Vehicle braking method and system

Abstract

The invention provides a vehicle braking method and system, and the method is applied to a vehicle braking system. The vehicle braking system comprises an electronic braking system, a pneumatic braking system and a braking module. The pneumatic control braking system comprises a gas storage tank, a three-port two-position electromagnetic valve, a power supply module and a plurality of gas path pipelines; the method comprises the steps that when the electronic braking system fails to successfully issue an electronic braking instruction to a switch control end of a braking module, a power module is used for supplying power to a three-port two-position electromagnetic valve, and a first port and a third port of the three-port two-position electromagnetic valve are made to be in gas circuit conduction; gas in the gas storage tank flows into a switch control end of the brake module through a first brake control gas path link; and the air pressure provided by the air flowing into the switch control end of the braking module serves as a first air control braking instruction, and according to the first air control braking instruction, the air pressure provided by the air flowing into the braking execution end of the braking module is used for braking the vehicle. Through the method, the safety of vehicle braking is improved.

Description

Technical Field

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

[0002] In the application scenario of truck autonomous driving, the wire-controlled truck is an important application of autonomous driving technology in the field of commercial vehicles. It adopts wire-controlled technology to connect the control unit and the actuator through electrical signals, replacing the traditional mechanical or hydraulic drive. The wire-controlled chassis is the basis of autonomous driving applications. It integrates wire-controlled functions such as wire-controlled steering, wire-controlled braking, wire-controlled driving, and wire-controlled BCM (wire-controlled body control module).

[0003] Braking by wire is generally provided by the EBS system (electronic braking system). The EBS systems currently provided by industry suppliers are generally designed for the L2 level of autonomous driving. That is, in the process of autonomous driving applications, under normal circumstances, the EBS system can receive wire control instructions and perform wire control braking operations. If an EBS alarm occurs, the EBS system will exit the wire control mode and will not respond to the wire control request. In addition, if the communication with the EBS system is interrupted due to a bus problem, the brake signal control signal will not be sent to the EBS system, and the braking operation that the intelligent driving system wants to achieve cannot be performed. For vehicles with safety officers or drivers, they can be directly taken over manually, but in L4 level and above autonomous driving applications, the vehicle has no driver. If the vehicle is in a high-speed running state at this time, due to the above reasons, the wire control brake cannot perform the braking operation, and the intelligent driving system has no other executable braking interface, the vehicle may have a serious accident. Summary of the invention

[0004] In view of this, an object of the present application is to provide a vehicle braking method and system to improve the safety of vehicle braking.

[0005] In a first aspect, an embodiment of the present application provides a vehicle braking method, which is applied to a vehicle braking system; the vehicle braking system includes an electronic braking system, a pneumatic control braking system, and a braking module; the pneumatic control braking system includes: an air tank, a three-port two-position solenoid valve, a power module, and a plurality of air pipelines; wherein the air tank is connected to port 1 of the three-port two-position solenoid valve through the air pipeline to form a first air link; the three ports of the three-port two-position solenoid valve are connected to the switch control end of the braking module through the air pipeline to form a second air link; the first air link and the second air link form a first brake control air link; the air tank is connected to the brake execution end of the braking module through the air pipeline to form a brake execution air link; the method includes:

[0006] When the electronic brake system fails to successfully send an electronic brake command to the switch control end of the brake module, the power module is used to supply power to the three-port two-position solenoid valve, so that the air paths of ports 1 and 3 of the three-port two-position solenoid valve are connected;

[0007] When the gas paths of port 1 and port 3 of the three-port two-position solenoid valve are connected, the gas in the gas storage tank flows into the switch control end of the brake module through the first brake control gas path link;

[0008] The air pressure provided by the gas flowing into the switch control end of the brake module is used as the first pneumatically controlled braking instruction, and according to the first pneumatically controlled braking instruction, the vehicle is braked using the air pressure provided by the gas flowing into the brake execution end of the brake module; wherein the gas flowing into the brake execution end of the brake module flows in through the brake execution air circuit link.

[0009] In combination with the first aspect, the embodiment of the present application provides a first possible implementation of the first aspect, wherein the three-port two-position solenoid valve includes a front three-port two-position solenoid valve and a rear three-port two-position solenoid valve; the brake module includes a front axle brake module, a rear axle brake module, and a trailer brake module; the gas tank includes a front axle gas tank, a rear axle gas tank, and a trailer gas tank;

[0010] The gas storage tank is connected to port 1 of the three-port two-position solenoid valve through the gas pipeline to form a first gas circuit link, including:

[0011] The front axle gas tank is connected to one port of the front three-port two-position solenoid valve through the gas pipeline to form a first front axle gas circuit link; the rear axle gas tank is connected to one port of the rear three-port two-position solenoid valve through the gas pipeline to form a first rear axle gas circuit link; the trailer gas tank is connected to one port of the front three-port two-position solenoid valve through the gas pipeline to form a first trailer gas circuit link;

[0012] The third port of the three-port two-position solenoid valve is connected to the switch control end of the brake module through the gas pipeline to form a second gas link, including:

[0013] The third port of the front three-port two-position solenoid valve is connected to the switch control end of the front axle brake module through the air pipeline to form a second front axle air link; the third port of the rear three-port two-position solenoid valve is connected to the switch control end of the rear axle brake module through the air pipeline to form a second rear axle air link; the third port of the front three-port two-position solenoid valve is connected to the switch control end of the trailer brake module through the air pipeline to form a second trailer air link;

[0014] The first brake control air circuit link formed by the first air circuit link and the second air circuit link includes:

[0015] The first front axle air circuit link and the second front axle air circuit link constitute a first front axle brake control air circuit link; the first rear axle air circuit link and the second rear axle air circuit link constitute a first rear axle brake control air circuit link; the first trailer air circuit link and the second trailer air circuit link constitute a first trailer brake control air circuit link;

[0016] The air tank is connected to the brake execution end of the brake module through the air pipeline to form a brake execution air circuit link, including:

[0017] The front axle air tank is connected to the brake execution end of the front axle brake module through the air pipeline to form a front axle brake execution air circuit link; the rear axle air tank is connected to the brake execution end of the rear axle brake module through the air pipeline to form a rear axle brake execution air circuit link; the trailer air tank is connected to the brake execution end of the trailer brake module through the air pipeline to form a trailer brake execution air circuit link.

[0018] In combination with the first possible implementation of the first aspect, the embodiment of the present application provides a second possible implementation of the first aspect, wherein the supplying of power to the three-port two-position solenoid valve to connect the gas paths of port 1 and port 3 of the three-port two-position solenoid valve comprises:

[0019] Power is supplied to the front three two-port solenoid valves and the rear three two-port solenoid valves respectively, so that the gas paths of port 1 and port 3 of the front three two-port solenoid valves are connected, and the gas paths of port 1 and port 3 of the rear three two-port solenoid valves are connected;

[0020] When the gas paths of port 1 and port 3 of the three-port two-position solenoid valve are connected, the gas in the gas storage tank flows into the switch control end of the brake module through the first brake control gas path link, including:

[0021] When the gas paths of port 1 and port 3 of the front three two-position solenoid valves are connected, the gas in the front axle gas tank flows into the switch control end of the front axle brake module through the first front axle brake control gas path link;

[0022] And when the gas paths of port 1 and port 3 of the first three two-position solenoid valves are connected, the gas in the trailer gas tank flows into the switch control end of the trailer brake module through the first trailer brake control gas path link;

[0023] When the gas paths of port 1 and port 3 of the rear three-port two-position solenoid valve are connected, the gas in the rear axle gas tank flows into the switch control end of the rear axle brake module through the first rear axle brake control gas path link;

[0024] The method of using the air pressure provided by the gas flowing into the switch control end of the brake module as a first pneumatic braking instruction, and braking the vehicle using the air pressure provided by the gas flowing into the brake execution end of the brake module according to the first pneumatic braking instruction, comprises:

[0025] Using the air pressure provided by the gas flowing into the switch control end of the front axle brake module as a first front axle pneumatic control braking instruction, and braking the front axle of the vehicle using the air pressure provided by the gas flowing into the brake execution end of the front axle brake module according to the first front axle pneumatic control braking instruction;

[0026] Using the air pressure provided by the gas flowing into the switch control end of the rear axle brake module as a first rear axle pneumatic braking instruction, and braking the rear axle of the vehicle using the air pressure provided by the gas flowing into the brake execution end of the rear axle brake module according to the first rear axle pneumatic braking instruction;

[0027] Using the air pressure provided by the gas flowing into the switch control end of the trailer brake module as a first trailer pneumatic braking instruction, and braking the vehicle trailer using the air pressure provided by the gas flowing into the brake execution end of the trailer brake module according to the first trailer pneumatic braking instruction;

[0028] Among them, the gas flowing into the brake execution end of the front axle brake module flows in through the front axle brake execution air circuit link; the gas flowing into the brake execution end of the rear axle brake module flows in through the rear axle brake execution air circuit link; and the gas flowing into the brake execution end of the trailer brake module flows in through the trailer brake execution air circuit link.

