, realizing the backup braking function and improving the braking safety of the vehicle.

[0057] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0059] Figure 1 is a flowchart of a method for controlling a braking system provided in some embodiments of the present disclosure.

[0060] Figure 2 It is the relationship curve between vehicle deceleration and pedal force.

[0061] Figure 3 It is the relationship curve between pedal force and pedal travel.

[0062] Figure 4 is a simplified structural diagram of a braking system provided in some embodiments of the present disclosure.

[0063] Figure 5 is a structural diagram of a braking system provided in some embodiments of the present disclosure.

[0064] Figure 6 is a structural diagram of a first caliper assembly of a brake system provided in some embodiments of the present disclosure.

[0065] Figure 7 It is a structural diagram of a first caliper assembly of a brake system provided in some other embodiments of the present disclosure.

[0066] Figure 8 is a structural diagram of a first caliper assembly of a brake system provided in some other embodiments of the present disclosure.

[0067] Fig. 9 is a structural diagram of a second caliper assembly of a brake system provided in some embodiments of the present disclosure.

[0068] Fig.10is a structural diagram of a pedal assembly of a braking system provided in some embodiments of the present disclosure.

[0069] Fig.11 It is a structural diagram of a hydraulic balancing mechanism provided in some embodiments of the present disclosure.

[0070] Description of Reference Numerals

[0071] 10-first caliper assembly; 100-first brake disc; 101-first friction plate; 102-second friction plate;

[0072] 110-first caliper body; 111-first cavity; 112-first clamping part; 113-liquid inlet; 114-exhaust port; 1141-blocking member; 120-first drive unit; 121-connector; 131-first lead screw; 1311-first flange; 1312-plane bearing; 1313-first piston; 1314-second piston; 132-first lead screw nut; 140-first connecting member; 150-first sealing member; 151-dustproof sealing ring; 160-first caliper bracket; 171-hydraulic pressure sensor; 172-first annular force sensor; A-first hydraulic chamber; B-third hydraulic chamber;

[0073] 20-second caliper assembly; 200-second brake disc; 201-third friction plate; 202-fourth friction plate; 210-second caliper body; 211-second cavity; 212-second clamping part; 220-second drive unit; 221-connector; 231-second lead screw; 2311-second flange; 2312-plane bearing; 2314-fourth piston; 232-second lead screw nut; 240-second connecting piece; 250-second sealing piece; 251-second dustproof sealing ring; 260-second caliper bracket; 271-second annular force sensor; 280-parking lock mechanism;

[0074] 30-pedal assembly; 310-brake pedal; 320-brake cylinder; 321-piston rod; 322-hydraulic chamber; 330-first sensor; 331-stroke sensor; 332-induction magnet; 340-second sensor; 351-brake pipeline; 352-first control valve; 353-second control valve; 360-pedal feel simulator; 370-brake fluid oil pot;

[0075] 40-control component; 50-switch component; 60-vehicle network system; 70-power supply;

[0076] 80 - hydraulic balancing mechanism; 81 - cylinder body; 81a - third chamber; 81b - second hydraulic chamber; 81c - inlet; 82 - piston; 83 - elastic member. DETAILED DESCRIPTION

[0077] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0078] In the present disclosure, unless otherwise specified, directional words such as "inside" and "outside" refer to "inside" and "outside" relative to the corresponding component's own outline. In addition, the terms "first", "second", etc. used in the present disclosure are to distinguish one element from another and do not have order and importance. In addition, in the following description, when referring to the drawings, unless otherwise explained, the same figure numbers in different drawings represent the same or similar elements. The above definitions are only used to explain and illustrate the present disclosure and should not be understood as limitations on the present disclosure.

[0079] like Figures 1 to 3 As shown, in order to achieve the above-mentioned purpose, in some embodiments of the present disclosure, a control method of a braking system is provided, which is used for a vehicle, wherein the braking system includes two first caliper assemblies 10 for braking the front wheels of the vehicle and two second caliper assemblies for braking the rear wheels of the vehicle, wherein the first caliper assembly 10 includes a hydraulic braking mode and an electronic braking mode, and the second caliper assembly 20 includes an electronic braking mode; Figure 1 As shown, the method includes:

[0080] S110, obtaining a braking instruction.

[0081] S120, obtaining the status of the first caliper assembly and the second caliper assembly; wherein the status includes a normal status or a failure status.

[0082] S130, when the electronic braking mode of the first caliper assembly is in a failed state, controlling the first caliper assembly to perform hydraulic braking on the front wheels of the vehicle in a hydraulic braking mode according to a braking instruction, and controlling the second caliper assembly to perform electronic braking on the rear wheels of the vehicle.

[0083] Through the above technical solution, i.e., the control method of the brake system disclosed in the present invention, after obtaining the brake command, by obtaining the states of the first caliper assembly 10 and the second caliper assembly 20, when the electronic brake mode of the first caliper assembly 10 is in a failed state, the first caliper assembly 10 is controlled according to the brake command to perform hydraulic braking on the front wheels of the vehicle in the hydraulic brake mode, and the rear wheels of the vehicle can also be electronically braked by controlling the second caliper assembly 20. In addition, when the electronic brake modes of both the first caliper assembly 10 and the second caliper assembly 20 fail, the front wheels of the vehicle can also be braked by the hydraulic brake mode of the first caliper assembly 10, so as to realize the backup braking function and improve the braking safety of the vehicle.

[0084] It should be noted that the braking command may be any suitable command information for braking intention issued by the vehicle user or the control terminal, including but not limited to the vehicle driver stepping on the brake pedal, etc. When it is confirmed that the electronic braking mode of the first caliper assembly 10 for the front wheel of the vehicle fails, the hydraulic braking mode of the first caliper assembly 10 and the electronic braking mode of the second caliper assembly 20 are entered, and the clamping force of the electronic braking mode of the second caliper assembly 20 is increased at the same time to compensate for the loss of deceleration caused by the hydraulic braking mode of the first caliper assembly 10, so as to ensure that the deceleration achieved by the whole vehicle remains as consistent as possible under the same braking force before and after the failure.

[0085] It can be understood that under normal operating conditions, that is, the electronic braking modes of the first caliper assembly 10 and the second caliper assembly 20 are both in normal states. At this time, the entire vehicle can adopt the electronic braking mode, that is, the front wheels of the vehicle adopt the electronic braking mode of the first caliper assembly 10, and the rear wheels of the vehicle adopt the electronic braking mode of the second caliper assembly 20 to achieve vehicle braking.

[0086] In the related technology, in the vehicle braking system, the two calipers on the front axle of the vehicle use hydraulic calipers, and the two calipers on the rear axle use EMB calipers. During service braking, the two hydraulic calipers and the two EMB calipers work simultaneously, but under this working condition, the hydraulic calipers and the EMB calipers have different physical principles of actuators, so it is difficult to cooperate and work together, and the development and debugging of the two are difficult.

[0087] In some further embodiments, when the electronic braking mode of the first caliper assembly is in a failed state, the step of controlling the first caliper assembly to perform hydraulic braking on the front wheels of the vehicle in the hydraulic braking mode and controlling the second caliper assembly to perform electronic braking on the rear wheels of the vehicle according to the braking instruction further includes:

[0088] Get the pedal force of the brake pedal.

[0089] Get the target deceleration of the vehicle based on the pedal force.

[0090] A second clamping force of the second caliper assembly is determined based on the pedal force and the target deceleration.

