Pneumatic-electric combined type vehicle braking system and control method thereof

Abstract

The invention discloses a pneumoelectric combined type vehicle braking system and a control method thereof.The method comprises the steps that real-time state information of a whole vehicle is received, the operation intention of a driver is recognized according to pedal sensor information, and torque calculation of a vehicle dynamics control wheel rim command is conducted; the distribution information and the vehicle target motion instruction are transmitted to the brake control unit; four-wheel torque distribution information is received, and electronic mechanical braking / pneumatic braking distribution calculation is carried out on target torque of the wheel according to the braking torque requirement, so that different torque distribution instructions are transmitted; a current instruction of the EMB motor is calculated according to the received corresponding torque distribution instruction, and torque control over electronic mechanical braking is achieved; and the corresponding opening state of the flow control module is calculated, so that the torque control of pneumatic braking is realized. Redundant switching can be achieved during emergency high-intensity braking or when an electronic mechanical braking system suddenly fails, and the driving safety of an automobile is improved.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a gas-electric composite vehicle braking system and a control method thereof. Background Art

[0002] Pneumatic braking is already very mature, but it still has the disadvantages of complex structure, high maintenance cost, poor braking accuracy and stability. With the in-depth transformation of wire control, reducing complex mechanical transmission mechanisms, pursuing lighter weight, less fuel consumption, lower cost, and more concise, fast and precise control has become a general trend. The electronic mechanical braking system (EMB) has emerged as the next generation of vehicle braking system due to its unique advantages such as simple structure, light weight, rapid response, precise and stable control, and has developed rapidly. At present, the electronic mechanical braking system provides limited braking force and cannot meet the high-intensity braking requirements of vehicles under emergency braking, so redundant design is required. However, most of the existing patents are limited to the redundant structure design of single-wheel EMB, and do not consider the overall coordinated control strategy and control method of the braking system. For example, patent CN202211253003.7 designs an electrical composite electronic mechanical braking system and control method. This patent integrates the pneumatic braking system and the electronic mechanical braking system longitudinally on the wheel side, so that it has a strong failure redundancy control capability. This patent invents an electric-pneumatic composite electronic mechanical brake control system and its control method for all EMB and pneumatic brake coupling systems, which is universal and representative. Summary of the invention

[0003] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0004] To this end, the present invention proposes a pneumatic-electric hybrid vehicle braking system that can give full play to the advantages of the integrated pneumatic braking system and the electronic mechanical braking system, while having fast braking response speed, simple structure, low maintenance cost, and guaranteed braking effect while realizing system failure safety redundant control function.

[0005] Another object of the present invention is to provide a gas-electric hybrid vehicle braking control method.

[0006] To achieve the above-mentioned purpose, the present invention provides a pneumatic-electric hybrid vehicle braking system, including an air compressor, an air filter device, an air storage device, a pressure sensor, a pneumatic control module, a brake control unit, a vehicle control unit, and a single-wheel brake module; wherein:

[0007] The air compressor is used to compress the air and store it in an air tank to provide the necessary compressed air for the pneumatic braking process;

[0008] The air filter device is used to filter the air pumped in by the air compressor;

[0009] The gas storage device is used to store the gas filtered by the air filter device;

[0010] The pressure sensor is used to detect the pressure of the compressed gas in the gas storage device;

[0011] The pneumatic control module is used to control the flow control module to control the pneumatic brake;

[0012] The EMB control module is used to control the drive motor in the electronic mechanical brake system;

[0013] The vehicle control unit is used to combine the real-time status information of the whole vehicle, monitor the status of the braking system of the whole vehicle at the same time, monitor the operating status through the verification information sent by the vehicle control unit, exchange information with the braking control unit, and jointly calculate and control the control commands of the electronic mechanical braking system motor and angle valve control module and flow control module;

[0014] The brake control unit includes an EMB control module and a pneumatic control module, which are used to receive signal instructions from the vehicle control unit, exchange information with the vehicle control unit, monitor the status of the four-wheel electronic mechanical brake system and the pneumatic brake system, and perform electronic mechanical braking / pneumatic distribution on the four-wheel braking torque according to the signal instructions, and jointly complete the control command calculation and control of the four-wheel electronic mechanical brake system motor and flow valve control module;

[0015] The single-wheel brake module includes a flow control module, a brake air chamber, and an EMB motor, which are used to perform vehicle braking operations and generate mechanical braking force and pneumatic braking force. The single-wheel brake module includes an electronic mechanical brake system EMB and a pneumatic brake system; the electronic mechanical brake system generates a clamping force by controlling the EMB motor to clamp the brake disc, and the pneumatic brake system generates a clamping force by releasing compressed air in the brake air chamber to brake the vehicle.