[0029] In combination with the second possible implementation of the first aspect, the embodiment of the present application provides a third possible implementation of the first aspect, wherein the vehicle brake system further comprises: a first ABS solenoid valve, a second ABS solenoid valve, a left front brake air chamber, a right front brake air chamber, a left rear brake air chamber, and a right rear brake air chamber; wherein the front axle brake module, the first ABS solenoid valve, and the left front brake air chamber are sequentially connected through the air pipeline; the front axle brake module, the second ABS solenoid valve, and the right front brake air chamber are sequentially connected through the air pipeline; the rear axle brake module and the left rear brake air chamber are connected through the air pipeline, and the rear axle brake module and the right rear brake air chamber are connected through the air pipeline;

[0030] The method of braking the front axle of the vehicle by utilizing the air pressure provided by the gas flowing into the brake execution end of the front axle brake module comprises:

[0031] The gas flowing into the brake execution end of the front axle brake module is used to push the relay valve in the front axle brake module to realize the gas path conduction. After the gas path is conducted, the gas enters the left front brake air chamber through the first ABS solenoid valve, and enters the right front brake air chamber through the second ABS solenoid valve to brake the front axle of the vehicle;

[0032] The method of braking the rear axle of the vehicle by utilizing the air pressure provided by the gas flowing into the brake execution end of the rear axle brake module comprises:

[0033] The gas flowing into the brake execution end of the rear axle brake module is used to push the relay valve in the rear axle brake module to achieve air path conduction. After the air path is connected, the gas enters the left rear brake air chamber and the right rear brake air chamber to brake the rear axle of the vehicle.

[0034] In combination with the first aspect, the embodiment of the present application provides a fourth possible implementation of the first aspect, wherein the vehicle braking system further includes: a service brake control module; wherein the air storage tank, the service brake control module, and the two ports of the three-port two-position solenoid valve are sequentially connected through the air pipeline to form a third air circuit link; the third air circuit link and the second air circuit link form a second brake control air circuit link; when the three-port two-position solenoid valve is not energized, the two ports of the three-port two-position solenoid valve are connected to the three ports; the method further includes:

[0035] When the service brake control module receives a pedal brake signal indicating manual braking of the brake pedal, if the electronic brake system fails to successfully send an electronic brake command to the brake module, the gas in the gas storage tank flows into the switch control end of the brake module through the second brake control gas path link;

[0036] The air pressure provided by the gas flowing into the switch control end of the brake module is used as a second pneumatic brake command, and according to the second pneumatic brake command, the vehicle is braked using the air pressure provided by the gas flowing into the brake execution end of the brake module.

[0037] In combination with the fourth possible implementation of the first aspect, the embodiment of the present application provides a fifth possible implementation of the first aspect, wherein the electronic braking system includes an electronic control unit, and the electronic control unit is respectively connected to the service brake control module and the brake module by electrical signals; before the electronic braking system fails to successfully send an electronic braking command to the brake module, the method further includes:

[0038] The electronic control unit sends an electronic braking command to the switch control end of the braking module, and the gas in the gas storage tank flows into the braking execution end of the braking module through the braking execution gas path link;

[0039] The brake module brakes the vehicle according to the electronic brake command by utilizing the air pressure provided by the gas flowing into the brake execution end of the brake module.

[0040] In a second aspect, an embodiment of the present application further provides a vehicle braking system, the vehicle braking system comprising an electronic braking system, a pneumatically controlled braking system, and a braking module; the pneumatically controlled braking system comprises: an air storage tank, a three-port, two-position solenoid valve, a power module, and a plurality of air pipelines; wherein the air storage tank is connected to port 1 of the three-port, two-position solenoid valve through the air pipeline to form a first air link; ports 3 of the three-port, two-position solenoid valve are connected to a switch control end of the braking module through the air pipeline to form a second air link; the first air link and the second air link constitute a first brake control air link; the air storage tank is connected to a brake execution end of the braking module through the air pipeline to form a brake execution air link;

[0041] The power supply module is used to supply power to the three-port two-position solenoid valve when the electronic braking system fails to successfully send an electronic braking command to the switch control end of the braking module, so as to connect the air paths of port 1 and port 3 of the three-port two-position solenoid valve;

[0042] The gas storage tank is used to flow the stored gas into the switch control end of the brake module through the first brake control gas circuit link when the gas circuits of port 1 and port 3 of the three-port two-position solenoid valve are connected;

[0043] The brake module is used to use the air pressure provided by the gas flowing into the switch control end of the brake module as the first pneumatic control brake instruction, and according to the first pneumatic control brake instruction, use the air pressure provided by the gas flowing into the brake execution end of the brake module to brake the vehicle; wherein, the gas flowing into the brake execution end of the brake module flows in through the brake execution air circuit link.

[0044] In combination with the second aspect, the embodiment of the present application provides a first possible implementation of the second aspect, wherein the three-port two-position solenoid valve includes a front three-port two-position solenoid valve and a rear three-port two-position solenoid valve; the brake module includes a front axle brake module, a rear axle brake module, and a trailer brake module; the gas tank includes a front axle gas tank, a rear axle gas tank, and a trailer gas tank;

[0045] The gas storage tank is connected to port 1 of the three-port two-position solenoid valve through the gas pipeline to form a first gas circuit link, including:

[0046] The front axle gas tank is connected to one port of the front three-port two-position solenoid valve through the gas pipeline to form a first front axle gas circuit link; the rear axle gas tank is connected to one port of the rear three-port two-position solenoid valve through the gas pipeline to form a first rear axle gas circuit link; the trailer gas tank is connected to one port of the front three-port two-position solenoid valve through the gas pipeline to form a first trailer gas circuit link;

[0047] The third port of the three-port two-position solenoid valve is connected to the switch control end of the brake module through the gas pipeline to form a second gas link, including:

[0048] The third port of the front three-port two-position solenoid valve is connected to the switch control end of the front axle brake module through the air pipeline to form a second front axle air link; the third port of the rear three-port two-position solenoid valve is connected to the switch control end of the rear axle brake module through the air pipeline to form a second rear axle air link; the third port of the front three-port two-position solenoid valve is connected to the switch control end of the trailer brake module through the air pipeline to form a second trailer air link;

[0049] The first brake control air circuit link formed by the first air circuit link and the second air circuit link includes:

[0050] The first front axle air circuit link and the second front axle air circuit link constitute a first front axle brake control air circuit link; the first rear axle air circuit link and the second rear axle air circuit link constitute a first rear axle brake control air circuit link; the first trailer air circuit link and the second trailer air circuit link constitute a first trailer brake control air circuit link;

[0051] The air tank is connected to the brake execution end of the brake module through the air pipeline to form a brake execution air circuit link, including:

[0052] The front axle air tank is connected to the brake execution end of the front axle brake module through the air pipeline to form a front axle brake execution air circuit link; the rear axle air tank is connected to the brake execution end of the rear axle brake module through the air pipeline to form a rear axle brake execution air circuit link; the trailer air tank is connected to the brake execution end of the trailer brake module through the air pipeline to form a trailer brake execution air circuit link.