[0091] Among them, based on the above method, the present invention obtains the pedal force of the brake pedal 310, and obtains the target deceleration for vehicle braking according to the pedal force, determines the second clamping force of the second caliper assembly through the pedal force and the target deceleration, and controls the second caliper assembly to brake the rear wheels of the vehicle, and brakes under the second clamping force through the hydraulic braking of the front wheels of the vehicle in coordination with the second caliper assembly 20 of the rear wheels of the vehicle, so as to better approach the target deceleration of the vehicle and maximize the ideal braking effect of the vehicle.

[0092] In some further embodiments, the step of determining the second clamping force of the second caliper assembly according to the pedal force and the target deceleration comprises:

[0093] A first clamping force of the first caliper assembly in a hydraulic braking mode is calculated based on the pedal force.

[0094] A second clamping force of the second caliper assembly is obtained according to the first clamping force and the target deceleration.

[0095] Among them, reference Figure 2 As shown in FIG. 1 , the corresponding curve of vehicle deceleration and pedal force is shown. Assuming that the target deceleration to be achieved by the vehicle is G1, the corresponding pedal force is F1. The deceleration generated by the pedal force F1 on the two front wheels of the vehicle through hydraulic energy can be calculated.

[0096] The clamping force of the first caliper assembly is obtained from the cross-sectional area of ​​the pedal master cylinder, the cross-sectional area of ​​the wheel cylinder of the first caliper assembly, and the pedal ratio. The specific calculation formula is:

[0097]

[0098] Wherein, F11 is the clamping force of the first caliper assembly; S is the cross-sectional area of ​​the pedal master cylinder; S1 is the cross-sectional area of ​​the wheel cylinder of the first caliper assembly; Δ is the pedal ratio.

[0099] The braking force of the whole vehicle is equal to the sum of the braking force generated by the front axle and the braking force generated by the rear axle. The target clamping force of each second caliper assembly can be derived. The specific formula is:

[0100]

[0101] Among them, F12 is the clamping force of the second caliper assembly; M is the mass of the vehicle; μ1 is the braking friction system of the first caliper assembly; μ2 is the braking friction system of the second caliper assembly; R1 is the radius of the front wheel of the vehicle; R2 is the radius of the rear wheel of the vehicle; R11 is the effective braking radius of the first caliper assembly; R12 is the effective braking radius of the second caliper assembly.

[0102] Substituting formula 2 into formula 3 gives:

[0103]

[0104] F1 is the pedal force applied by the driver when the first caliper assembly is in hydraulic braking mode and the second caliper is in electronic braking mode, and F12 is the clamping force required to be generated by the second caliper assembly in the electronic braking mode in this solution.

[0105] In the present disclosure, the method for obtaining the second clamping force (target clamping force) of the second caliper assembly is to detect the pedal force as a strategy for braking intention, for example, to detect and obtain the pedal force of the brake pedal, by Figure 2 The corresponding curve of the vehicle deceleration and the pedal force shown is used to obtain the target deceleration of the vehicle. After substituting the target deceleration and the brake pedal force obtained by detection into Formula 3, the second clamping force of the second caliper assembly is obtained, and the overall braking of the vehicle is achieved by cooperating with the first clamping force of the first caliper assembly in the hydraulic braking mode.

[0106] In some further embodiments, the step of obtaining the pedal force of the brake pedal includes:

[0107] A pedal travel of the first caliper assembly in the hydraulic braking mode is obtained.

[0108] The pedal force of the brake pedal is obtained based on the pedal travel.

[0109] Among them, the method for obtaining the second clamping force (target clamping force) of the second caliper assembly in the present disclosure can also be: by detecting the size of the pedal stroke as a strategy for braking intention, such as Figure 3 The figure shows the corresponding curves of the pedal force and pedal stroke of the first caliper assembly in the electronic braking mode and the hydraulic braking mode. Detect and obtain the stroke value Tx of the brake pedal, and substitute Tx into Figure 3 The curve in the figure is used to obtain the brake pedal force Fx, and then the brake pedal force Fx is substituted into Figure 2 The target deceleration value Gx of the whole vehicle is obtained, and finally the target deceleration value Gx of the whole vehicle and the brake pedal force are substituted into formula three to obtain the second clamping force of the second caliper assembly, and the rear wheel of the vehicle is braked through the electronic braking mode of the second caliper assembly under the second clamping force.

[0110] In some embodiments, the method further comprises:

[0111] When the electronic braking mode of at least one first caliper assembly or the electronic braking mode of at least one second caliper assembly is in a failed state, the first caliper assembly is controlled according to the braking instruction to hydraulically brake the front wheels of the vehicle in a hydraulic braking mode.

[0112] When the electronic braking mode of one or two first caliper assemblies 10 is in a failed state, the first caliper assembly 10 can be controlled to perform hydraulic braking on the front wheels of the vehicle in the hydraulic braking mode, and the second caliper assembly 20 can be controlled to perform electronic braking on the rear wheels of the vehicle in the electronic braking mode according to the braking instruction, so as to achieve the overall braking of the vehicle through the coordination of the hydraulic braking of the first caliper assembly 10 and the electronic braking of the second caliper assembly 20.

[0113] When the electronic braking mode of a second caliper assembly 20 or two second caliper assemblies 20 is also in a failed state, that is, under the above-mentioned extreme working conditions, only the first caliper assembly 10 can be controlled to perform hydraulic braking on the front wheels of the vehicle in the hydraulic braking mode according to the braking instruction. The vehicle can still have a certain braking ability, thereby improving the safety of driving braking.

[0114] The control method of the brake system disclosed in the present invention proposes a working condition when the electronic braking mode of the first caliper assembly 10 (front caliper) fails, that is, the first caliper assembly 10 uses the hydraulic braking mode and the second caliper assembly 20 (rear caliper) uses the electronic braking mode to achieve combined braking.

[0115] Compared with "using only two rear calipers for motor braking", this working condition can better utilize the contact surface between the four wheels and the ground, and the braking deceleration can be higher. For example, using only two rear calipers for motor braking - the maximum deceleration generated is about 0.5G; the front caliper hydraulic backup + rear wheel motor braking in the present disclosure can generate about 0.75G, which improves the braking effect.

[0116] When only one front caliper fails, the vehicle will be more stable than the braking method of "using the remaining normal front caliper + two rear calipers". Because when one front caliper brakes and the other front caliper does not work, it is easy to cause brake deviation, affecting driving safety.

[0117] Under the working condition of "the front caliper is in hydraulic backup and the rear caliper is in EMB motor braking", a control method is proposed, that is, by reasonably increasing the electric brake clamping force of the rear caliper, the deceleration of the whole vehicle is ensured to be as consistent as possible under the same braking force before and after failure; and a formula is given to obtain the clamping force that needs to be increased for the rear caliper.

[0118] like Figures 4 to 11 As shown, in some embodiments of the present disclosure, a braking system is also provided, which includes a first caliper assembly 10, a second caliper assembly 20, a pedal assembly 30 and a control assembly 40. The first caliper assembly 10 is used for braking the front wheels of the vehicle, including a hydraulic brake mechanism with a hydraulic brake mode and a first electronic brake mechanism with an electronic brake mode; the second caliper assembly 20 is used for braking the rear wheels of the vehicle, including a second electronic brake mechanism with an electronic brake mode; the pedal assembly 30 is connected to the hydraulic brake mechanism; and the control assembly 40 is connected to the pedal assembly, the first caliper assembly 10 and the second caliper assembly 20. Through the above arrangement, when the first electronic brake mechanism of the first caliper assembly 10 fails, the hydraulic brake mechanism of the first caliper assembly 10 and the second electronic brake mechanism of the second caliper assembly 20 can be used for coordinated braking.