[0016] The pneumatic-electric hybrid vehicle braking system of the embodiment of the present invention may also have the following additional technical features:

[0017] In one embodiment of the present invention, the angle valve control module is used to control the on-off and opening degree of the gas path between the gas storage device and the flow control module;

[0018] The flow control module is used to control the on-off and opening degree of the air path between the angle valve control module and the brake air chamber.

[0019] In one embodiment of the present invention, the real-time status information of the whole vehicle includes real-time information on the status of the whole vehicle power system, real-time information on the status of the cockpit, real-time commands related to the vehicle intelligent driving system, and real-time commands of the driver's control.

[0020] In one embodiment of the present invention, the vehicle control unit is used to receive real-time status information of the entire vehicle, identify the driver's operating intention based on the pedal sensor information in the angle valve control module, and perform torque calculations on the wheel-side commands for vehicle dynamics control, complete four-wheel torque distribution, and transmit the torque distribution instructions and vehicle target motion instructions to the braking control unit.

[0021] In one embodiment of the present invention, the braking control unit is used to receive the torque distribution instruction of the vehicle control unit, perform electronic mechanical braking / pneumatic braking distribution calculation on the target torque of the wheel according to the braking torque requirement, and transmit different torque distribution instructions to the pneumatic control module and the EMB control module; wherein, electronic mechanical braking is given priority during torque distribution, and when the braking torque provided by the electronic mechanical braking cannot meet the braking requirement, pneumatic braking is then distributed.

[0022] In one embodiment of the present invention, the EMB control module is used to calculate the current instruction of the EMB motor according to the corresponding torque distribution instruction received, so as to realize the torque control of the electronic mechanical brake.

[0023] In one embodiment of the present invention, the pneumatic control module calculates the corresponding opening state of the flow control module according to the corresponding torque distribution instruction received, thereby realizing the torque control of the pneumatic brake.

[0024] In one embodiment of the present invention, an electronic mechanical braking system includes a brake motor module, a transmission module, and a friction brake module; wherein the brake motor module is used to generate electromagnetic torque, which is amplified by the transmission module and then transmitted to the friction brake module, and the friction brake module is used to clamp the wheel brake disc to generate braking.

[0025] In one embodiment of the present invention, the pressure sensor is used to detect the compressed air pressure at the outlet of the air storage device and transmit the signal to the vehicle control unit.

[0026] To achieve the above object, the present invention provides a gas-electric hybrid vehicle braking control method, comprising:

[0027] The vehicle control unit receives the real-time status information of the vehicle, identifies the driver's operating intention based on the pedal sensor information in the angle valve control module, calculates the torque of the wheel side command of the vehicle dynamics control, completes the four-wheel torque distribution, and transmits the distribution information and the vehicle target motion command to the brake control unit;

[0028] The brake control unit receives the four-wheel torque distribution information from the vehicle control unit, and performs electronic mechanical braking / pneumatic braking distribution calculation on the target torque of the wheel according to the braking torque requirement, so as to transmit different torque distribution instructions to the pneumatic control module and the EMB control module;

[0029] The EMB control module calculates the current command of the EMB motor according to the corresponding torque distribution command received, thereby realizing the torque control of the electronic mechanical brake;

[0030] The pneumatic control module calculates the corresponding opening state of the flow control module according to the corresponding torque distribution instruction received, thereby realizing the torque control of the pneumatic brake.

[0031] The pneumatic-electric hybrid vehicle braking control and control method of the embodiments of the present invention can give full play to the advantages of the integrated integration of the pneumatic braking system and the electronic mechanical braking system, and can realize the system failure safety redundant control function while having fast braking response speed, simple structure, low maintenance cost, and guaranteed braking effect. Redundant switching can be realized during emergency high-intensity braking or when the electronic mechanical braking system suddenly fails, thereby improving the driving safety of the vehicle.