[0053] In combination with the first possible implementation of the second aspect, the embodiment of the present application provides a second possible implementation of the second aspect, wherein the power module, when used to supply power to the three-port two-position solenoid valve so that the gas paths of port 1 and port 3 of the three-port two-position solenoid valve are connected, is specifically used to:

[0054] Power is supplied to the front three two-port solenoid valves and the rear three two-port solenoid valves respectively, so that the gas paths of port 1 and port 3 of the front three two-port solenoid valves are connected, and the gas paths of port 1 and port 3 of the rear three two-port solenoid valves are connected;

[0055] The gas storage tank is used to flow the stored gas into the switch control end of the brake module through the first brake control gas path link after the gas paths of port 1 and port 3 of the three-port two-position solenoid valve are connected, including:

[0056] The front axle gas storage tank is used to flow the stored gas into the switch control end of the front axle brake module through the first front axle brake control gas path link when the gas paths of port 1 and port 3 of the first three two-position solenoid valves are connected;

[0057] The trailer gas storage tank is used to flow the stored gas into the switch control end of the trailer brake module through the first trailer brake control gas circuit link when the gas circuits of port 1 and port 3 of the first three two-position solenoid valves are connected;

[0058] The rear axle gas storage tank is used to flow the stored gas into the switch control end of the rear axle brake module through the first rear axle brake control gas path link when the gas paths of port 1 and port 3 of the rear three-port two-position solenoid valve are connected;

[0059] The brake module is used to use the air pressure provided by the gas flowing into the switch control end of the brake module as a first pneumatic brake instruction, and according to the first pneumatic brake instruction, the air pressure provided by the gas flowing into the brake execution end of the brake module is used to brake the vehicle, including:

[0060] The front axle brake module is used to use the air pressure provided by the gas flowing into the switch control end of the front axle brake module as a first front axle pneumatic brake command, and brake the front axle of the vehicle using the air pressure provided by the gas flowing into the brake execution end of the front axle brake module according to the first front axle pneumatic brake command;

[0061] The rear axle brake module is used to use the air pressure provided by the gas flowing into the switch control end of the rear axle brake module as a first rear axle pneumatic control braking instruction, and brake the rear axle of the vehicle using the air pressure provided by the gas flowing into the brake execution end of the rear axle brake module according to the first rear axle pneumatic control braking instruction;

[0062] The trailer brake module is used to use the air pressure provided by the gas flowing into the switch control end of the trailer brake module as a first trailer pneumatic brake instruction, and brake the vehicle trailer using the air pressure provided by the gas flowing into the brake execution end of the trailer brake module according to the first trailer pneumatic brake instruction;

[0063] Among them, the gas flowing into the brake execution end of the front axle brake module flows in through the front axle brake execution air circuit link; the gas flowing into the brake execution end of the rear axle brake module flows in through the rear axle brake execution air circuit link; and the gas flowing into the brake execution end of the trailer brake module flows in through the trailer brake execution air circuit link.

[0064] In combination with the second possible implementation of the second aspect, the embodiment of the present application provides a third possible implementation of the second aspect, wherein the vehicle brake system further comprises: a first ABS solenoid valve, a second ABS solenoid valve, a left front brake air chamber, a right front brake air chamber, a left rear brake air chamber, and a right rear brake air chamber; wherein the front axle brake module, the first ABS solenoid valve, and the left front brake air chamber are sequentially connected through the air pipeline; the front axle brake module, the second ABS solenoid valve, and the right front brake air chamber are sequentially connected through the air pipeline; the rear axle brake module and the left rear brake air chamber are connected through the air pipeline, and the rear axle brake module and the right rear brake air chamber are connected through the air pipeline;

[0065] When the front axle brake module is used to brake the front axle of the vehicle using the air pressure provided by the gas flowing into the brake actuation end of the front axle brake module, it is specifically used to:

[0066] The gas flowing into the brake execution end of the front axle brake module is used to push the relay valve in the front axle brake module to realize the gas path conduction. After the gas path is conducted, the gas enters the left front brake air chamber through the first ABS solenoid valve, and enters the right front brake air chamber through the second ABS solenoid valve to brake the front axle of the vehicle;

[0067] When the rear axle brake module brakes the rear axle of the vehicle using the air pressure provided by the gas flowing into the brake actuating end of the rear axle brake module, the rear axle brake module is specifically used to:

[0068] The gas flowing into the brake execution end of the rear axle brake module is used to push the relay valve in the rear axle brake module to achieve air path conduction. After the air path is connected, the gas enters the left rear brake air chamber and the right rear brake air chamber to brake the rear axle of the vehicle.

[0069] A vehicle braking method and system is provided in an embodiment of the present application, wherein the vehicle braking system in the prior art only includes an electronic braking system, a braking module, an air tank, and a brake execution gas circuit link. When braking a vehicle, the prior art usually sends an electronic braking command to the braking system through the electronic braking system, and then the gas in the air tank is transmitted to the brake execution end of the braking module through the brake execution gas circuit link, and the braking module uses the voltage provided by the gas transmitted to the brake execution end to brake the vehicle. However, when an abnormality occurs in the electronic braking system, resulting in the electronic braking system failing to successfully send an electronic braking command to the electronic braking system, the vehicle will be unable to brake, affecting driving safety. In this embodiment, in order to ensure that the vehicle can still be braked when the electronic brake system fails (i.e., the wire control brake fails), a three-port two-position solenoid valve, a power module, and a first brake control air circuit link are newly added to the original vehicle brake system. When the electronic brake system fails to successfully send an electronic brake command to the switch control end of the brake module, the power module is used to power the three-port two-position solenoid valve, so that the air circuits of port 1 and port 3 of the three-port two-position solenoid valve are connected, so that the gas in the gas tank can flow into the switch control end of the brake module through the first brake control air circuit link, and the air pressure provided by the gas flowing into the switch control end of the brake module is used as the first air control brake command. When the switch control end of the brake module receives the first air control brake command through the first brake control air circuit link, the voltage provided by the gas transmitted to the brake execution end can be used to brake the vehicle, thereby ensuring the safety of vehicle braking.

[0070] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0072] Figure 1 A schematic structural diagram of a vehicle braking system provided in an embodiment of the present application is shown;

[0073] Figure 2 A flow chart of a vehicle braking method provided in an embodiment of the present application is shown;

[0074] Figure 3 A schematic structural diagram of a second vehicle braking system provided in an embodiment of the present application is shown;

[0075] Figure 4 A schematic structural diagram of a third vehicle braking system provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0076] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0077] Considering that when an abnormality occurs in the EBS system (electronic brake system) and causes the brake-by-wire system to fail, it is easy to cause a safety accident of the vehicle. Based on this, the embodiment of the present application provides a vehicle braking method and system to improve the safety of vehicle braking, which is described below through embodiments.

[0078] To facilitate understanding of this embodiment, a vehicle braking method disclosed in the embodiment of this application is first described in detail. The method is applied to a vehicle braking system; Figure 1 As shown, the vehicle braking system includes an electronic braking system (EBS system), a pneumatic control braking system, and a braking module; the pneumatic control braking system includes: an air storage tank, a three-port two-position solenoid valve, a power module ( Figure 1 The air storage tank is connected to the port 1 of the three-port two-position solenoid valve through the air pipeline to form a first air link; the port 3 of the three-port two-position solenoid valve is connected to the switch control end of the brake module through the air pipeline to form a second air link; the first air link and the second air link form a first brake control air link; the air storage tank is connected to the brake execution end of the brake module through the air pipeline to form a brake execution air link.

[0079] The vehicle in this embodiment refers to a vehicle whose vehicle braking system includes an air pipeline. Currently, the vehicle whose vehicle braking system includes an air pipeline is usually a truck, so the vehicle braking refers to the truck braking.

[0080] In this embodiment, the electronic brake system (EBS system) includes an electronic brake system (ECU) and a CAN bus ( Figure 1The electronic brake system (ECU) and the brake module are connected via the CAN bus to achieve wire control braking of the vehicle.

[0081] like Figure 2 As shown, the vehicle braking method includes the following steps S101-S103:

[0082] S101: When the electronic brake system fails to successfully send an electronic brake command to the switch control terminal of the brake module, the power module is used to supply power to the three-port two-position solenoid valve to connect the air paths of ports 1 and 3 of the three-port two-position solenoid valve.

[0083] In this embodiment, under normal circumstances, the electronic brake system can brake the vehicle by wire control. Specifically, the electronic control unit (ECU) in the electronic brake system can send an electronic brake command to the switch control terminal of the brake module. Under normal circumstances, after receiving the electronic brake command, the brake module flows the gas in the gas tank into the brake module through the brake execution gas path link, and the brake module brakes the vehicle using the air pressure provided by the inflowing gas.

[0084] However, when a component in the electronic brake system fails, or when the communication between the electronic brake system and the brake module fails, causing the brake module to be unable to receive the electronic brake command issued by the electronic brake system, the electronic brake system cannot perform wire control braking on the vehicle, that is, the vehicle is not braked. In this case, in this embodiment, the vehicle is braked by air circuit braking to ensure vehicle safety.

[0085] When the vehicle is braked by air circuit braking, first, the power module is used to supply power to the three-port two-position solenoid valve, so that the air circuits of port 1 and port 3 of the three-port two-position solenoid valve are connected.