[0119] In some other embodiments, the control component 40 is configured to: obtain braking instructions; obtain the status of the first caliper assembly 10 and the second caliper assembly 20; wherein the status includes a normal state or a failure state; and control the first caliper assembly 10 to perform hydraulic braking on the front wheels of the vehicle in a hydraulic braking mode and control the second caliper assembly 20 to perform electronic braking on the rear wheels of the vehicle according to the braking instructions when the electronic braking mode of the first caliper assembly 10 is in a failure state.

[0120] After obtaining the braking instruction, the control component obtains the states of the first caliper assembly 10 and the second caliper assembly 20. When the first electronic braking mechanism (i.e., electronic braking mode) of the first caliper assembly 10 is in a failed state, the control component controls the hydraulic braking mechanism of the first caliper assembly 10 (i.e., hydraulic braking mode) to perform hydraulic braking on the front wheels of the vehicle according to the braking instruction, and can also perform electronic braking on the rear wheels of the vehicle by controlling the second electronic braking mechanism of the second caliper assembly 20. In addition, when the electronic braking modes of the first caliper assembly 10 and the second caliper assembly 20 are both failed, the front wheels of the vehicle can also be braked by the hydraulic braking mode of the first caliper assembly 10 to realize the backup braking function and improve the braking safety of the vehicle. It should be noted that the control component 40 can be a controller of the vehicle or a separately set controller for implementing the strategy of the above method.

[0121] like Figure 4 , Figure 5 and Fig.10 As shown, in some embodiments, the pedal assembly 30 includes a brake pedal 310 and a brake cylinder 320 ; the brake pedal 310 is connected to a piston rod 321 of the brake cylinder 320 , and a hydraulic chamber 322 of the brake cylinder 320 is connected to a hydraulic brake mechanism via a brake line 351 .

[0122] The brake pedal 310 can be the brake pedal of the vehicle. When braking is needed, the operator can push the brake pedal 310 with his foot. The brake pedal 310 pushes the piston rod 321 of the brake cylinder 320 to move into the hydraulic chamber 322 of the brake cylinder 320, so that the brake fluid in the hydraulic chamber 322 can reach the hydraulic brake mechanism of the first caliper assembly 10 through the brake line 351, thereby utilizing the hydraulic brake mechanism to hydraulically brake the two wheels at the front end of the vehicle.

[0123] refer to Fig.10As shown, in some embodiments, the brake system further includes a first sensor 330 for detecting pedal force and / or a second sensor 340 for detecting brake line pressure; the first sensor 330 and the second sensor 340 are respectively connected to the control assembly 40 for communication, and the control assembly 40 is used to obtain the target deceleration of the vehicle according to the pedal force or the brake line pressure, and obtain the second clamping force of the second caliper assembly 20 according to the pedal force and the target deceleration. Among them, the first sensor 330 can detect the pedal stroke of the brake pedal 310 in any suitable manner, for example, the first sensor 330 can be a stroke sensor 331 arranged on the cylinder body, and the piston rod 321 can be provided with an induction magnet 332 corresponding to the stroke sensor 331, and the stroke sensor 331 obtains the pedal stroke of the brake pedal 310 through the movement of the induction magnet 332. It can be understood that the stroke sensor 331 can be multiple, for example, two, and are arranged at intervals on the cylinder body of the brake cylinder 320. The second sensor 340 can be a hydraulic pressure sensor, which is connected to the brake line 351, and is used to detect the pressure of the brake line and determine the magnitude of the braking force. At the same time, the first sensor 330 and the second sensor 340 can both sense the braking intention, and the two are simultaneously arranged in the pedal assembly 30, using a redundant setting to improve the accuracy of perception.

[0124] It is worth noting that the control component 40 obtains the target deceleration of the vehicle based on the pedal force or the brake line pressure, and obtains the second clamping force of the second caliper assembly 20 based on the pedal force and the target deceleration. The specific method can be implemented by referring to the control method in the above embodiment and will not be repeated here.

[0125] It should be noted that the pedal assembly 30 may further include a brake fluid reservoir 370 connected to the hydraulic chamber 322 of the brake cylinder 320 for providing brake fluid for the hydraulic brake mechanism.

[0126] Optionally, the pedal assembly 30 also includes a first control valve 352; the first control valve 352 is arranged in the brake line 351 between the hydraulic chamber 322 and the hydraulic brake mechanism, and is used to control the flow of brake fluid between the hydraulic chamber 322 and the hydraulic brake mechanism; and / or, the pedal assembly 30 also includes a second control valve 353 and a pedal feel simulator 360, and the pedal feel simulator 360 is connected to the hydraulic chamber 322 through the second control valve 353, and is used to provide a pedaling feel when the first electronic brake mechanism of the first caliper assembly 10 is working.

[0127] The first control valve 352 may be a normally open solenoid valve, and the second control valve 353 may be a normally closed solenoid valve. Under normal working conditions, both the normally open solenoid valve and the normally closed solenoid valve are energized, the normally open solenoid valve is in a closed state, and the normally closed solenoid valve is in an open state. At this time, the hydraulic chamber 322 is connected to the pedal feel simulator 360 through the second control valve 353 in an open state, so as to provide a suitable brake pedal feel.

[0128] The vehicle braking system further includes a switch assembly 50, a vehicle network system 60 and a power supply 70. The switch assembly 50 and the vehicle network system 60 are respectively connected to the control assembly 40 to achieve data and signal transmission. The power supply 70 provides power guarantee for the entire system and can be respectively connected to the first caliper assembly 10, the second caliper assembly 20, the pedal assembly 30, the control assembly 40, the switch assembly 50 and the vehicle network system 60 so that the components can work normally.

[0129] like Fig. 9 As shown, in some embodiments, the second caliper assembly 20 further includes a parking lock mechanism 280, which is unlockably connected to the second electronic brake mechanism for parking brakes on two wheels at the rear end of the vehicle. The parking lock mechanism 280 is connected to the control assembly 40, and the control assembly 40 is used to control the parking lock mechanism 280 to lock and unlock the second electronic brake mechanism for parking brakes of the vehicle.

[0130] Normal working conditions:

[0131] When the driver steps on the brake pedal 310 , the first sensor 330 and the second sensor 340 can sense the driver's braking intention and electrically connect to send a braking intention signal to the control component 40 .

[0132] Both the normally open solenoid valve and the normally closed solenoid valve are energized. The normally open solenoid valve is in a closed state and the normally closed solenoid valve is in an open state. At this time, the hydraulic chamber 322 is connected to the pedal feel simulator 360 through the second control valve 353 in an open state to provide a suitable brake pedal feel.

[0133] The driver's braking intention transmits a signal to the control component 40 through the electrical connection of the sensor. The control component 40 calculates the appropriate brake pedal force based on the input signal and sends it to the first electronic brake mechanism and the second electronic brake mechanism through the data connection to generate the corresponding braking force for the motor electronic control unit.

[0134] When the control component 40 receives a parking request from the switch component 50 or the vehicle network system 60, the control component 40 sends it to the parking lock mechanism 280 of the second caliper component 20 through a data connection. The parking lock mechanism 280 is used to perform parking brakes on the two wheels at the rear end of the vehicle.

[0135] When the control component 40 receives a service brake request from the vehicle network system 60 , the control component 40 sends the request to the two first electronic brake mechanisms and the two second electronic brake mechanisms through a data connection to implement electronic braking of the four wheels.

[0136] In the case of failure of the first electronic brake mechanism of a single or two first caliper assemblies 10:

[0137] When it is detected that a single first electronic brake mechanism fails, the remaining first electronic brake mechanism is normal and continues to execute the braking command, which may cause uneven braking force on the left and right, vehicle instability, etc.; when both first electronic brake mechanisms fail, if only the second caliper assembly 20 brakes, the braking force will be insufficient.

