A pneumatic-electric hybrid vehicle braking system and its control method

Abstract

This invention discloses a pneumatic-electric hybrid vehicle braking system and its control method. The method includes receiving real-time vehicle status information, identifying the driver's operating intention based on pedal sensor information, calculating the torque of the wheel-side commands for vehicle dynamics control, and transmitting the allocation information and vehicle target motion commands to the braking control unit; receiving four-wheel torque allocation information, and calculating the electromechanical / pneumatic braking allocation for the target torque of each wheel according to braking torque requirements, to transmit different torque allocation commands; calculating the current command of the EMB motor based on the received corresponding torque allocation command to achieve torque control of the electromechanical braking; and calculating the corresponding opening state of the flow control module to achieve torque control of the pneumatic braking. This invention can achieve redundant switching during emergency high-intensity braking or in the event of a sudden failure of the electromechanical braking system, improving vehicle driving safety.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, and in particular to a pneumatic-electric hybrid vehicle braking system and its control method. Background Technology

[0002] While pneumatic braking is a mature technology, it still suffers from drawbacks such as complex structure, high maintenance costs, and poor braking accuracy and stability. With the deepening transformation towards drive-by-wire systems, reducing complex mechanical transmission mechanisms, pursuing lighter weight, lower fuel consumption, lower costs, and simpler, faster, and more precise control have become common trends. Electromechanical braking systems (EMB), due to their simple structure, light weight, rapid response, and precise and stable control, have emerged as the next generation of vehicle braking systems and are developing rapidly. Currently, EMB systems provide limited braking force, failing to meet the high-intensity braking demands of vehicles under emergency braking, necessitating redundant design. However, most existing patents are limited to redundant structural designs for single-wheel EMBs, neglecting overall collaborative control strategies and methods for the braking system. For example, patent CN202211253003.7 designs an electromechanical hybrid braking system and control method. This patent longitudinally couples and integrates the pneumatic braking system and the electromechanical braking system at the wheel end, giving it strong fail-safe redundancy control capabilities. This patent addresses all EMB and pneumatic braking coupling systems, inventing an electro-pneumatic composite electromechanical brake control system and its control method, which is universal and representative. Summary of the Invention

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

[0004] Therefore, this invention proposes a pneumatic-electric hybrid vehicle braking system that can fully leverage the advantages of integrating pneumatic braking systems and electromechanical braking systems. It combines fast braking response, simple structure, low maintenance costs, and guaranteed braking performance with the ability to achieve system failure safety redundancy control.

[0005] Another objective of this invention is to provide a gas-electric hybrid vehicle braking control method.

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

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

[0008] The air filtration 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 filtration device;

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

[0011] The pneumatic control module is used to control the flow control module and control the pneumatic braking.

[0012] The EMB control module is used to control the drive motor in the electromechanical braking system;

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

[0014] The braking control unit includes an EMB control module and a pneumatic control module, which are used to receive signal commands from the vehicle control unit, interact with the vehicle control unit, monitor the status of the four-wheel electromechanical braking system and the pneumatic braking system, and distribute the braking torque of the four wheels electromechanically / pneumatically according to the signal commands, and jointly complete the calculation and control of the control commands of the motor and flow valve control module of the four-wheel electromechanical braking system.

[0015] The single-wheel braking module includes a flow control module, a brake chamber, and an EMB motor, used for vehicle braking operations, generating mechanical braking force and pneumatic braking force. The single-wheel braking module internally includes an electromechanical braking system (EMB) and a pneumatic braking system. The electromechanical braking system controls the EMB motor to generate clamping force to clamp the brake disc, and the pneumatic braking system generates clamping force by releasing compressed air from the brake chamber to brake the vehicle.

[0016] The pneumatic-electric hybrid vehicle braking system method of this 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 state and the 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 state and the opening degree of the air passage between the angle valve control module and the brake chamber.