[0086] Among them, the three-port two-position solenoid valve is a normally open solenoid valve, and the on and off of the three-port two-position solenoid valve can be controlled by the power supply of the three-port two-position solenoid valve. When the three-port two-position solenoid valve is not powered, that is, the three-port two-position solenoid valve is not powered, the 2nd and 3rd ports of the three-port two-position solenoid valve are connected. When the three-port two-position solenoid valve is powered, that is, the three-port two-position solenoid valve is powered, the 1st and 3rd ports of the three-port two-position solenoid valve are connected.

[0087] S102: When the gas paths of port 1 and port 3 of the three-port two-position solenoid valve are connected, the gas in the gas storage tank flows into the switch control end of the brake module through the first brake control gas path link.

[0088] In this embodiment, when the gas paths of port 1 and port 3 of the three-port two-position solenoid valve are connected, the gas in the gas storage tank can flow from the gas storage tank to the switch control end of the brake module through port 1 and port 3 of the three-port two-position solenoid valve.

[0089] S103: Using the air pressure provided by the gas flowing into the switch control end of the brake module as the first pneumatic control braking instruction, and according to the first pneumatic control braking instruction, using the air pressure provided by the gas flowing into the brake execution end of the brake module to brake the vehicle; wherein, the gas flowing into the brake execution end of the brake module flows in through the brake execution air circuit link.

[0090] In this embodiment, the switch control end of the brake module can be used as a switch for the braking operation, and the air pressure provided by the gas flowing into the switch control end of the brake module is used as the first pneumatic braking instruction, which is used to instruct the brake module to start the vehicle braking operation.

[0091] The gas in the air tank also flows into the brake execution end of the brake module through the brake execution air path link. When the switch control end of the brake module receives the first pneumatic braking command, the brake execution end of the brake module will use the air pressure provided by the gas flowing into the brake execution end of the brake module to brake the vehicle.

[0092] In a possible implementation, Figure 3 As shown, the three-port two-position solenoid valve includes a front three-port two-position solenoid valve and a rear three-port two-position solenoid valve; the brake module includes a front axle brake module, a rear axle brake module, and a trailer brake module; the air tank includes a front axle air tank, a rear axle air tank, and a trailer air tank.

[0093] In this embodiment, when the vehicle is a truck, the front axle brake module is the front axle brake module of the vehicle head, the rear axle brake module is the rear axle brake module of the vehicle head, and the trailer brake module is the brake module of the truck trailer. The black dots in the drawings of this embodiment represent the three-way valve.

[0094] In this embodiment, the gas storage tank is connected to port 1 of the three-port two-position solenoid valve through a gas pipeline to form a first gas circuit link, including:

[0095] The front axle air tank is connected to port 1 of the front three-port two-position solenoid valve through an air pipeline to form a first front axle air circuit link; the rear axle air tank is connected to port 1 of the rear three-port two-position solenoid valve through an air pipeline to form a first rear axle air circuit link; the trailer air tank is connected to port 1 of the front three-port two-position solenoid valve through an air pipeline to form a first trailer air circuit link.

[0096] The third port of the three-port two-position solenoid valve is connected to the switch control end of the brake module through an air pipeline to form a second air circuit link, including:

[0097] The 3rd port of the front three-port two-position solenoid valve is connected to the switch control end of the front axle brake module through an air pipeline to form a second front axle air link; the 3rd port of the rear three-port two-position solenoid valve is connected to the switch control end of the rear axle brake module through an air pipeline to form a second rear axle air link; the 3rd port of the front three-port two-position solenoid valve is connected to the switch control end of the trailer brake module through an air pipeline to form a second trailer air link.

[0098] The first brake control air circuit link is formed by the first air circuit link and the second air circuit link, including:

[0099] The first front axle air circuit link and the second front axle air circuit link constitute the first front axle brake control air circuit link; the first rear axle air circuit link and the second rear axle air circuit link constitute the first rear axle brake control air circuit link; the first trailer air circuit link and the second trailer air circuit link constitute the first trailer brake control air circuit link.

[0100] The air storage tank is connected to the brake actuation end of the brake module through an air pipeline to form a brake actuation air circuit link, including:

[0101] The front axle air tank is connected to the brake execution end of the front axle brake module through an air pipeline to form a front axle brake execution air circuit link; the rear axle air tank is connected to the brake execution end of the rear axle brake module through an air pipeline to form a rear axle brake execution air circuit link; the trailer air tank is connected to the brake execution end of the trailer brake module through an air pipeline to form a trailer brake execution air circuit link.

[0102] In a possible implementation, Figure 3 As shown, when executing step S101 to supply power to the three-port two-position solenoid valve so that the gas paths of port 1 and port 3 of the three-port two-position solenoid valve are connected, it specifically includes:

[0103] Power is supplied to the front three two-position solenoid valves and the rear three two-position solenoid valves respectively, so that the gas paths of port 1 and port 3 of the front three two-position solenoid valves are connected, and the gas paths of port 1 and port 3 of the rear three two-position solenoid valves are connected.

[0104] In this embodiment, when the front three-port two-position solenoid valve and the rear three-port two-position solenoid valve are powered on, port 1 of the front three-port two-position solenoid valve and the rear three-port two-position solenoid valve is connected to port 3. When the front three-port two-position solenoid valve and the rear three-port two-position solenoid valve are not powered on, port 1 of the front three-port two-position solenoid valve and the rear three-port two-position solenoid valve is not connected to port 3.

[0105] When the gas paths of port 1 and port 3 of the three-port two-position solenoid valve are connected in step S102, the gas in the gas storage tank flows into the switch control end of the brake module through the first brake control gas path link, specifically including:

[0106] When the gas circuits of port 1 and port 3 of the front three-port two-position solenoid valve are connected, the gas in the front axle gas tank flows into the switch control end of the front axle brake module through the first front axle brake control gas circuit link (through the front axle gas tank, port 1 and port 3 of the front three-port two-position solenoid valve);

[0107] After the gas circuits of port 1 and port 3 of the current three-port two-position solenoid valve are connected, the gas in the trailer gas tank flows into the switch control end of the trailer brake module through the first trailer brake control gas circuit link (through the trailer gas tank, port 1 and port 3 of the first three-port two-position solenoid valve);

[0108] When the air circuits of port 1 and port 3 of the rear three-port two-position solenoid valve are connected, the gas in the rear axle air tank flows into the switch control end of the rear axle brake module through the first rear axle brake control air circuit link (passing through the rear axle air tank, port 1 and port 3 of the rear three-port two-position solenoid valve).

[0109] When executing step S103, the air pressure provided by the gas flowing into the switch control end of the brake module is used as the first pneumatic braking instruction, and the vehicle is braked using the air pressure provided by the gas flowing into the brake execution end of the brake module according to the first pneumatic braking instruction, specifically including:

[0110] Using the air pressure provided by the gas flowing into the switch control end of the front axle brake module as a first front axle pneumatic control braking instruction, and braking the front axle of the vehicle using the air pressure provided by the gas flowing into the brake execution end of the front axle brake module according to the first front axle pneumatic control braking instruction;

[0111] Using the air pressure provided by the gas flowing into the switch control end of the rear axle brake module as a first rear axle pneumatic control braking instruction, and braking the rear axle of the vehicle using the air pressure provided by the gas flowing into the brake execution end of the rear axle brake module according to the first rear axle pneumatic control braking instruction;

[0112] The air pressure provided by the gas flowing into the switch control end of the trailer brake module is used as the first trailer pneumatic braking instruction, and according to the first trailer pneumatic braking instruction, the vehicle trailer is braked using the air pressure provided by the gas flowing into the brake execution end of the trailer brake module.

[0113] Among them, Figure 3 As shown, the gas flowing into the brake actuator end of the front axle brake module flows in through the front axle brake actuator air circuit link (i.e., directly flows from the front axle air tank to the brake actuator end of the front axle brake module); the gas flowing into the brake actuator end of the rear axle brake module flows in through the rear axle brake actuator air circuit link (i.e., directly flows from the air tank to the brake actuator end of the rear axle brake module); and the gas flowing into the brake actuator end of the trailer brake module flows in through the trailer brake actuator air circuit link (i.e., directly flows from the trailer air tank to the brake actuator end of the trailer brake module).

[0114] In a possible implementation, Figure 4 As shown, the vehicle braking system also includes: a first ABS solenoid valve, a second ABS solenoid valve, a left front brake air chamber, a right front brake air chamber, a left rear brake air chamber, and a right rear brake air chamber; wherein, the front axle brake module, the first ABS solenoid valve, and the left front brake air chamber are sequentially connected through an air pipeline; the front axle brake module, the second ABS solenoid valve, and the right front brake air chamber are sequentially connected through an air pipeline; the rear axle brake module and the left rear brake air chamber are connected through an air pipeline, and the rear axle brake module and the right rear brake air chamber are connected through an air pipeline.