[0032] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0034] Figure 1 is a schematic structural diagram of a pneumatic-electric hybrid vehicle braking system according to an embodiment of the present invention;

[0035] Figure 2 is a structural schematic diagram of an angle valve control module according to an embodiment of the present invention;

[0036] Figure 3 is a schematic diagram of the structure of a flow control module according to an embodiment of the present invention;

[0037] Figure 4 is a flow chart of a gas-electric hybrid vehicle braking control method according to an embodiment of the present invention;

[0038] Figure 5 4 is a logic diagram of a gas-electric hybrid vehicle braking control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0039] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0040] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0041] The following describes a pneumatic-electric hybrid vehicle braking system and a control method thereof according to an embodiment of the present invention with reference to the accompanying drawings.

[0042] Figure 1 A pneumatic-electric hybrid vehicle braking system according to an embodiment of the present invention is provided. Figure 1 As shown, it includes: an air compressor 101, an air filter device 102, an air storage device 103, a pressure sensor 104, a pneumatic control module 105, an EMB control module 106, a brake control unit 107, a vehicle control unit 108, and single-wheel brake modules 109, 110, 111, and 112;

[0043] An air compressor 101 is used to compress the air and store it in an air tank, so as to provide necessary compressed air for the pneumatic braking process;

[0044] An air filter device 102, used to filter the air pumped in by the air compressor;

[0045] The gas storage device 103 is used to store the gas filtered by the air filter device;

[0046] A pressure sensor 104, used to detect the pressure of the compressed gas in the gas storage device;

[0047] The pneumatic control module 105 is used to control the flow control module to control the pneumatic brake;

[0048] The EMB control module 106 is used to control the drive motor in the electronic mechanical brake system;

[0049] The vehicle control unit 108 is used to combine the real-time status information of the whole vehicle, monitor the status of the brake system of the whole vehicle, monitor the operating status through the verification information sent by the vehicle control unit, exchange information with the brake control unit, and jointly calculate and control the control commands of the electronic mechanical brake system motor and the angle valve control module and the flow control module;

[0050] The brake control unit 107 includes an EMB control module and a pneumatic control module, which are used to receive signal instructions from the vehicle control unit, exchange information with the vehicle control unit, monitor the status of the four-wheel electronic mechanical brake system and the pneumatic brake system, and perform electronic mechanical braking / pneumatic distribution on the four-wheel braking torque according to the signal instructions, and jointly complete the control command calculation and control of the four-wheel electronic mechanical brake system motor and flow valve control module;

[0051] The single-wheel brake modules 109, 110, 111, and 112 include a flow control module, a brake air chamber, and an EMB motor, which are used to perform vehicle braking operations and generate mechanical braking force and pneumatic braking force. The interior of the single-wheel brake module includes an electronic mechanical brake system EMB and a pneumatic brake system; the electronic mechanical brake system generates a clamping force by controlling the EMB motor to clamp the brake disc, and the pneumatic brake system generates a clamping force by releasing compressed air in the brake air chamber to brake the vehicle.

[0052] It can be understood that there are four single-wheel brake modules, one for each wheel.

[0053] like Figure 2 As shown, the angle valve control module includes: a brake pedal 301 , an upper passage 302 , a lower cut-off passage 303 , a spring 304 , a pressure relief port 305 , and a pedal feel sensor 306 .

[0054] like Figure 3 As shown, the flow control module includes: an upper passage 401 , a lower cut-off passage 402 , and a spring 403 .

[0055] Furthermore, the angle valve control module is used to control the on-off and opening degree of the gas path between the gas storage device and the flow control module.

[0056] Furthermore, the flow control module is used to control the on-off and opening degree of the air path between the angle valve control module and the brake air chamber.

[0057] Furthermore, the real-time status information of the whole vehicle includes the real-time status information of the whole vehicle power system, the real-time status information of the cockpit, and the real-time commands related to the vehicle intelligent driving system and the real-time control commands of the driver.

[0058] Furthermore, the vehicle control unit receives real-time status information of the entire vehicle, identifies the driver's operating intention based on the pedal sensor information in the angle valve control module, calculates the torque of the wheel-side command for vehicle dynamics control, completes the four-wheel torque distribution, and transmits the distribution information and the vehicle target motion command to the brake control unit.

[0059] Furthermore, the brake control unit receives the four-wheel torque distribution information from the vehicle control unit, calculates the target torque of the wheel according to the braking torque requirement, and transmits the distribution instruction to the pneumatic control module and the EMB control module. Among them, the electronic mechanical brake is given priority when distributing the torque, and the pneumatic brake is distributed when the braking torque provided by the electronic mechanical brake cannot meet the braking requirement.

[0060] Furthermore, the EMB control module calculates the current command of the EMB motor according to the received torque distribution command, thereby realizing torque control of the electronic mechanical brake.