[0019] In one embodiment of the present invention, the real-time vehicle status information includes real-time vehicle powertrain status information, real-time cabin status information, real-time commands related to the vehicle's intelligent driving system, and real-time commands controlled by the driver.

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

[0021] In one embodiment of the present invention, the braking control unit is configured to receive torque distribution instructions from the vehicle control unit, calculate the electromechanical braking / pneumatic braking distribution for 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, during torque distribution, electromechanical braking is given priority, and pneumatic braking is then distributed when the braking torque provided by electromechanical braking cannot meet the braking requirements.

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

[0023] In one embodiment of the present invention, the pneumatic control module calculates the corresponding opening state of the flow control module based on the received corresponding torque distribution command, thereby realizing torque control of the pneumatic braking.

[0024] In one embodiment of the present invention, the electromechanical braking system includes a brake motor module, a transmission module, and a friction braking module; wherein, the brake motor module is used to generate electromagnetic torque, which is amplified by the transmission module and transmitted to the friction braking module, and the friction braking 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 gas storage device and transmit the signal to the vehicle control unit.

[0026] To achieve the above objectives, another aspect of the present invention provides a pneumatic-electric hybrid vehicle braking control method, comprising:

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

[0028] The brake control unit receives four-wheel torque distribution information from the vehicle control unit and performs electromechanical / pneumatic braking distribution calculations on the target torque of the wheels according to the braking torque requirements, so as to transmit different torque distribution commands to the pneumatic control module and EMB control module.

[0029] The EMB control module calculates the current command of the EMB motor based on the received corresponding torque distribution command, thereby realizing torque control of the electromechanical brake.

[0030] The pneumatic control module calculates the corresponding opening state of the flow control module based on the received torque distribution command, thereby realizing torque control of the pneumatic brake.

[0031] The pneumatic-electric hybrid vehicle braking control and its control method of this invention can give full play to the advantages of the integrated pneumatic braking system and electromechanical braking system. While having fast braking response, simple structure, low maintenance cost, and guaranteed braking effect, it can also realize the system failure safety redundancy control function. Redundancy switching can be realized during emergency high-intensity braking or when the electromechanical braking system suddenly fails, thereby improving the driving safety of the vehicle.

[0032] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

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

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

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

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

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

[0038] Figure 5 This is a logic diagram of a pneumatic-electric hybrid vehicle braking control method according to an embodiment of the present invention. Detailed Implementation

[0039] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0040] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0041] The following description, with reference to the accompanying drawings, illustrates a pneumatic-electric hybrid vehicle braking system and its control method according to embodiments of the present invention.

[0042] Figure 1 This is a pneumatic-electric hybrid vehicle braking system according to an embodiment of the present invention, such as... Figure 1 As shown, it includes: an air compressor 101, an air filter 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] Air compressor 101 is used to compress air and store it in an air tank to provide the necessary compressed air for the pneumatic braking process;

[0044] Air filtration device 102 is used to filter the air pumped in by the air compressor;

[0045] Gas storage device 103 is used to store gas filtered by the air filtration device.

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

[0047] The pneumatic control module 105 is used to control the flow control module and control the pneumatic braking.

[0048] EMB control module 106 is used to control the drive motor in the electromechanical braking system;

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

[0050] The brake control unit 107 includes an EMB control module and a pneumatic control module, which are used to receive signal commands from the vehicle control unit, interact with the vehicle control unit, monitor the status of the four-wheel electromechanical braking system and the pneumatic braking system, and distribute the braking torque of the four wheels electromechanically / pneumatically according to the signal commands, and jointly complete the calculation and control of the control commands of the motor and flow valve control module of the four-wheel electromechanical braking system.

[0051] Single-wheel braking modules 109, 110, 111, and 112 include a flow control module, a brake chamber, and an EMB motor, used for vehicle braking operations, generating mechanical braking force and pneumatic braking force. The internal components of the single-wheel braking module include an electromechanical braking system (EMB) and a pneumatic braking system. The electromechanical braking system generates clamping force to clamp the brake disc by controlling the EMB motor, while the pneumatic braking system generates clamping force by releasing compressed air from the brake chamber to brake the vehicle.