[0115] At this time, when the step of performing the braking of the front axle of the vehicle using the air pressure provided by the gas flowing into the brake actuating end of the front axle brake module is performed, the following steps may be specifically performed:

[0116] The gas flowing into the brake actuator end of the front axle brake module is used to push the relay valve in the front axle brake module to achieve air path conduction. After the air path is connected, the gas enters the left front brake air chamber through the first ABS solenoid valve, and enters the right front brake air chamber through the second ABS solenoid valve to brake the front axle of the vehicle.

[0117] When the step of performing the braking of the rear axle of the vehicle using the air pressure provided by the gas flowing into the brake actuating end of the rear axle brake module is performed, the following steps may be specifically performed:

[0118] The gas flowing into the brake actuator end of the rear axle brake module is used to push the relay valve in the rear axle brake module to achieve air path conduction. After the air path is connected, the gas enters the left rear brake air chamber and the right rear brake air chamber to brake the rear axle of the vehicle.

[0119] In a possible implementation, Figure 4 As shown, the vehicle braking system also includes: a service brake control module; wherein the air storage tank, the service brake control module, and the two ports of the three-port two-position solenoid valve are sequentially connected through the air pipeline to form a third air circuit link; the third air circuit link and the second air circuit link form a second brake control air circuit link; when the three-port two-position solenoid valve is not energized, the two ports of the three-port two-position solenoid valve are connected to the three ports; the braking method also includes:

[0120] S1041: When the service brake control module receives a pedal brake signal indicating that the brake pedal is manually stepped on, if the electronic brake system fails to successfully send an electronic brake command to the brake module, the gas in the gas storage tank flows into the switch control end of the brake module through the second brake control gas path link;

[0121] S1042: Using the air pressure provided by the gas flowing into the switch control end of the brake module as a second pneumatic brake command, and braking the vehicle according to the second pneumatic brake command using the air pressure provided by the gas flowing into the brake execution end of the brake module.

[0122] In step S1041, if the vehicle is driven by a driver, then when the driver steps on the brake pedal, the service brake control module will first send an electronic brake command to the electronic control unit (ECU) in the electronic brake system. If there is an abnormality in a component in the electronic brake system or an abnormality in the communication between the electronic brake system and the brake module, the electronic brake command will not be able to reach the brake module, and the vehicle will not be able to perform a braking operation. In order to avoid this problem, in this embodiment, when the service brake control module receives a pedal brake signal representing manual stepping on the brake pedal, if the electronic brake system sends an electronic brake command to the brake module and the vehicle is not braked, the vehicle is braked by air control.

[0123] When the vehicle is braked by air control, the service brake control module controls the gas in the air storage tank to flow into the switch control end of the brake module through the second brake control air path link.

[0124] Specifically, Figure 4 As shown, when executing step S1041, the following steps may be specifically performed:

[0125] When the service brake control module receives a pedal brake signal representing manual braking of the brake pedal, if the electronic brake system fails to successfully send an electronic brake command to the brake module, resulting in the vehicle not being braked by wire, power will not be supplied to the front three-port two-position solenoid valve and the rear three-port two-position solenoid valve. At this time, ports 2 and 3 of the front three-port two-position solenoid valve and the rear three-port two-position solenoid valve are connected;

[0126] The gas in the front axle air tank passes through the front axle air tank, the service brake control module ( Figure 4 The gas in the rear axle gas tank flows through the rear axle gas tank, the service brake control module ( Figure 4 The gas in the trailer gas tank flows through the trailer gas tank, the first three-port two-position solenoid valve, and the second and third ports to the switch control end of the trailer brake module.

[0127] In step S1042, the air pressure provided by the gas flowing into the switch control end of the brake module is used as the second air control brake instruction, and the vehicle is braked according to the second air control brake instruction using the air pressure provided by the gas flowing into the brake execution end of the brake module. The gas flowing into the brake execution end of the brake module flows in through the brake execution air path link.

[0128] Specifically, when executing step S1042, the following steps may be performed:

[0129] The air pressure provided by the gas flowing into the switch control end of the front axle brake module is used as the second front axle pneumatic control braking instruction, and according to the second front axle pneumatic control braking instruction, the front axle of the vehicle is braked using the air pressure provided by the gas flowing from the front axle air tank to the brake execution end of the front axle brake module.

[0130] Similarly, the air pressure provided by the gas flowing into the switch control end of the rear axle brake module is used as the second rear axle pneumatic control braking instruction, and according to the second rear axle pneumatic control braking instruction, the rear axle of the vehicle is braked using the air pressure provided by the gas flowing from the rear axle air tank into the brake execution end of the rear axle brake module.

[0131] The air pressure provided by the gas flowing into the switch control end of the trailer brake module is used as the second trailer pneumatic brake instruction, and according to the second trailer pneumatic brake instruction, the vehicle trailer is braked using the air pressure provided by the gas flowing from the trailer air tank into the brake execution end of the trailer brake module.

[0132] It is worth noting that the above steps S1041-S1042 can only be executed when there is a driver. If the vehicle is an unmanned vehicle, then the electronic braking command can be sent to the braking module through the electronic control unit (ECU) in the electronic braking system. If the electronic braking command cannot be delivered to the braking module due to an abnormality in a component in the electronic braking system or an abnormality in the communication between the electronic braking system and the braking module, that is, the vehicle cannot perform the braking operation, the vehicle can be braked by executing steps S101-S103.

[0133] In a possible implementation, Figure 4 As shown, the electronic brake system includes an electronic control unit, which is electrically connected to the service brake control module and the brake module respectively; before executing step S101 when the electronic brake system fails to successfully send an electronic brake command to the brake module, the following steps may also be performed:

[0134] S1001: the electronic control unit sends an electronic braking command to the switch control end of the brake module, and the gas in the gas storage tank flows into the brake execution end of the brake module through the brake execution gas path link;

[0135] S1002: The brake module brakes the vehicle according to the electronic brake command by utilizing the air pressure provided by the gas flowing into the brake execution end of the brake module.

[0136] When executing step S1001, when the vehicle is an unmanned vehicle, an electronic control unit (ECU) in the electronic braking system can directly send an electronic braking instruction to the braking module.

[0137] If the vehicle is a manned vehicle, when the service brake control module receives a pedal brake signal representing manual operation of the brake pedal, the electronic control unit sends an electronic brake command to the switch control terminal of the brake module based on the received pedal brake signal.

[0138] When executing step S1002, if the electronic control unit (ECU) in the electronic braking system successfully sends an electronic braking command to the braking module, the braking module can directly brake the vehicle according to the electronic braking command by using the air pressure provided by the gas flowing into the brake execution end of the braking module.

[0139] It is worth noting that the execution logic between steps S101-S103, steps S1001-S1002 and steps S1041-S1042 is:

[0140] If the electronic brake system works normally, the vehicle can be braked directly through steps S1001-S1002 without executing steps S101-S103 and steps S1041-S1042.

[0141] If an abnormality occurs in the electronic brake system, resulting in the electronic brake system being unable to successfully send an electronic brake command to the brake module, then if the vehicle is a manned vehicle, the vehicle can be braked according to steps S1041-S1042. If the vehicle is an unmanned vehicle, the vehicle can be braked according to steps S101-S103.

[0142] Based on the same technical concept, the embodiment of the present application also provides a vehicle braking method system, such as Figure 1The vehicle braking system comprises an electronic braking system, a pneumatically controlled braking system, and a braking module; the pneumatically controlled braking system comprises: an air storage tank, a three-port two-position solenoid valve, a power module, and a plurality of air pipelines; wherein the air storage tank is connected to port 1 of the three-port two-position solenoid valve through the air pipeline to form a first air link; ports 3 of the three-port two-position solenoid valve are connected to the switch control end of the braking module through the air pipeline to form a second air link; the first air link and the second air link constitute a first brake control air link; the air storage tank is connected to the brake execution end of the braking module through the air pipeline to form a brake execution air link;

[0143] The power supply module is used to supply power to the three-port two-position solenoid valve when the electronic braking system fails to successfully send an electronic braking command to the switch control end of the braking module, so as to connect the air paths of port 1 and port 3 of the three-port two-position solenoid valve;

[0144] The gas storage tank is used to flow the stored gas into the switch control end of the brake module through the first brake control gas circuit link when the gas circuits of port 1 and port 3 of the three-port two-position solenoid valve are connected;

[0145] The brake module is used to use the air pressure provided by the gas flowing into the switch control end of the brake module as the first pneumatic control brake instruction, and according to the first pneumatic control brake instruction, use the air pressure provided by the gas flowing into the brake execution end of the brake module to brake the vehicle; wherein, the gas flowing into the brake execution end of the brake module flows in through the brake execution air circuit link.