[0061] Furthermore, the pneumatic control module calculates the corresponding opening state of the flow control module according to the received torque distribution instruction, thereby realizing the torque control of the pneumatic brake.

[0062] Furthermore, the electronic mechanical brake module specifically includes a brake motor module, a transmission module, and a friction brake module. The brake motor module is used to generate electromagnetic torque, which is amplified by the transmission module and then transmitted to the friction brake module; the friction brake module is used to clamp the wheel brake disc to produce a braking effect.

[0063] Furthermore, the core component of the pneumatic brake module is the brake chamber, which may include various other modules according to different application scenarios. The pneumatic brake module includes a brake chamber, a safety valve, and a pressure regulating module. When the brake compressed gas flows into the brake chamber, the diaphragm, the screw and the inner ring move longitudinally together, thereby generating a brake thrust.

[0064] Furthermore, the electronic mechanical brake module specifically includes a brake motor module, a transmission module, and a friction brake module. The brake motor module is used to generate electromagnetic torque, which is amplified by the transmission module and then transmitted to the friction brake module; the friction brake module is used to clamp the wheel brake disc to produce a braking effect.

[0065] Furthermore, the pressure sensor can detect the compressed air pressure at the outlet of the air storage device and transmit the signal to the vehicle control unit.

[0066] The pneumatic-electric hybrid vehicle braking system according to the embodiment of the present invention can give full play to the advantages of the integrated integration of the pneumatic braking system and the electronic mechanical braking system, and can realize the system failure safety redundant control function while having fast braking response speed, simple structure, low maintenance cost and guaranteed braking effect. It can realize redundant switching during emergency high-intensity braking or when the electronic mechanical braking system suddenly fails, thereby improving the driving safety of the car.

[0067] In order to implement the above embodiment, Figure 4 As shown, this embodiment also provides a gas-electric hybrid vehicle braking control method, including:

[0068] S1, receives the real-time status information of the vehicle through the vehicle control unit, identifies the driver's operation intention according to the pedal sensor information in the angle valve control module, calculates the torque of the wheel side command of the vehicle dynamics control, completes the four-wheel torque distribution, and transmits the distribution information and the vehicle target motion command to the brake control unit;

[0069] S2, receiving the four-wheel torque distribution information from the vehicle control unit through the brake control unit, and performing electronic mechanical braking / pneumatic braking distribution calculation on the target torque of the wheel according to the braking torque requirement, so as to transmit different torque distribution instructions to the pneumatic control module and the EMB control module;

[0070] S3, calculating the current command of the EMB motor according to the corresponding torque distribution command received by the EMB control module, thereby realizing torque control of the electronic mechanical brake;

[0071] S4, the pneumatic control module calculates the corresponding opening state of the flow control module according to the corresponding torque distribution instruction received, thereby realizing the torque control of the pneumatic brake.

[0072] Specifically, the gas-electric hybrid vehicle braking control method of the present invention is as follows: Figure 5 As shown, the process includes the following:

[0073] First, the vehicle control unit receives the real-time status information of the vehicle, calculates the torque of the wheel-side command for vehicle dynamics control according to the driver's operating intention, completes the four-wheel braking torque distribution, and transmits the distribution information and vehicle target motion instructions to the braking control unit.

[0074] Furthermore, the braking control unit receives the four-wheel torque distribution information and the vehicle target motion command from the vehicle control unit, performs electronic mechanical braking / pneumatic braking distribution calculations on the four-wheel braking torque according to the braking torque requirements, and transmits the distribution command to the pneumatic control module and the EMB control module.

[0075] Furthermore, the EMB control module calculates the current command of the EMB motor according to the received torque distribution command, thereby realizing torque control of the electronic mechanical brake.

[0076] Furthermore, the pneumatic control module calculates the corresponding opening state of the flow control module according to the received torque distribution instruction, thereby realizing the torque control of the pneumatic brake.

[0077] Furthermore, when the driver does not step on the pedal, the angle valve control module is located at the lower cut-off position. When the driver steps on the brake pedal, the angle valve control module connects the upper passage, and the air path between the air storage device and the flow control module is connected. The brake pedal can control the opening of the upper passage of the angle valve. The greater the pedal stroke, the greater the opening. When the driver withdraws the pedal force, the angle valve control module returns to the lower cut-off position under the action of the spring, and the air path between the air storage device and the flow control module is disconnected.