[0052] Understandably, there are four single-wheel braking modules, one for each wheel.

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

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

[0055] Furthermore, the angle valve control module is used to control the on / off state 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 state and the opening degree of the air passage between the angle valve control module and the brake chamber.

[0057] Furthermore, the real-time status information of the entire vehicle includes real-time status information of the vehicle's powertrain system, real-time status information of the cabin, and real-time commands related to the vehicle's intelligent driving system and driver control.

[0058] Furthermore, the vehicle control unit receives real-time vehicle status information, 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 commands for vehicle dynamics control, completes the torque distribution of the four wheels, and transmits the distribution information and vehicle target motion commands to the brake control unit.

[0059] Furthermore, the brake control unit receives four-wheel torque distribution information from the vehicle control unit. Based on the braking torque requirement, it calculates the electromechanical / pneumatic braking distribution for the target torque of each wheel and transmits the distribution command to the pneumatic control module and the EMB control module. Specifically, electromechanical braking is prioritized during torque distribution. Pneumatic braking is only applied when the braking torque provided by electromechanical braking is insufficient to meet the braking requirements.

[0060] Furthermore, the EMB control module calculates the current command of the EMB motor based on the received torque distribution command, thereby realizing torque control of the electromechanical brake.

[0061] Furthermore, the pneumatic control module calculates the corresponding opening state of the flow control module based on the received torque distribution command, thereby realizing torque control of the pneumatic braking.

[0062] Furthermore, the electromechanical braking module specifically includes a brake motor module, a transmission module, and a friction braking module. The brake motor module generates electromagnetic torque, which is amplified by the transmission module and transmitted to the friction braking module; the friction braking module clamps the wheel brake disc to produce a braking effect.

[0063] Furthermore, the core component of the pneumatic braking module is the brake chamber. Depending on the application scenario, it may include various other modules. The pneumatic braking module includes the brake chamber, safety valve, and pressure regulating module. When compressed braking gas flows into the brake chamber, the diaphragm, screw, and inner ring move longitudinally together, thereby generating braking thrust.

[0064] Furthermore, the electromechanical braking module specifically includes a brake motor module, a transmission module, and a friction braking module. The brake motor module generates electromagnetic torque, which is amplified by the transmission module and transmitted to the friction braking module; the friction braking module clamps 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 gas storage device and transmit the signal to the vehicle control unit.

[0066] The pneumatic-electric hybrid vehicle braking system according to embodiments of the present invention can fully leverage the advantages of the integrated pneumatic braking system and the electromechanical braking system. While possessing fast braking response, simple structure, low maintenance cost, and guaranteed braking effect, it can also realize the system failure safety redundancy control function. Redundancy switching can be achieved during emergency high-intensity braking or in the event of a sudden failure of the electromechanical braking system, thereby improving the driving safety of the vehicle.

[0067] To achieve the above embodiments, such as Figure 4 As shown, this embodiment also provides a pneumatic-electric hybrid vehicle braking control method, including:

[0068] S1 receives real-time vehicle status information through the vehicle control unit, 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 torque distribution of the four wheels, and transmits the distribution information and vehicle target motion command to the brake control unit.

[0069] S2 receives four-wheel torque distribution information from the vehicle control unit through the brake control unit, and performs electromechanical / pneumatic braking distribution calculations on the target torque of the wheels according to the braking torque requirements, so as to transmit different torque distribution commands to the pneumatic control module and EMB control module.

[0070] S3, through the EMB control module, calculates the current command of the EMB motor based on the received corresponding torque distribution command, thereby realizing torque control of electromechanical braking;

[0071] S4, through the pneumatic control module, calculates the corresponding opening state of the flow control module based on the received corresponding torque distribution command, thereby realizing torque control of the pneumatic brake.