[0146] Optionally, the three-port two-position solenoid valve includes a front three-port two-position solenoid valve and a rear three-port two-position solenoid valve; the brake module includes a front axle brake module, a rear axle brake module, and a trailer brake module; the air tank includes a front axle air tank, a rear axle air tank, and a trailer air tank;

[0147] The gas storage tank is connected to port 1 of the three-port two-position solenoid valve through the gas pipeline to form a first gas circuit link, including:

[0148] The front axle gas tank is connected to one port of the front three-port two-position solenoid valve through the gas pipeline to form a first front axle gas circuit link; the rear axle gas tank is connected to one port of the rear three-port two-position solenoid valve through the gas pipeline to form a first rear axle gas circuit link; the trailer gas tank is connected to one port of the front three-port two-position solenoid valve through the gas pipeline to form a first trailer gas circuit link;

[0149] The third port of the three-port two-position solenoid valve is connected to the switch control end of the brake module through the gas pipeline to form a second gas link, including:

[0150] The third port of the front three-port two-position solenoid valve is connected to the switch control end of the front axle brake module through the air pipeline to form a second front axle air link; the third port of the rear three-port two-position solenoid valve is connected to the switch control end of the rear axle brake module through the air pipeline to form a second rear axle air link; the third port of the front three-port two-position solenoid valve is connected to the switch control end of the trailer brake module through the air pipeline to form a second trailer air link;

[0151] The first brake control air circuit link formed by the first air circuit link and the second air circuit link includes:

[0152] The first front axle air circuit link and the second front axle air circuit link constitute a first front axle brake control air circuit link; the first rear axle air circuit link and the second rear axle air circuit link constitute a first rear axle brake control air circuit link; the first trailer air circuit link and the second trailer air circuit link constitute a first trailer brake control air circuit link;

[0153] The air tank is connected to the brake execution end of the brake module through the air pipeline to form a brake execution air circuit link, including:

[0154] The front axle air tank is connected to the brake execution end of the front axle brake module through the air pipeline to form a front axle brake execution air circuit link; the rear axle air tank is connected to the brake execution end of the rear axle brake module through the air pipeline to form a rear axle brake execution air circuit link; the trailer air tank is connected to the brake execution end of the trailer brake module through the air pipeline to form a trailer brake execution air circuit link.

[0155] Optionally, when the power module is used to supply power to the three-port two-position solenoid valve so that the gas paths of port 1 and port 3 of the three-port two-position solenoid valve are connected, it is specifically used to:

[0156] Power is supplied to the front three two-port solenoid valves and the rear three two-port solenoid valves respectively, so that the gas paths of port 1 and port 3 of the front three two-port solenoid valves are connected, and the gas paths of port 1 and port 3 of the rear three two-port solenoid valves are connected;

[0157] The gas storage tank is used to flow the stored gas into the switch control end of the brake module through the first brake control gas path link after the gas paths of port 1 and port 3 of the three-port two-position solenoid valve are connected, including:

[0158] The front axle gas storage tank is used to flow the stored gas into the switch control end of the front axle brake module through the first front axle brake control gas path link when the gas paths of port 1 and port 3 of the first three two-position solenoid valves are connected;

[0159] The trailer gas storage tank is used to flow the stored gas into the switch control end of the trailer brake module through the first trailer brake control gas circuit link when the gas circuits of port 1 and port 3 of the first three two-position solenoid valves are connected;

[0160] The rear axle gas storage tank is used to flow the stored gas into the switch control end of the rear axle brake module through the first rear axle brake control gas path link when the gas paths of port 1 and port 3 of the rear three-port two-position solenoid valve are connected;

[0161] The brake module is used to use the air pressure provided by the gas flowing into the switch control end of the brake module as a first pneumatic brake instruction, and according to the first pneumatic brake instruction, the air pressure provided by the gas flowing into the brake execution end of the brake module is used to brake the vehicle, including:

[0162] The front axle brake module is used to use the air pressure provided by the gas flowing into the switch control end of the front axle brake module as a first front axle pneumatic brake command, and brake the front axle of the vehicle using the air pressure provided by the gas flowing into the brake execution end of the front axle brake module according to the first front axle pneumatic brake command;

[0163] The rear axle brake module is used to use the air pressure provided by the gas flowing into the switch control end of the rear axle brake module as a first rear axle pneumatic control braking instruction, and brake the rear axle of the vehicle using the air pressure provided by the gas flowing into the brake execution end of the rear axle brake module according to the first rear axle pneumatic control braking instruction;

[0164] The trailer brake module is used to use the air pressure provided by the gas flowing into the switch control end of the trailer brake module as a first trailer pneumatic brake instruction, and brake the vehicle trailer using the air pressure provided by the gas flowing into the brake execution end of the trailer brake module according to the first trailer pneumatic brake instruction;

[0165] Among them, the gas flowing into the brake execution end of the front axle brake module flows in through the front axle brake execution air circuit link; the gas flowing into the brake execution end of the rear axle brake module flows in through the rear axle brake execution air circuit link; and the gas flowing into the brake execution end of the trailer brake module flows in through the trailer brake execution air circuit link.

[0166] Optionally, the vehicle braking system further includes: a first ABS solenoid valve, a second ABS solenoid valve, a left front brake air chamber, a right front brake air chamber, a left rear brake air chamber, and a right rear brake air chamber; wherein the front axle brake module, the first ABS solenoid valve, and the left front brake air chamber are sequentially connected through the air pipeline; the front axle brake module, the second ABS solenoid valve, and the right front brake air chamber are sequentially connected through the air pipeline; the rear axle brake module and the left rear brake air chamber are connected through the air pipeline, and the rear axle brake module and the right rear brake air chamber are connected through the air pipeline;

[0167] When the front axle brake module is used to brake the front axle of the vehicle using the air pressure provided by the gas flowing into the brake actuation end of the front axle brake module, it is specifically used to:

[0168] The gas flowing into the brake execution end of the front axle brake module is used to push the relay valve in the front axle brake module to realize the gas path conduction. After the gas path is conducted, the gas enters the left front brake air chamber through the first ABS solenoid valve, and enters the right front brake air chamber through the second ABS solenoid valve to brake the front axle of the vehicle;

[0169] When the rear axle brake module brakes the rear axle of the vehicle using the air pressure provided by the gas flowing into the brake actuating end of the rear axle brake module, the rear axle brake module is specifically used to:

[0170] The gas flowing into the brake execution end of the rear axle brake module is used to push the relay valve in the rear axle brake module to achieve air path conduction. After the air path is connected, the gas enters the left rear brake air chamber and the right rear brake air chamber to brake the rear axle of the vehicle.

[0171] Optionally, the vehicle braking system further includes: a service brake control module; wherein the air storage tank, the service brake control module, and the two ports of the three-port two-position solenoid valve are sequentially connected through the air pipeline to form a third air circuit link; the third air circuit link and the second air circuit link form a second brake control air circuit link; when the three-port two-position solenoid valve is not energized, the two ports of the three-port two-position solenoid valve are connected to the three ports;

[0172] The gas storage tank is also used to make the gas in the gas storage tank flow into the switch control end of the brake module through the second brake control gas path link when the service brake control module receives a pedal brake signal indicating that the brake pedal is manually stepped on, if the electronic brake system fails to successfully send an electronic brake command to the brake module;

[0173] The brake module is also used to use the air pressure provided by the gas flowing into the switch control end of the brake module as a second pneumatic brake instruction, and according to the second pneumatic brake instruction, use the air pressure provided by the gas flowing into the brake execution end of the brake module to brake the vehicle.

[0174] Optionally, the electronic brake system includes an electronic control unit, and the electronic control unit is electrically signal-connected to the service brake control module and the brake module respectively;

[0175] The electronic control unit is further used for sending an electronic braking command to the switch control end of the braking module before the electronic braking system fails to successfully send the electronic braking command to the switch control end of the braking module, and the gas in the gas storage tank flows into the braking execution end of the braking module through the braking execution gas path link;

[0176] The brake module is also used to brake the vehicle according to the electronic brake command by utilizing the air pressure provided by the gas flowing into the brake execution end of the brake module.