[0138] Under the above two working conditions, the entire vehicle braking system adopts the two first caliper assemblies 10 to adopt a hydraulic braking system, and the two second caliper assemblies 20 adopt the second electronic brake mechanism braking form. The control component 40 controls the normally open solenoid valve and the normally closed solenoid valve of the pedal assembly 30 to be powered off. The normally open solenoid valve is in an open state at this time, and the normally closed solenoid valve is in a closed state at this time. At this time, the hydraulic chamber 322 is not connected to the pedal feel simulator 360, but is connected to two hydraulic brake mechanisms (i.e., the two first hydraulic chambers A mentioned below) through the brake line 351.

[0139] The force of the driver stepping on the brake pedal 310 creates hydraulic pressure in the hydraulic chamber 322 through the piston rod 321, and the hydraulic pressure is transmitted to the hydraulic brake mechanism through the brake pipeline 351, thereby braking the two wheels at the front end of the vehicle.

[0140] At the same time, the driver's braking intention transmits a signal to the control component 40 through the electrical connection of the sensor. The control component 40 calculates the appropriate braking force of the second electronic brake mechanism based on the input signal, sends it to the second electronic brake mechanism through the data connection, and generates the corresponding braking force for the motor electronic control unit of the second caliper assembly 20.

[0141] When the control component 40 receives a parking request from the switch component 50 or the vehicle network system 60, the control component 40 sends it to the parking lock mechanism 280 of the second caliper component 20 through a data connection. The parking lock mechanism 280 is used to perform parking brakes on the two wheels at the rear end of the vehicle.

[0142] Vehicle power supply 70 failure conditions:

[0143] When the vehicle power supply 70 fails, the normally open solenoid valve and the normally closed solenoid valve of the pedal assembly 30 both lose power. The normally open solenoid valve is in an open state and the normally closed solenoid valve is in a closed state. At this time, the hydraulic chamber 322 is not connected to the pedal feel simulator 360, but is connected to two hydraulic brake mechanisms (i.e., the two first hydraulic chambers A described below) through the brake line 351.

[0144] The force of the driver stepping on the brake pedal 310 creates a hydraulic pressure in the hydraulic chamber 322 through the piston rod 321, and the hydraulic pressure is transmitted to the hydraulic brake mechanism through the brake pipe 351, thereby braking the two wheels at the front of the vehicle. This braking force plays a role in braking force backup. In the event of a serious fault such as failure of the vehicle power supply 70, the vehicle is still guaranteed to have a certain braking force, thereby improving driving safety. It should be noted that there is no parking function under this working condition.

[0145] The first caliper assembly can be constructed in any suitable manner, such as Figure 6 As shown, in some embodiments of the present disclosure, the first caliper assembly 10 includes a first caliper body 110, a first brake disc 100, a first friction plate 101 and a first connecting member 140. The first caliper body 110 includes a first cavity 111 with a lateral opening, and the first brake disc 100 is located at the opening of the first cavity 111; the first friction plate 101 is located at one side of the first brake disc 100, and the first connecting member 140 is slidably connected to the first cavity 111 and is located at a side of the first friction plate 101 away from the first brake disc 100. The first connecting member 140 and the inner side wall of the first cavity 111 enclose a first hydraulic chamber A. A liquid inlet 113 communicating with the first hydraulic chamber A and used to connect with the pedal assembly 30 is formed on the first caliper body 110. The first connecting member 140 is configured such that when a brake fluid of a preset pressure is introduced into the first hydraulic chamber A from the liquid inlet 113, the first connecting member 140 can push the first friction plate 101 to clamp the first brake disc 100 to achieve hydraulic braking.

[0146] Through the above arrangement, the first caliper assembly 10 pushes the first friction plate 101 and acts on the first brake disc 100 to perform a braking operation through the first connecting member 140 slidably connected to the first cavity 111 of the first caliper body 110; on the other hand, the first connecting member 140 and the inner side wall of the first cavity 111 enclose the first hydraulic chamber A, and the first caliper body 110 is formed with a liquid inlet 113 connected to the first hydraulic chamber A, so that when the brake fluid is introduced into the first hydraulic chamber A through the liquid inlet 113, the first connecting member 140 can also be pushed to move toward the first friction plate 101, so that the first friction plate 101 clamps the first brake disc 100 to achieve braking. When the first electronic brake mechanism of the first caliper assembly 10 fails electrically (i.e., the electronic brake function), it can also build up pressure in the first hydraulic chamber A to push the first connecting member 140 for hydraulic braking, thereby realizing the function of backing up the first brake disc 100 and improving the braking safety.

[0147] It should be noted that the first seal 150 and the dustproof seal ring 151 are provided at the junction of the first connecting member 140 and the first cavity 111, and the dustproof seal ring 151 is provided on the outside of the seal 150 to prevent dust from entering between the first connecting member 140 and the inner wall of the first cavity 111. It should be pointed out that the dustproof seal ring 151 can also be configured to drive the first connecting member 140 to reset after the first electronic brake mechanism releases the brake, so that the first friction plate 101 is away from the brake disc.

[0148] The first electronic braking mechanism can be constructed using any suitable structure. In some embodiments, the first caliper assembly 10 also includes a first braking unit and a first driving unit 120 connected to the first braking unit; the first braking unit can push the first connecting member 140 to move toward the first friction plate 101, so that the first friction plate 101 clamps the first brake disc 100 to achieve electronic braking, and the first braking unit and the first driving unit 120 form a first electronic braking mechanism. The first caliper assembly 10 is provided with a first connecting member 140 slidably connected to the first cavity 111 of the first caliper body 110 between the first brake unit and the first friction plate 101. On the one hand, the first driving unit 120 and the first brake unit can push the first connecting member 140 to move toward the first friction plate 101, so that the first friction plate 101 clamps the first brake disc 100 to perform a braking operation; on the other hand, the first connecting member 140, the first brake unit and the inner side wall of the first cavity 111 form a first hydraulic chamber A, and a liquid inlet 113 connected to the first hydraulic chamber A is formed on the first caliper body 110. The liquid inlet 113 is used to be connected to an end of the brake pipeline 351 in the pedal assembly 30 away from the hydraulic chamber 322 of the brake cylinder 320, so that when the brake fluid is introduced into the first hydraulic chamber A from the liquid inlet 113, the first connecting member 140 can also be pushed to move toward the first friction plate 101, so that the first friction plate 101 clamps the first brake disc 100 to achieve braking. The first caliper assembly 10 includes an electronic mechanical braking function formed by a first driving unit 120, a first brake unit and a first connecting member 140, and also includes a hydraulic braking function formed by a first hydraulic chamber A surrounded by the first connecting member 140, the first brake unit and the inner wall of the first cavity 111. When an electrical failure occurs (i.e., when the electronic mechanical braking function fails), pressure can be built up in the first hydraulic chamber A through the pedal assembly 30 to push the first connecting member 140 to perform hydraulic braking, thereby realizing the function of backing up the clamping brake disc and improving braking safety.

[0149] Optionally, the first caliper body 110 is further provided with an exhaust port 114 in communication with the first hydraulic chamber A, and the exhaust port 114 is connected to a plugging member 1141. The plugging member 1141 includes but is not limited to an exhaust bolt, which is threadedly connected to the exhaust port 114 to seal the exhaust port 114. When the brake fluid is initially injected into the first hydraulic chamber A or when the brake fluid is injected into the first hydraulic chamber A again after maintenance, air will inevitably be mixed in. Therefore, the exhaust bolt can be opened to discharge excess air from the exhaust port, and then the exhaust bolt can be tightened to seal the exhaust port, so that the first hydraulic chamber A forms a sealed cavity.