[0078] Furthermore, when the system is powered on, the flow control module overcomes the spring force and remains in the lower cut-off position. When the flow control module receives instructions from the pneumatic control module, it turns from the lower cut-off position to the upper passage position, and at the same time adjusts the opening of the passage according to the torque allocated by the pneumatic control module. When the system is powered off, the flow control module maintains the maximum opening position of the upper passage under the action of the spring force.

[0079] Furthermore, setting T limit is the maximum threshold value of the motor braking torque. When the vehicle is powered on normally and the driver steps on the brake pedal, the vehicle is in the braking state. The angle valve control module connects the upper passage, and the air path between the air storage device and the flow control module is connected, but the flow control module is still in the lower cut-off position, and the air pressure brake does not work. The vehicle control unit determines the actual braking torque T required for the vehicle according to the pedal feel sensor in the angle valve control module. The vehicle control unit determines that the actual required braking torque T < T limit When the vehicle control unit determines that it is the normal braking mode, it only sends instructions to the EMB control module. The EMB control module completes the EMB braking force distribution of the four wheels according to the instructions and controls the EMB motor to generate braking force. At this time, the air brake still does not work. When the vehicle control unit determines that the actual required braking torque T>T limit , it is the emergency braking mode. The vehicle control unit completes the distribution of four-wheel braking torque and EMB / pneumatic braking torque according to the brake pedal opening feedback by the pedal feel sensor. The EMB control module completes the EMB braking force distribution of the four wheels according to the instructions and controls the EMB motor to generate braking torque. At the same time, the pneumatic control module sends an instruction to the flow control module. The flow control module overcomes the spring force and turns from the lower cut-off path to the upper passage position. At this time, the air path between the air storage device and the brake air chamber is connected, the pneumatic brake works, and the passage opening is adjusted according to the torque allocated by the pneumatic control module to adjust the pneumatic braking torque.

[0080] Furthermore, when the driver releases the brake pedal, the angle valve control module first returns to the lower cut-off position from the upper passage, and the flow control module remains in its original position. At this time, the air storage device and the brake air chamber are connected to the atmosphere through the pressure relief port, and the air pressure in the brake air chamber returns to atmospheric pressure, and the pneumatic braking stops. Subsequently, the pneumatic control module sends an instruction to the flow control module, and the flow control module turns from the upper passage to the lower cut-off position, the air path between the air storage device and the brake air chamber is disconnected, and the pneumatic braking returns to the non-working state.

[0081] Furthermore, when the vehicle loses power due to an accident or component failure, the pneumatic control module and the EMB control module cannot work normally. At this time, the flow control module is turned from the lower cut-off circuit to the maximum opening position of the upper passage under the action of spring force. When the driver steps on the brake pedal, the angle valve control module is turned from the lower cut-off circuit to the upper passage position. At this time, the air path between the air storage device and the brake air chamber is connected, and the passage opening of the angle valve control module can be adjusted in real time according to the pedal stroke stepped on by the driver. The vehicle can also achieve pneumatic braking with different torque sizes when the power is off.

[0082] The pneumatic-electric hybrid vehicle braking control method according to the embodiment of the present invention can give full play to the advantages of the integrated integration of the pneumatic braking system and the electronic mechanical braking system, and can realize the system failure safety redundant control function while having fast braking response speed, simple structure, low maintenance cost and guaranteed braking effect. It can realize redundant switching during emergency high-intensity braking or when the electronic mechanical braking system suddenly fails, thereby improving the driving safety of the car.

[0083] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0084] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

Claims

1. A pneumatic-electric hybrid vehicle braking system, characterized in that: include: Air compressor, air filter device, air storage device, pressure sensor, pneumatic control module, brake control unit, vehicle control unit, single wheel brake module; among them, The air compressor is used to compress the air and store it in an air tank to provide the necessary compressed air for the pneumatic braking process; The air filter device is used to filter the air pumped in by the air compressor; The gas storage device is used to store the gas filtered by the air filter device; The pressure sensor is used to detect the pressure of the compressed gas in the gas storage device; The pneumatic control module is used to control the flow control module to control the pneumatic brake; The EMB control module is used to control the drive motor in the electronic mechanical brake system; The vehicle control unit is used to combine the real-time status information of the whole vehicle, monitor the status of the braking system of the whole vehicle at the same time, monitor the operating status through the verification information sent by the vehicle control unit, exchange information with the braking control unit, and jointly calculate and control the control commands of the electronic mechanical braking system motor and angle valve control module and flow control module; The brake control unit includes an EMB control module and a pneumatic control module, which are used to receive signal instructions from the vehicle control unit, exchange information with the vehicle control unit, monitor the status of the four-wheel electronic mechanical brake system and the pneumatic brake system, and perform electronic mechanical braking / pneumatic distribution on the four-wheel braking torque according to the signal instructions, and jointly complete the control command calculation and control of the four-wheel electronic mechanical brake system motor and flow valve control module; The single-wheel brake module includes a flow control module, a brake air chamber, and an EMB motor, which are used to perform vehicle braking operations and generate mechanical braking force and pneumatic braking force. The single-wheel brake module includes an electronic mechanical brake system EMB and a pneumatic brake system; the electronic mechanical brake system generates a clamping force by controlling the EMB motor to clamp the brake disc, and the pneumatic brake system generates a clamping force by releasing compressed air in the brake air chamber to brake the vehicle.