[0177] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0178] In the several embodiments provided in the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0179] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0180] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0181] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0182] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A vehicle braking method, characterized in that: The method is applied to a vehicle braking system; the vehicle braking system comprises an electronic braking system, a pneumatically controlled braking system, and a braking module; the pneumatically controlled braking system comprises: an air tank, a three-port two-position solenoid valve, a power module, and a plurality of air pipelines; wherein the air tank is connected to port 1 of the three-port two-position solenoid valve through the air pipeline to form a first air link; ports 3 of the three-port two-position solenoid valve are connected to a switch control end of the braking module through the air pipeline to form a second air link; the first air link and the second air link constitute a first brake control air link; the air tank is connected to a brake execution end of the braking module through the air pipeline to form a brake execution air link; the method comprises: When the electronic brake system fails to successfully send an electronic brake command to the switch control end of the brake module, the power module is used to supply power to the three-port two-position solenoid valve, so that the air paths of ports 1 and 3 of the three-port two-position solenoid valve are connected; When the gas paths of port 1 and port 3 of the three-port two-position solenoid valve are connected, the gas in the gas storage tank flows into the switch control end of the brake module through the first brake control gas path link; The air pressure provided by the gas flowing into the switch control end of the brake module is used as the first pneumatically controlled braking instruction, and according to the first pneumatically controlled braking instruction, the vehicle is braked using the air pressure provided by the gas flowing into the brake execution end of the brake module; wherein the gas flowing into the brake execution end of the brake module flows in through the brake execution air circuit link.

2. The method according to claim 1, characterized in that: The three-port two-position solenoid valve includes a front three-port two-position solenoid valve and a rear three-port two-position solenoid valve; the brake module includes a front axle brake module, a rear axle brake module, and a trailer brake module; the gas tank includes a front axle gas tank, a rear axle gas tank, and a trailer gas tank; The gas storage tank is connected to port 1 of the three-port two-position solenoid valve through the gas pipeline to form a first gas circuit link, including: The front axle gas tank is connected to one port of the front three-port two-position solenoid valve through the gas pipeline to form a first front axle gas circuit link; the rear axle gas tank is connected to one port of the rear three-port two-position solenoid valve through the gas pipeline to form a first rear axle gas circuit link; the trailer gas tank is connected to one port of the front three-port two-position solenoid valve through the gas pipeline to form a first trailer gas circuit link; The third port of the three-port two-position solenoid valve is connected to the switch control end of the brake module through the gas pipeline to form a second gas link, including: The third port of the front three-port two-position solenoid valve is connected to the switch control end of the front axle brake module through the air pipeline to form a second front axle air link; the third port of the rear three-port two-position solenoid valve is connected to the switch control end of the rear axle brake module through the air pipeline to form a second rear axle air link; the third port of the front three-port two-position solenoid valve is connected to the switch control end of the trailer brake module through the air pipeline to form a second trailer air link; The first brake control air circuit link formed by the first air circuit link and the second air circuit link includes: The first front axle air circuit link and the second front axle air circuit link constitute a first front axle brake control air circuit link; the first rear axle air circuit link and the second rear axle air circuit link constitute a first rear axle brake control air circuit link; the first trailer air circuit link and the second trailer air circuit link constitute a first trailer brake control air circuit link; The air tank is connected to the brake execution end of the brake module through the air pipeline to form a brake execution air circuit link, including: The front axle air tank is connected to the brake execution end of the front axle brake module through the air pipeline to form a front axle brake execution air circuit link; the rear axle air tank is connected to the brake execution end of the rear axle brake module through the air pipeline to form a rear axle brake execution air circuit link; the trailer air tank is connected to the brake execution end of the trailer brake module through the air pipeline to form a trailer brake execution air circuit link.

3. The method according to claim 2, characterized in that: The supplying power to the three-port two-position solenoid valve to connect the gas paths of port 1 and port 3 of the three-port two-position solenoid valve comprises: Power is supplied to the front three two-port solenoid valves and the rear three two-port solenoid valves respectively, so that the gas paths of port 1 and port 3 of the front three two-port solenoid valves are connected, and the gas paths of port 1 and port 3 of the rear three two-port solenoid valves are connected; When the gas paths of port 1 and port 3 of the three-port two-position solenoid valve are connected, the gas in the gas storage tank flows into the switch control end of the brake module through the first brake control gas path link, including: When the gas paths of port 1 and port 3 of the front three two-position solenoid valves are connected, the gas in the front axle gas tank flows into the switch control end of the front axle brake module through the first front axle brake control gas path link; And when the gas paths of port 1 and port 3 of the first three two-position solenoid valves are connected, the gas in the trailer gas tank flows into the switch control end of the trailer brake module through the first trailer brake control gas path link; When the gas paths of port 1 and port 3 of the rear three-port two-position solenoid valve are connected, the gas in the rear axle gas tank flows into the switch control end of the rear axle brake module through the first rear axle brake control gas path link; The method of using the air pressure provided by the gas flowing into the switch control end of the brake module as a first pneumatic braking instruction, and braking the vehicle using the air pressure provided by the gas flowing into the brake execution end of the brake module according to the first pneumatic braking instruction, comprises: Using the air pressure provided by the gas flowing into the switch control end of the front axle brake module as a first front axle pneumatic control braking instruction, and braking the front axle of the vehicle using the air pressure provided by the gas flowing into the brake execution end of the front axle brake module according to the first front axle pneumatic control braking instruction; Using the air pressure provided by the gas flowing into the switch control end of the rear axle brake module as a first rear axle pneumatic braking instruction, and braking the rear axle of the vehicle using the air pressure provided by the gas flowing into the brake execution end of the rear axle brake module according to the first rear axle pneumatic braking instruction; Using the air pressure provided by the gas flowing into the switch control end of the trailer brake module as a first trailer pneumatic braking instruction, and braking the vehicle trailer using the air pressure provided by the gas flowing into the brake execution end of the trailer brake module according to the first trailer pneumatic braking instruction; Among them, the gas flowing into the brake execution end of the front axle brake module flows in through the front axle brake execution air circuit link; the gas flowing into the brake execution end of the rear axle brake module flows in through the rear axle brake execution air circuit link; and the gas flowing into the brake execution end of the trailer brake module flows in through the trailer brake execution air circuit link.

4. The method according to claim 3, characterized in that: The vehicle braking system further comprises: a first ABS solenoid valve, a second ABS solenoid valve, a left front brake air chamber, a right front brake air chamber, a left rear brake air chamber, and a right rear brake air chamber; wherein the front axle brake module, the first ABS solenoid valve, and the left front brake air chamber are sequentially connected through the air pipeline; the front axle brake module, the second ABS solenoid valve, and the right front brake air chamber are sequentially connected through the air pipeline; the rear axle brake module and the left rear brake air chamber are connected through the air pipeline, and the rear axle brake module and the right rear brake air chamber are connected through the air pipeline; The method of braking the front axle of the vehicle by utilizing the air pressure provided by the gas flowing into the brake execution end of the front axle brake module comprises: The gas flowing into the brake execution end of the front axle brake module is used to push the relay valve in the front axle brake module to realize the gas path conduction. After the gas path is conducted, the gas enters the left front brake air chamber through the first ABS solenoid valve, and enters the right front brake air chamber through the second ABS solenoid valve to brake the front axle of the vehicle; The method of braking the rear axle of the vehicle by utilizing the air pressure provided by the gas flowing into the brake execution end of the rear axle brake module comprises: The gas flowing into the brake execution end of the rear axle brake module is used to push the relay valve in the rear axle brake module to achieve air path conduction. After the air path is connected, the gas enters the left rear brake air chamber and the right rear brake air chamber to brake the rear axle of the vehicle.

5. The method according to claim 1, characterized in that: The vehicle braking system further includes: a service brake control module; wherein the air storage tank, the service brake control module, and the two ports of the three-port two-position solenoid valve are sequentially connected through the air pipeline to form a third air circuit link; the third air circuit link and the second air circuit link form a second brake control air circuit link; when the three-port two-position solenoid valve is not powered, the two ports of the three-port two-position solenoid valve are connected to the three ports; the method further includes: When the service brake control module receives a pedal brake signal indicating manual braking of the brake pedal, if the electronic brake system fails to successfully send an electronic brake command to the brake module, the gas in the gas storage tank flows into the switch control end of the brake module through the second brake control gas path link; The air pressure provided by the gas flowing into the switch control end of the brake module is used as a second pneumatic brake instruction, and according to the second pneumatic brake instruction, the vehicle is braked using the air pressure provided by the gas flowing into the brake execution end of the brake module.