[0150] Optionally, the first caliper body 110 further includes a first clamping portion 112 formed on a side of the first cavity 111 away from the first driving unit 120, and a second friction plate 102 is provided between the first clamping portion 112 and the first brake disc 100. The first caliper body 110 can push the second friction plate 102 to clamp the first brake disc 100 for braking through the first clamping portion 112. The first friction plate 101 is pushed by the first connecting member 140, and the second friction plate 102 is pushed by the first clamping portion 112 to achieve simultaneous clamping of both sides of the first brake disc 100, so as to improve the braking efficiency.

[0151] In order to guide and ensure the smooth movement of the first caliper body 110, as Figures 6 to 8 As shown, the first caliper assembly 10 also includes a first caliper bracket 160, and the first caliper body 110 is slidably connected to the first caliper bracket 160; when the brake fluid in the first brake unit or the first hydraulic chamber A pushes the first connecting member 140 and the first friction plate 101 to clamp one side of the first brake disc 100 for braking, the first brake unit can push the first caliper body 110 toward the first driving unit 120, so that the first clamping part 112 pushes the second friction plate 102 to clamp the other opposite side of the first brake disc 100.

[0152] For example, the first caliper bracket 160 can be constructed as a guide rail extending from the first drive unit 120 toward the first brake disc 100. In the present disclosure, the extension direction of the guide rail is parallel to the length direction of the first lead screw 131. The first caliper body 110 is provided with a guide groove or a guide wheel cooperated with the guide rail, and the guide groove or the guide wheel is movably connected to the guide rail, so that when the first drive unit 120 brakes one side (right side) of the first brake disc 100 by means of the first brake unit or when brake fluid is introduced into the first hydraulic chamber A to clamp and brake one side (right side) of the first brake disc 100, the first caliper body 110 can slide smoothly and stably relative to the first caliper bracket 160, so that the first clamping portion 112 can also clamp and brake the other side (left side) of the first brake disc 100 through the second friction plate 102.

[0153] When the first driving unit 120 drives the first brake unit and pushes the first friction plate 101 through the first connecting member 140 to brake the first brake disc 100, for example, the driving motor drives the first lead screw 131 to rotate, and the first lead screw 131 will drive the first lead screw nut 132 connected to the first lead screw 131 to move and push the first connecting member 140, and the first connecting member 140 pushes the first friction plate 101 to clamp the first brake disc 100, thereby achieving braking. At the same time, the first lead screw 131 can give the first caliper body 110 a reaction force in the direction of the first driving unit 120, so that the first caliper body 110 can move away from the first brake disc 100. At this time, the first clamping portion 112 pushes the second friction plate 102 provided on the side of the first brake disc 100 opposite to the first friction plate 101 to clamp and brake the other side of the first brake disc 100.

[0154] In addition, when hydraulic braking is adopted, that is, brake fluid is injected into the first hydraulic chamber A to drive the connecting part to push the first friction plate 101 for braking, the brake fluid can be squeezed and can also drive the first caliper body 110 to move toward the first driving unit 120 through the first brake unit (for example, the flange or piston provided on the first screw 131). The movement of the first caliper body 110 further enables the first clamping part 112 to push the second friction plate 102 to squeeze the other side of the first brake disc 100 (the opposite side of the first friction plate 101 that clamps the first brake disc 100), so that the first friction plate 101 and the second friction plate 102 can simultaneously clamp both sides of the first brake disc 100 to achieve clamping braking, thereby achieving the braking effect of the vehicle.

[0155] The first brake unit can be constructed in any suitable manner, such as Figure 6 , Figure 7 and Figure 8 As shown in , in some embodiments, the first brake unit includes a first lead screw 131 and a first lead screw nut 132 connected to one end of the first lead screw 131, and the first lead screw nut 132 abuts against the first connecting member 140; the other end of the first lead screw 131 is connected to the first driving unit 120, and the first driving unit 120 is used to drive the first lead screw 131 to rotate and drive the first lead screw nut 132 to move; the end of the first lead screw nut 132 away from the first driving unit 120 can abut against the first connecting member 140. The first lead screw 131, the first lead screw nut 132, the first connecting member 140 and the inner side wall of the first cavity 111 of the first caliper body 110 form a first hydraulic chamber A.

[0156] When the first driving unit 120 drives the first lead screw 131 to rotate, the first lead screw nut 132 on the first lead screw 131 will move forward or backward along the extension direction of the first lead screw 131 as the first lead screw 131 rotates. When clamping braking is required, the first driving unit 120 drives the first lead screw 131 to rotate in one direction (for example, clockwise), and the first lead screw nut 132 moves toward the first friction plate 101, and pushes the first connecting member 140 to squeeze the first friction plate 101 to brake the first brake disc 100.

[0157] In addition, in the event of power failure or brake unit failure, the first drive unit 120 or the first brake unit cannot work, that is, the electronic braking function fails. At this time, brake fluid can be injected into the first hydraulic chamber A through the fluid inlet 113 to build pressure. The brake fluid pushes the connecting part toward the first friction plate 101 and pushes it to brake the first brake disc 100.

[0158] In order to realize simultaneous braking of the brake disc by the first friction plate 101 and the second friction plate 102, as shown in FIG. Figure 6 As shown, in some embodiments of the present disclosure, a first flange portion 1311 is provided on the first screw 131, and the first flange portion 1311 is configured as follows: when the brake fluid in the first screw nut 132 or the first hydraulic chamber A pushes the first connecting member 140 and the first friction plate 101 to brake one side of the first brake disc 100, the first flange portion 1311 can push the first caliper body 110 in a direction toward the first driving unit 120, so that the first clamping portion 112 pushes the second friction plate 102 to brake the other opposite side of the first brake disc 100.

[0159] Among them, when the first lead screw 131 drives the first lead screw nut 132 and pushes the first friction plate 101 through the first connecting member 140 to brake one side of the first brake disc 100, or, when brake fluid is introduced into the first hydraulic chamber A so that the first connecting member 140 pushes the first friction plate 101 to brake one side of the first brake disc 100, the first flange portion 1311 can push the first caliper body 110 in a direction away from the first brake disc 100, so that the first clamping portion 112 pushes the second friction plate 102 to brake the other side opposite to the first brake disc 100.

[0160] In other embodiments, a plane bearing 1312 is provided between the side of the first flange portion 1311 facing the first driving unit 120 and the inner wall of the first cavity 111 of the first caliper body 110; wherein the force acting on the first flange portion 1311 by the first screw nut 132 or the first hydraulic chamber A is better transmitted to the first caliper body 110 through the plane bearing 1312, thereby pushing the first caliper body 110 to slide to the right, so as to utilize the first clamping portion 112 to clamp and brake the left side of the first brake disc 100 through the second friction plate 102.

[0161] In order to further detect the clamping force during braking, optionally, the first caliper assembly 10 further includes a first clamping force detection mechanism disposed in the first cavity 111, and the first clamping force detection mechanism is located between the first caliper body 110 and the first brake unit, and is used to detect the clamping force during braking. The clamping force during braking is detected by the first clamping force detection mechanism, which provides better data support for clamping braking and improves the measurement accuracy of the clamping force.

[0162] The first clamping force detection mechanism can be constructed using any suitable structure, such as Figure 7 As shown, in some embodiments of the present disclosure, the first clamping force detection mechanism includes a hydraulic pressure sensor 171 and a first piston 1313 connected to the first brake unit, the first piston 1313 and the inner side wall of the first cavity 111 form a third hydraulic chamber B; the hydraulic pressure sensor 171 is connected to the third hydraulic chamber B, and is used to detect the pressure value of the liquid in the third hydraulic chamber B. When the first brake unit converts the rotation of the first drive unit 120 into a linear motion to push the first friction plate 101 to clamp the first brake disc 100, the first brake unit is subjected to a reaction force, thereby driving the first piston 1313 to move in a direction away from the first brake disc 100 to compress the liquid in the third hydraulic chamber B, and the pressure value of the liquid in the third hydraulic chamber B is detected by the hydraulic pressure sensor 171, and the clamping force is calculated in combination with the area of ​​the first piston 1313.