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

[0073] First, the vehicle control unit receives real-time vehicle status information, calculates the torque of the wheel-side commands for vehicle dynamics control based on the driver's operating intentions, completes the distribution of braking torque to the four wheels, and transmits the distribution information and vehicle target motion commands to the brake control unit.

[0074] Furthermore, the brake control unit receives the four-wheel torque distribution information and the vehicle target motion command from the vehicle control unit. Based on the braking torque requirements, it performs electromechanical braking / pneumatic braking distribution calculations for the four-wheel braking torque 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 based on the received torque distribution command, thereby realizing torque control of the electromechanical brake.

[0076] Furthermore, the pneumatic control module calculates the corresponding opening state of the flow control module based on the received torque distribution command, thereby realizing torque control of the pneumatic braking.

[0077] Furthermore, when the driver is not pressing the brake pedal, the angle valve control module is in the lower cut-off position. When the driver presses the brake pedal, the angle valve control module connects the upper passage, opening the air passage between the air reservoir and the flow control module. The brake pedal controls the opening of the upper passage of the angle valve; the greater the pedal travel, the greater the opening. When the driver releases the pedal force, the angle valve control module returns to the lower cut-off position under the action of the spring, at which point the air passage between the air reservoir 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 the command from the pneumatic control module, it switches from the lower cut-off position to the upper passage position. At the same time, it 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, set T limit The maximum threshold value for the braking torque of the electric motor is defined as follows: When the vehicle is powered on normally and the driver depresses the brake pedal, the vehicle is in a braking state. The angle valve control module connects the upper passage, and the air passage between the air storage device and the flow control module is connected. However, the flow control module remains 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 by the vehicle based on the pedal sensor in the angle valve control module. The vehicle control unit determines that the actual required braking torque T < T0. limit At this time, the vehicle control unit determines that it is in normal braking mode and only sends commands to the EMB control module. The EMB control module completes the EMB braking force distribution to the four wheels according to the commands and controls the EMB motor to generate braking force. At this time, the air brake is still not working. When the vehicle control unit determines that the actual required braking torque T > T limit At this time, in emergency braking mode, the vehicle control unit distributes the braking torque of the four wheels and the EMB / pneumatic braking torque based on the brake pedal opening feedback from the pedal feel sensor. The EMB control module distributes the EMB braking force 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, which overcomes the spring force and rotates from the lower cut-off position to the upper pass position. At this time, the air passage between the air storage device and the brake chamber is connected, and the pneumatic braking works. The opening of the passage is adjusted according to the torque distributed by the pneumatic control module to adjust the magnitude of the pneumatic braking torque.

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

[0081] Furthermore, when the vehicle loses power due to an accident or component failure, both the pneumatic control module and the EMB control module cannot function properly. At this time, the flow control module rotates from the lower stop to the maximum opening position of the upper passage under the action of spring force. When the driver presses the brake pedal, the angle valve control module rotates from the lower stop to the upper passage position. At this time, the air passage between the air storage device and the brake chamber is connected, and the passage opening of the angle valve control module can be adjusted in real time according to the pedal travel of the driver. The vehicle can also achieve air pressure braking of different torques even when the power is off.

[0082] The pneumatic-electric hybrid vehicle braking control method according to embodiments of the present invention can fully leverage the advantages of the integrated pneumatic braking system and the electromechanical braking system. While possessing fast braking response, simple structure, low maintenance cost, and guaranteed braking effect, it can also realize the system failure safety redundancy control function. Redundancy switching can be achieved during emergency high-intensity braking or in the event of a sudden failure of the electromechanical braking system, thereby improving the driving safety of the vehicle.