2. The pneumatic-electric hybrid vehicle braking system according to claim 1, characterized in that: The angle valve control module is used to control the on-off and opening degree of the gas path between the gas storage device and the flow control module; The flow control module is used to control the on-off and opening degree of the air path between the angle valve control module and the brake air chamber.

3. The pneumatic-electric hybrid vehicle braking system according to claim 1, characterized in that: The real-time status information of the whole vehicle includes the real-time status information of the whole vehicle power system, the real-time status information of the cockpit, the real-time commands related to the vehicle intelligent driving system and the real-time control commands of the driver.

4. The pneumatic-electric hybrid vehicle braking system according to claim 3, characterized in that: The vehicle control unit is used to receive real-time status information of the whole vehicle, identify the driver's operating intention based on the pedal sensor information in the angle valve control module, calculate the torque of the wheel-side command of the vehicle dynamics control, complete the four-wheel torque distribution, and transmit the torque distribution instruction and the vehicle target motion instruction to the braking control unit.

5. The pneumatic-electric hybrid vehicle braking system according to claim 4, characterized in that: The braking control unit is used to receive the torque distribution instruction from the vehicle control unit, perform electronic mechanical braking / pneumatic braking distribution calculation on the target torque of the wheel according to the braking torque requirement, and transmit different torque distribution instructions to the pneumatic control module and the EMB control module; wherein, electronic mechanical braking is given priority during torque distribution, and when the braking torque provided by the electronic mechanical braking cannot meet the braking requirement, pneumatic braking is then distributed.

6. The pneumatic-electric hybrid vehicle braking system according to claim 5, characterized in that: The EMB control module is used to calculate the current instruction of the EMB motor according to the corresponding torque distribution instruction received, so as to realize the torque control of the electronic mechanical brake.

7. The pneumatic-electric hybrid vehicle braking system according to claim 5, characterized in that: The pneumatic control module calculates the corresponding opening state of the flow control module according to the corresponding torque distribution instruction received, thereby realizing the torque control of the pneumatic brake.

8. The pneumatic-electric hybrid vehicle braking system according to claim 6, characterized in that: The electronic mechanical braking system includes a brake motor module, a transmission module, and a friction brake module; wherein the brake motor module is used to generate electromagnetic torque, which is amplified by the transmission module and then transmitted to the friction brake module, and the friction brake module is used to clamp the wheel brake disc to generate braking.

9. The pneumatic-electric hybrid vehicle braking system according to claim 1, characterized in that: The pressure sensor is used to detect the compressed air pressure at the outlet of the air storage device and transmit the signal to the vehicle control unit.

10. A pneumatic-electric hybrid vehicle braking control method, characterized in that: include: The vehicle control unit receives the real-time status information of the vehicle, identifies the driver's operating intention based on the pedal sensor information in the angle valve control module, calculates the torque of the wheel side command of the vehicle dynamics control, completes the four-wheel torque distribution, and transmits the distribution information and the vehicle target motion command to the brake control unit; The brake control unit receives the four-wheel torque distribution information from the vehicle control unit, and performs electronic mechanical braking / pneumatic braking distribution calculation on the target torque of the wheel according to the braking torque requirement, so as to transmit different torque distribution instructions to the pneumatic control module and the EMB control module; The EMB control module calculates the current command of the EMB motor according to the corresponding torque distribution command received, thereby realizing the torque control of the electronic mechanical brake; The pneumatic control module calculates the corresponding opening state of the flow control module according to the corresponding torque distribution instruction received, thereby realizing the torque control of the pneumatic brake.

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