[0163] For example, after the liquid in the third hydraulic chamber B is squeezed, the hydraulic pressure sensor 171 as the first clamping force detection mechanism can detect the increase in the hydraulic pressure value, and then send the pressure value A1 to the control component 40 through an electrical signal. After the control component 40 obtains the pressure value detected and sent by the hydraulic pressure sensor 171, it combines the area B1 of the first piston 1313 and obtains the clamping force F1 according to the formula: F1 = A1 × B1.

[0164] It should be noted that the first piston 1313 can be directly connected to the first lead screw 131 , and the first piston 1313 can be sealed and slidably connected to the inner wall of the first cavity 111 in the circumferential direction.

[0165] The first drive unit 120 can be a driving motor, including but not limited to a motor with a deceleration function, wherein the end of the first lead screw 131 away from the first lead screw nut 132 passes through the first caliper body 110 and is connected to the driving end of the driving motor through a connector 121, and a first seal 150 (such as a sealing ring or a bushing) can be provided at the junction of the first lead screw 131 and the first caliper body 110, and the sealing ring or the bushing is used to seal the junction of the first lead screw 131 and the first caliper body 110.

[0166] By forming a third hydraulic chamber B in the first cavity 111 of the caliper body of the first caliper assembly 10, which changes with the brake clamping force, the measurement result is more accurate; it has the advantage of being integrated, and compared with the larger force sensor set in the related technology, the internal size of the caliper body can be constructed to be smaller and more compact; and there is no need to arrange a wiring harness in the caliper body.

[0167] like Figure 8 As shown, in other embodiments, the first clamping force detection mechanism includes a first annular force sensor 172 and a second piston 1314 connected to the first brake unit, and the first annular force sensor 172 is disposed between the second piston 1314 and the inner wall of the first cavity 111 away from the first brake disc 100. The reaction force when the first brake unit is driven by the first driving unit 120 to brake or the brake fluid is introduced into the first hydraulic chamber A, the reaction force of the brake fluid acting on the brake unit can act on the first annular force sensor 172 through the second piston 1314, and the clamping force is directly detected by the first annular force sensor 172, which can also meet the effect of detecting the clamping force.

[0168] like Fig. 9 As shown, in some embodiments of the present disclosure, the second caliper assembly 20 includes a second brake disc 200 and a second caliper body 210; the second caliper body 210 includes a second cavity 211 with a lateral opening, and at least a portion of the second brake disc 200 extends into the interior of the second cavity 211 through the opening; the second electronic braking mechanism includes a third friction plate 201, a second connecting member 240, a second brake unit, and a second driving unit 220 connected to the second brake unit; the second brake unit is arranged in the second cavity 211; the third friction plate 201 is located on one side of the second brake disc 200, the second connecting member 240 is sealed and slidably connected to the second cavity 211, and is located between the third friction plate 201 and the second brake unit, and the second brake unit can push the second connecting member 240 to move toward the third friction plate 201, so that the third friction plate 201 clamps the second brake disc 200 for braking.

[0169] Through the above-mentioned arrangement, the second caliper assembly 20 can push the second connecting member 240 toward the third friction plate 201 through the second driving unit 220 and the second brake unit by setting the second connecting member 240 slidably connected to the second cavity 211 of the second caliper body 210 between the second brake unit and the third friction plate 201, so that the third friction plate 201 clamps the second brake disc 200 for braking operation.

[0170] It should be noted that the second sealing member 250 and the second cavity 211 are provided at the junction of the second connecting member 240 and the second cavity 211, and the second dustproof sealing ring 251 is provided on the outside of the second sealing member 250 to prevent dust from entering between the second connecting member 240 and the inner wall of the second cavity 211. It should be pointed out that the second dustproof sealing ring 251 can also be configured to drive the second connecting member 240 to reset after the second electronic brake mechanism releases the brake, so that the third friction plate 201 is away from the brake disc.

[0171] The second brake unit can be constructed in any suitable manner, such as Fig. 9 As shown, in some embodiments, the second brake unit includes a second lead screw 231 and a second lead screw nut 232 connected to one end of the second lead screw 231, and the second lead screw nut 232 abuts against the second connecting member 240; the other end of the second lead screw 231 is connected to the second driving unit 220, and the second driving unit 220 is used to drive the second lead screw 231 to rotate and drive the second lead screw nut 232 to move; the end of the second lead screw nut 232 away from the second driving unit 220 can abut against the second connecting member 240. When the second driving unit 220 drives the second lead screw 231 to rotate, the second lead screw nut 232 on the second lead screw 231 will move forward or backward along the extension direction of the second lead screw 231 as the second lead screw 231 rotates. When clamping braking is required, the second drive unit 220 drives the second screw 231 to rotate in one direction (for example, clockwise), the second screw nut 232 moves toward the third friction plate 201, and pushes the second connecting member 240 to squeeze the third friction plate 201 to brake the second brake disc 200.

[0172] Optionally, the second caliper body 210 also includes a second clamping portion 212 formed on a side of the second cavity 211 away from the second drive unit 220, and a fourth friction plate 202 is provided between the second clamping portion 212 and the second brake disc 200; a second flange portion 2311 is provided on the second screw 231, and the second flange portion 2311 is configured as follows: when the second screw nut 232 pushes the second connecting member 240 and the third friction plate 201 to brake one side of the second brake disc 200, the second flange portion 2311 can push the second caliper body 210 in a direction toward the second drive unit 220, so that the second clamping portion 212 pushes the fourth friction plate 202 to brake the other opposite side of the second brake disc 200. Among them, when the second driving unit 220 drives the second brake unit and pushes the third friction plate 201 through the second connecting member 240 to brake the second brake disc 200, for example, the driving motor drives the second lead screw 231 to rotate, and the second lead screw 231 will drive the second lead screw nut 232 connected to the second lead screw 231 to move and push the second connecting member 240, and the second connecting member 240 pushes the third friction plate 201 to clamp the second brake disc 200, thereby achieving braking. At the same time, the second lead screw 231 can give the second caliper body 210 a reaction force toward the direction of the second driving unit 220, so that the second caliper body 210 can move toward the second driving unit 220. At this time, the second clamping portion 212 pushes the fourth friction plate 202 located on the side of the second brake disc 200 opposite to the third friction plate 201 to clamp and brake the other side of the second brake disc 200.

[0173] When the second lead screw 231 drives the second lead screw nut 232 and pushes the third friction plate 201 through the second connecting member 240 to brake one side of the second brake disc 200, the second flange portion 2311 can push the second caliper body 210 in the direction toward the second drive unit 220 so that the second clamping portion 212 pushes the fourth friction plate 202 to brake the other opposite side of the second brake disc 200.

[0174] Optionally, a plane bearing 2312 is provided between the side of the second flange portion 2311 facing the second drive unit 220 and the inner wall of the second cavity 211 of the second caliper body 210; wherein the force of the second lead screw nut 232 acting on the second flange portion 2311 is better transmitted to the second caliper body 210 through the plane bearing 2312, thereby pushing the second caliper body 210 to slide to the right, so as to utilize the second clamping portion 212 to clamp and brake the left side of the second brake disc 200 through the fourth friction plate 202.