[0083] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0084] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

Claims

1. A pneumatic-electric hybrid vehicle braking system, characterized in that, include: The system includes an EMB control module, an air compressor, an air filter, 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; among which, The air compressor is used to compress air and store it in an air tank to provide the necessary compressed air for the pneumatic braking process; The air filtration 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 filtration device; The pressure sensor is used to detect the pressure of compressed gas in the gas storage device; The pneumatic control module is used to control the flow control module and control the pneumatic braking. The EMB control module is used to control the drive motor in the electromechanical braking system; The vehicle control unit is used to combine real-time status information of the whole vehicle, monitor the status of the whole vehicle braking system, monitor the operating status through the verification information sent by the vehicle control unit, interact with the braking control unit, and jointly calculate and control the control commands of the motor and angle valve control module and the flow control module of the electromechanical braking system. The braking control unit includes an EMB control module and a pneumatic control module, which are used to receive signal commands from the vehicle control unit, interact with the vehicle control unit, monitor the status of the four-wheel electromechanical braking system and the pneumatic braking system, and distribute the braking torque of the four wheels electromechanically / pneumatically according to the signal commands, and jointly complete the calculation and control of the control commands of the motor and flow valve control module of the four-wheel electromechanical braking system. The single-wheel braking module includes a flow control module, a brake chamber, and an EMB motor, used for vehicle braking operations, generating mechanical braking force and pneumatic braking force. The single-wheel braking module internally includes an electromechanical braking system (EMB) and a pneumatic braking system. The electromechanical braking system controls the EMB motor to generate clamping force to clamp the brake disc, and the pneumatic braking system generates clamping force by releasing compressed air from the brake chamber to brake the vehicle. The angle valve control module is used to control the on / off state and the 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 state and the opening degree of the air passage between the angle valve control module and the brake chamber. The real-time status information of the vehicle includes real-time status information of the vehicle power system, real-time status information of the cabin, real-time commands related to the vehicle's intelligent driving system, and real-time commands for driver control. The vehicle control unit is used to receive real-time vehicle status information, 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 for vehicle dynamics control, complete the torque distribution of the four wheels, and transmit the torque distribution command and the vehicle target motion command to the braking control unit. The braking control unit is used to receive torque distribution instructions from the vehicle control unit, calculate the electromechanical braking / pneumatic braking distribution for 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. Among them, electromechanical braking is given priority in torque distribution. When the braking torque provided by electromechanical braking cannot meet the braking requirements, pneumatic braking is then distributed.

2. The pneumatic-electric hybrid vehicle braking system according to claim 1, characterized in that, The EMB control module is used to calculate the current command of the EMB motor based on the received corresponding torque distribution command, so as to realize the torque control of the electromechanical brake.

3. The pneumatic-electric hybrid vehicle braking system according to claim 1, characterized in that, The pneumatic control module calculates the corresponding opening state of the flow control module based on the received torque distribution command, thereby realizing torque control of the pneumatic braking.

4. The pneumatic-electric hybrid vehicle braking system according to claim 2, characterized in that, An electromechanical braking system includes a brake motor module, a transmission module, and a friction braking module. The brake motor module generates electromagnetic torque, which is amplified by the transmission module and transmitted to the friction braking module. The friction braking module clamps the wheel brake disc to generate braking.

5. 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 gas storage device and transmit the signal to the vehicle control unit.

6. A pneumatic-electric hybrid vehicle braking control method applied to the system of claim 1, characterized in that, include: The vehicle control unit receives real-time vehicle status information and identifies the driver's operating intention based on the pedal sensor information in the angle valve control module. It then calculates the torque of the wheel-side command for vehicle dynamics control, completes the torque distribution of the four wheels, and transmits the distribution information and vehicle target motion command to the brake control unit. The brake control unit receives four-wheel torque distribution information from the vehicle control unit and performs electromechanical / pneumatic braking distribution calculations on the target torque of the wheels according to the braking torque requirements, so as to transmit different torque distribution commands to the pneumatic control module and EMB control module. The EMB control module calculates the current command of the EMB motor based on the received corresponding torque distribution command, thereby realizing torque control of the electromechanical brake. The pneumatic control module calculates the corresponding opening state of the flow control module based on the received torque distribution command, thereby realizing torque control of the pneumatic brake.

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