6. The method according to claim 5, characterized in that: The electronic braking system includes an electronic control unit, and the electronic control unit is respectively connected to the service brake control module and the brake module by electrical signals; before the electronic braking system fails to successfully send an electronic braking instruction to the brake module, the method further includes: The electronic control unit sends an electronic braking command to the switch control end of the braking module, and the gas in the gas storage tank flows into the braking execution end of the braking module through the braking execution gas path link; The brake module brakes the vehicle according to the electronic brake command by utilizing the air pressure provided by the gas flowing into the brake execution end of the brake module.

7. A vehicle braking system, characterized in that: The vehicle braking system includes an electronic braking system, a pneumatically controlled braking system, and a braking module; the pneumatically controlled braking system includes: an air tank, a three-port, two-position solenoid valve, a power module, and a plurality of air pipelines; wherein the air tank is connected to port 1 of the three-port, two-position solenoid valve through the air pipeline to form a first air link; ports 3 of the three-port, two-position solenoid valve are connected to the switch control end of the braking module through the air pipeline to form a second air link; the first air link and the second air link form a first brake control air link; the air tank is connected to the brake execution end of the braking module through the air pipeline to form a brake execution air link; The power supply module is used to supply power to the three-port two-position solenoid valve when the electronic braking system fails to successfully send an electronic braking command to the switch control end of the braking module, so as to connect the air paths of port 1 and port 3 of the three-port two-position solenoid valve; The gas storage tank is used to flow the stored gas into the switch control end of the brake module through the first brake control gas path link when the gas paths of port 1 and port 3 of the three-port two-position solenoid valve are connected; The brake module is used to use the air pressure provided by the gas flowing into the switch control end of the brake module as the first pneumatic control brake instruction, and according to the first pneumatic control brake instruction, use the air pressure provided by the gas flowing into the brake execution end of the brake module to brake the vehicle; wherein, the gas flowing into the brake execution end of the brake module flows in through the brake execution air circuit link.

8. The system according to claim 7, characterized in that: The three-port two-position solenoid valve includes a front three-port two-position solenoid valve and a rear three-port two-position solenoid valve; the brake module includes a front axle brake module, a rear axle brake module, and a trailer brake module; the gas tank includes a front axle gas tank, a rear axle gas tank, and a trailer gas tank; The gas storage tank is connected to port 1 of the three-port two-position solenoid valve through the gas pipeline to form a first gas circuit link, including: The front axle gas tank is connected to one port of the front three-port two-position solenoid valve through the gas pipeline to form a first front axle gas circuit link; the rear axle gas tank is connected to one port of the rear three-port two-position solenoid valve through the gas pipeline to form a first rear axle gas circuit link; the trailer gas tank is connected to one port of the front three-port two-position solenoid valve through the gas pipeline to form a first trailer gas circuit link; The third port of the three-port two-position solenoid valve is connected to the switch control end of the brake module through the gas pipeline to form a second gas link, including: The third port of the front three-port two-position solenoid valve is connected to the switch control end of the front axle brake module through the air pipeline to form a second front axle air link; the third port of the rear three-port two-position solenoid valve is connected to the switch control end of the rear axle brake module through the air pipeline to form a second rear axle air link; the third port of the front three-port two-position solenoid valve is connected to the switch control end of the trailer brake module through the air pipeline to form a second trailer air link; The first brake control air circuit link formed by the first air circuit link and the second air circuit link includes: The first front axle air circuit link and the second front axle air circuit link constitute a first front axle brake control air circuit link; the first rear axle air circuit link and the second rear axle air circuit link constitute a first rear axle brake control air circuit link; the first trailer air circuit link and the second trailer air circuit link constitute a first trailer brake control air circuit link; The air tank is connected to the brake execution end of the brake module through the air pipeline to form a brake execution air circuit link, including: The front axle air tank is connected to the brake execution end of the front axle brake module through the air pipeline to form a front axle brake execution air circuit link; the rear axle air tank is connected to the brake execution end of the rear axle brake module through the air pipeline to form a rear axle brake execution air circuit link; the trailer air tank is connected to the brake execution end of the trailer brake module through the air pipeline to form a trailer brake execution air circuit link.

9. The system according to claim 8, characterized in that: When the power module is used to supply power to the three-port two-position solenoid valve so that the gas paths of port 1 and port 3 of the three-port two-position solenoid valve are connected, it is specifically used to: Power is supplied to the front three two-port solenoid valves and the rear three two-port solenoid valves respectively, so that the gas paths of port 1 and port 3 of the front three two-port solenoid valves are connected, and the gas paths of port 1 and port 3 of the rear three two-port solenoid valves are connected; The gas storage tank is used to flow the stored gas into the switch control end of the brake module through the first brake control gas path link after the gas paths of port 1 and port 3 of the three-port two-position solenoid valve are connected, including: The front axle gas storage tank is used to flow the stored gas into the switch control end of the front axle brake module through the first front axle brake control gas path link when the gas paths of port 1 and port 3 of the first three two-position solenoid valves are connected; The trailer gas storage tank is used to flow the stored gas into the switch control end of the trailer brake module through the first trailer brake control gas circuit link when the gas circuits of port 1 and port 3 of the first three two-position solenoid valves are connected; The rear axle gas storage tank is used to flow the stored gas into the switch control end of the rear axle brake module through the first rear axle brake control gas path link when the gas paths of port 1 and port 3 of the rear three-port two-position solenoid valve are connected; The brake module is used to use the air pressure provided by the gas flowing into the switch control end of the brake module as a first pneumatic brake instruction, and according to the first pneumatic brake instruction, the air pressure provided by the gas flowing into the brake execution end of the brake module is used to brake the vehicle, including: The front axle brake module is used to use the air pressure provided by the gas flowing into the switch control end of the front axle brake module as a first front axle pneumatic brake command, and brake the front axle of the vehicle using the air pressure provided by the gas flowing into the brake execution end of the front axle brake module according to the first front axle pneumatic brake command; The rear axle brake module is used to use the air pressure provided by the gas flowing into the switch control end of the rear axle brake module as a first rear axle pneumatic control braking instruction, and brake the rear axle of the vehicle using the air pressure provided by the gas flowing into the brake execution end of the rear axle brake module according to the first rear axle pneumatic control braking instruction; The trailer brake module is used to use the air pressure provided by the gas flowing into the switch control end of the trailer brake module as a first trailer pneumatic brake instruction, and brake the vehicle trailer using the air pressure provided by the gas flowing into the brake execution end of the trailer brake module according to the first trailer pneumatic brake instruction; Among them, the gas flowing into the brake execution end of the front axle brake module flows in through the front axle brake execution air circuit link; the gas flowing into the brake execution end of the rear axle brake module flows in through the rear axle brake execution air circuit link; and the gas flowing into the brake execution end of the trailer brake module flows in through the trailer brake execution air circuit link.

10. The system according to claim 9, characterized in that: The vehicle braking system further comprises: a first ABS solenoid valve, a second ABS solenoid valve, a left front brake air chamber, a right front brake air chamber, a left rear brake air chamber, and a right rear brake air chamber; wherein the front axle brake module, the first ABS solenoid valve, and the left front brake air chamber are sequentially connected through the air pipeline; the front axle brake module, the second ABS solenoid valve, and the right front brake air chamber are sequentially connected through the air pipeline; the rear axle brake module and the left rear brake air chamber are connected through the air pipeline, and the rear axle brake module and the right rear brake air chamber are connected through the air pipeline; When the front axle brake module is used to brake the front axle of the vehicle using the air pressure provided by the gas flowing into the brake actuation end of the front axle brake module, it is specifically used to: The gas flowing into the brake execution end of the front axle brake module is used to push the relay valve in the front axle brake module to realize the gas path conduction. After the gas path is conducted, the gas enters the left front brake air chamber through the first ABS solenoid valve, and enters the right front brake air chamber through the second ABS solenoid valve to brake the front axle of the vehicle; When the rear axle brake module brakes the rear axle of the vehicle using the air pressure provided by the gas flowing into the brake actuating end of the rear axle brake module, the rear axle brake module is specifically used to: The gas flowing into the brake execution end of the rear axle brake module is used to push the relay valve in the rear axle brake module to achieve air path conduction. After the air path is connected, the gas enters the left rear brake air chamber and the right rear brake air chamber to brake the rear axle of the vehicle.

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