[0175] In order to guide and ensure the smooth movement of the second caliper body 210, as Fig. 9As shown, the second caliper assembly 20 further includes a caliper bracket 260, and the second caliper body 210 is slidably connected to the caliper bracket 260. For example, the caliper bracket 260 can be constructed as a guide rail extending from the second drive unit 220 toward the second brake disc 200. In the embodiment of the present disclosure, the extension direction of the guide rail is parallel to the length direction of the second lead screw 231. The second caliper body 210 is provided with a guide groove or a guide wheel connected to the guide rail, and the guide groove or the guide wheel is movably connected to the guide rail, so that when the second drive unit 220 brakes the second brake disc 200 by the second brake unit, the second caliper body 210 can slide relatively stably relative to the caliper bracket 260, so that the second clamping portion 212 can also clamp and brake the other side (left side) of the second brake disc 200 by pushing the fourth friction plate 202.

[0176] In order to further detect the clamping force during braking, optionally, the second caliper assembly 20 further includes a second clamping force detection mechanism disposed in the second cavity 211, and the second clamping force detection mechanism is located between the second caliper body 210 and the second brake unit, and is used to detect the clamping force during braking. The clamping force during braking is detected by the second clamping force detection mechanism, so as to provide better data support for clamping braking and improve the measurement accuracy of the clamping force.

[0177] The second clamping force detection mechanism can be constructed using any suitable structure. In some embodiments of the present disclosure, the second clamping force detection mechanism includes a hydraulic pressure sensor and a third piston connected to the second brake unit, and the third piston and the inner wall of the second cavity 211 form a third hydraulic chamber; the hydraulic pressure sensor is connected to the third hydraulic chamber and is used to detect the pressure value of the liquid in the third hydraulic chamber; wherein, when the second brake unit converts the rotation of the second drive unit 220 into linear motion to push the third friction plate 201 to clamp the second brake disc 200, the second brake unit is subjected to a reaction force, thereby driving the third piston to move away from the second brake disc 200 to compress the liquid in the third hydraulic chamber, and the pressure value of the liquid in the third hydraulic chamber is detected by the hydraulic pressure sensor, and the clamping force is obtained by combining the area calculation of the third piston.

[0178] For example, after the liquid in the third hydraulic chamber is squeezed, the hydraulic pressure sensor as the second clamping force detection mechanism can detect the increase in the hydraulic pressure value, and then send the pressure value A2 to the control component 40 through an electrical signal. After the control component 40 obtains the pressure value detected and sent by the hydraulic pressure sensor, it combines the area B2 of the third piston and obtains the clamping force F2 according to the formula: F2 = A2 × B2.

[0179] It should be noted that the third piston can be directly connected to the second lead screw 231, and the circumference of the third piston can be sealed and slidably connected to the inner wall of the second cavity 211. The specific structure of this solution can be referred to Figure 7 The structure in is set up and will not be repeated here.

[0180] It should be noted that the second drive unit 220 can also be a drive motor, including but not limited to a motor with a deceleration function, wherein the end of the second lead screw 231 away from the second lead screw nut 232 passes through the second caliper body 210 and is connected to the drive end of the drive motor, and a second seal 250 can be provided at the junction of the second lead screw 231 and the second caliper body 210. The second seal 250 can be a sealed bearing, a sealing ring or a bushing, and the sealed bearing, sealing ring or bushing is used to seal the junction between the second lead screw 231 and the second caliper body 210.

[0181] In other embodiments, the second clamping force detection mechanism includes a second annular force sensor 271 and a fourth piston 2314 connected to the second brake unit, and the second annular force sensor 271 is disposed between the fourth piston 2314 and the inner side wall of the second cavity 211 away from the second brake disc 200. The reaction force when the second brake unit is driven by the second driving unit 220 to brake can act on the second annular force sensor 271 through the second piston 1314, and the clamping force can be directly detected by the second annular force sensor 271, which can also meet the effect of detecting the clamping force.

[0182] Optionally, the braking system also includes a hydraulic balancing mechanism 80 connected to the fluid inlet 113, and the hydraulic balancing mechanism 80 is configured to: when the first connecting member 140 releases the brake on the first brake disc 100, it can inhale and store brake fluid; when the first connecting member 140 brakes the first brake disc 100, it can replenish brake fluid into the first hydraulic chamber A.

[0183] When the system adopts the electronic braking function, the first control valve 352 is powered on and closed, and the first drive unit 120 pushes the first connecting member 140 toward the first brake disc 100 through the first braking unit to act on the first friction plate 101 to brake the first brake disc 100. At this time, the space of the first hydraulic chamber A becomes larger, forming a negative pressure, which hinders the movement of the first connecting member 140. Here, the hydraulic balancing mechanism 80 can replenish brake fluid into the first hydraulic chamber A through the brake line 351 to offset the negative pressure, so that the electronic braking function can be better realized.

[0184] When the first driving unit 120 drives the first connecting member 140 to retreat through the first braking unit, the brake fluid in the first hydraulic chamber A is squeezed. At this time, the brake fluid flows back from the brake line 351 to the hydraulic balancing mechanism 80. The first connecting member 140 can return more easily under the action of the return force of the dustproof sealing ring 151, thereby ensuring that the first friction plate 101 is disengaged from the first brake disc 100 and maintaining a reasonable disc gap, thereby preventing the first friction plate 101 and the first brake disc 100 from generating excessive drag torque.

[0185] The hydraulic balancing mechanism can be constructed in any suitable manner, such as Fig.10 and Fig.11 As shown, in some embodiments, the hydraulic balancing mechanism 80 includes a cylinder body 81 having a third cavity 81a, a piston 82 slidably disposed in the cylinder body 81, and an elastic member 83 connecting the piston 82 and one end of the cylinder body 81, the piston 82 and a portion of the inner side wall of the third cavity 81a form a second hydraulic chamber 81b, the cylinder body 81 is formed with an inlet 81c connected to the second hydraulic chamber 81b, and the inlet 81c can be connected to the brake line 351 through a hydraulic pipeline.

[0186] It should be noted that the elastic member 83 can be a spring, and the elastic coefficient of the elastic member is relatively small. Therefore, when the first caliper assembly 10 performs a retracting action, the first screw 131 rotates backward, and the first screw nut 132 can push the first connecting member 140 to retract, and the brake fluid in the first hydraulic chamber A is squeezed. At this time, the brake fluid flows back from the first hydraulic chamber A to the second hydraulic chamber 81b of the hydraulic balancing mechanism for storage; when the first caliper assembly 10 performs a clamping action, the first screw 131 rotates forward, and the first screw nut 132 pushes the first connecting member forward, and the space of the first hydraulic chamber A becomes larger, forming a negative pressure. At this time, the brake fluid flows from the second hydraulic chamber 81b of the hydraulic balancing mechanism 80 into the first hydraulic chamber A to offset the negative pressure.

[0187] In the third aspect of the present disclosure, a vehicle is also provided, which includes the control method of the above-mentioned braking system or includes the above-mentioned braking system. Therefore, the vehicle also has all the advantages of the control method and braking system of the above-mentioned braking system, which will not be repeated here.

[0188] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0189] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0190] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A method for controlling a braking system for a vehicle, characterized in that: The braking system comprises two first caliper assemblies for braking the front wheels of the vehicle and two second caliper assemblies for braking the rear wheels of the vehicle, wherein the first caliper assemblies comprise a hydraulic braking mode and an electronic braking mode, and the second caliper assemblies comprise an electronic braking mode; the method comprises: Get braking command; Acquire the status of the first caliper assembly and the second caliper assembly; wherein the status includes a normal state or a failure state; When the electronic braking mode of the first caliper assembly is in a failed state, the first caliper assembly is controlled to perform hydraulic braking on the front wheels of the vehicle in the hydraulic braking mode according to the braking instruction, and the second caliper assembly is controlled to perform electronic braking on the rear wheels of the vehicle.

2. The method according to claim 1, characterized in that: When the electronic braking mode of the first caliper assembly is in a failed state, controlling the first caliper assembly to perform hydraulic braking on the front wheels of the vehicle in a hydraulic braking mode according to the braking instruction, and controlling the second caliper assembly to perform electronic braking on the rear wheels of the vehicle, comprises: Get the pedal force of the brake pedal; acquiring a target deceleration of the vehicle according to the pedal force; A second clamping force of a second caliper assembly is determined based on the pedal force and the target deceleration.

3. The method according to claim 2, characterized in that The determining the second clamping force of the second caliper assembly according to the pedal force and the target deceleration comprises: calculating a first clamping force of the first caliper assembly in a hydraulic braking mode according to the pedal force; A second clamping force of the second caliper assembly is obtained according to the first clamping force and the target deceleration.

4. The method according to claim 2, characterized in that: The step of obtaining the pedal force of the brake pedal comprises: acquiring a pedal travel of the first caliper assembly in a hydraulic braking mode; A pedal force of the brake pedal is determined based on the pedal travel.

5. The method according to claim 1, characterized in that The method further comprises: When the electronic braking mode of at least one first caliper assembly or the electronic braking mode of at least one second caliper assembly is in a failed state, the first caliper assembly is controlled according to the braking instruction to hydraulically brake the front wheels of the vehicle in a hydraulic braking mode.

6. A braking system, characterized in that: include: A first caliper assembly, used for braking the front wheels of the vehicle, comprising a hydraulic brake mechanism having a hydraulic brake mode and a first electronic brake mechanism having an electronic brake mode; A second caliper assembly, for braking the rear wheels of the vehicle, comprising a second electronic braking mechanism having an electronic braking mode; A pedal assembly connected to the hydraulic brake mechanism; as well as The control assembly is communicatively connected with the pedal assembly, the first caliper assembly and the second caliper assembly respectively.

7. The braking system according to claim 6, characterized in that: The control component is configured to: obtain a braking instruction; Used to obtain the status of the first caliper assembly and the second caliper assembly; wherein the status includes a normal state or a failure state; When the electronic braking mode of the first caliper assembly is in a failed state, the first caliper assembly is controlled to perform hydraulic braking on the front wheels of the vehicle in the hydraulic braking mode according to the braking instruction, and the second caliper assembly is controlled to perform electronic braking on the rear wheels of the vehicle.

8. The braking system according to claim 6, characterized in that: The pedal assembly includes a brake pedal and a brake cylinder; The brake pedal is connected to the piston rod of the brake cylinder, and the hydraulic chamber of the brake cylinder is connected to the hydraulic brake mechanism through a brake pipeline.

9. The braking system according to claim 8, characterized in that: The brake system further comprises a first sensor for detecting pedal force and / or a second sensor for detecting brake line pressure; The first sensor and the second sensor are respectively connected to the control component for communication, and the control component is used to obtain the target deceleration of the vehicle according to the pedal force or the brake line pressure, and obtain the second clamping force of the second caliper assembly according to the pedal force and the target deceleration.

10. The braking system according to claim 8, characterized in that: The pedal assembly also includes a first control valve; The first control valve is disposed in the brake pipeline between the hydraulic chamber and the hydraulic brake mechanism, and is used to control the on-off of the brake fluid between the hydraulic chamber and the hydraulic brake mechanism; and or The pedal assembly further includes a second control valve and a pedal feel simulator. The pedal feel simulator is in communication with the hydraulic chamber through the second control valve and is used to provide a pedal feel when the first electronic brake mechanism of the first caliper assembly is in operation.

11. The braking system according to any one of claims 6 to 10, characterized in that: The first caliper assembly comprises: A first caliper body including a first cavity opening laterally; a first brake disc, located at the opening of the first cavity; A first friction plate, located at one side of the first brake disc; The first connecting member is slidably connected to the first cavity and is located on a side of the first friction plate away from the first brake disc. The first connecting member and the inner side wall of the first cavity form a first hydraulic chamber. A liquid inlet that is connected to the first hydraulic chamber and is used to connect to the pedal assembly is formed on the first caliper body. The first connecting member is configured as follows: when brake fluid of a preset pressure is introduced into the first hydraulic chamber through the liquid inlet, the first connecting member can push the first friction plate to clamp the first brake disc to achieve hydraulic braking.

12. The braking system according to claim 11, characterized in that: The first caliper assembly further includes a first brake unit and a first drive unit connected to the first brake unit; The first brake unit can push the first connecting member to move toward the first friction plate, so that the first friction plate clamps the first brake disc to achieve electronic braking.

13. The braking system according to claim 11, characterized in that: The first caliper body is also provided with an exhaust port communicated with the first hydraulic chamber, and the exhaust port is connected to a blocking member.

14. The braking system according to claim 12, characterized in that: The first caliper body also includes a first clamping portion formed on a side of the first cavity away from the first driving unit, a second friction plate is provided between the first clamping portion and the first brake disc, and the first caliper body can push the second friction plate to clamp the first brake disc for braking through the first clamping portion.

15. The braking system according to claim 14, characterized in that: The first caliper assembly further includes a first caliper bracket, and the first caliper body is slidably connected to the first caliper bracket; When the first brake unit or the brake fluid in the first hydraulic chamber pushes the first connecting member and the first friction pad to clamp one side of the first brake disc for braking, the first brake unit can push the first caliper body toward the direction of the first driving unit so that the first clamping part pushes the second friction pad to clamp the opposite side of the first brake disc.

16. The braking system according to claim 15, characterized in that: The first brake unit includes a first lead screw and a first lead screw nut connected to one end of the first lead screw, and the first lead screw nut abuts against the first connecting member; The other end of the first lead screw is connected to the first driving unit, and the first driving unit is used to drive the first lead screw to rotate and drive the first lead screw nut to move; One end of the first screw nut away from the first driving unit can abut against the first connecting member.

17. The braking system according to claim 16, characterized in that: A first flange portion is provided on the first screw, and the first flange portion is configured as follows: when the first screw nut or the brake fluid in the first hydraulic chamber pushes the first connecting member and the first friction pad to brake one side of the first brake disc, the first flange portion can push the first caliper body in a direction toward the first drive unit so that the first clamping portion pushes the second friction pad to brake the opposite side of the first brake disc.

18. The braking system according to claim 12, characterized in that: The first caliper assembly further includes a first clamping force detection mechanism disposed in the first cavity, and the first clamping force detection mechanism is located between the first caliper body and the first brake unit, and is used to detect the clamping force during braking.

19. The braking system according to claim 11, characterized in that: The braking system also includes a hydraulic balancing mechanism connected to the fluid inlet, and the hydraulic balancing mechanism is configured to: when the first connecting member releases the brake on the first brake disc, it can absorb and store brake fluid; when the first connecting member brakes the first brake disc, it can replenish the brake fluid into the first hydraulic chamber.

20. The braking system according to claim 19, characterized in that The hydraulic balancing mechanism includes a cylinder body having a third cavity, a piston slidably arranged in the cylinder body, and an elastic member connecting the piston to one end of the cylinder body, the piston and a portion of the inner side wall of the third cavity form a second hydraulic chamber, and the cylinder body is formed with an inlet connected to the second hydraulic chamber.

21. A vehicle, characterized in that: The vehicle comprises a control method for a braking system according to any one of claims 1-5 or comprises a braking system according to any one of claims 6-20.

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