Vehicle electronic mechanical braking system and braking method thereof

Abstract

The present invention provides a vehicle electronic mechanical braking system and a braking method thereof, which relate to the field of vehicle braking technology, wherein the system is used to brake vehicle 1 and vehicle 2 of a commercial vehicle, and comprises a braking request device, a first shaft control unit, a second shaft control unit, a first braking device and a second braking device. The electronic mechanical braking system of the present invention sets two parallel communication cable connections between two shaft control units that respectively control the braking devices of vehicle 1 and vehicle 2 to perform braking, and sets two parallel communication cable connections between the braking request device that sends a braking request instruction and the shaft control unit that receives and processes the braking request instruction. One of the two communication cables is used as a backup braking signal, which is started when the other fails, so as to realize redundant communication of braking signals and ensure the reliability of braking of the electronic mechanical braking system.

Description

Technical Field

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

[0002] During vehicle driving, the braking system may encounter various fault conditions, such as sensor failure, circuit failure, signal transmission failure, etc. For signal transmission failure, designing redundant communication can ensure the transmission of braking signals when encountering such failures. Usually, a backup signal is set to immediately start the backup system when the main signal fails, effectively avoiding or reducing the occurrence of accidents. For example, in the prior art, a US patent with publication number US20230415716Al provides a braking system with trailer redundant communication, such as Fig. 9 As shown, its automatic driving computer 140 (representing the signal of the driver operating the tractor) requests deceleration, and the main brake controller 110 on the tractor detects the deceleration request, and provides an electronic signal representing the deceleration request to the trailer brake controller 130 via the first communication path 115. The trailer brake controller 130 adopts the signal from the main brake controller 110, and the pneumatic signal is used as a backup. The redundant brake controller 120 on the tractor is connected to the trailer brake controller 130 via the second communication path 125. At present, compared with the pneumatic brake system, the electronic mechanical brake system is widely used in commercial vehicles such as tractors and trailers because of its simple structure, small size, fast response speed, good environmental protection, higher safety and reliability. However, the above-mentioned prior art uses pneumatic signals as a backup of the brake request instruction to control the trailer brake, which can be applied to pure pneumatic brake systems, electronic pneumatic brake systems or energy recovery brake systems, but it is difficult to be applied to vehicles with electronic mechanical brake systems. There are significant differences in the design and working principle between the electronic mechanical brake system and the pneumatic brake system, which determines that the pneumatic backup signal in the pneumatic brake system cannot be used in the electronic mechanical brake system to control the brake. Electromechanical brake systems rely primarily on electronic signals for brake control.

[0003] Based on this, the present invention is proposed. Summary of the invention

[0004] The object of the present invention is to provide a vehicle electronic mechanical braking system and a braking method thereof, so as to realize redundant communication of braking signals and ensure the braking reliability of the electronic mechanical braking system.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A vehicle electronic mechanical braking system is used to brake a vehicle 1 and a vehicle 2; it comprises: a braking request device, a first axis control unit, a second axis control unit, a first braking device and a second braking device; wherein the braking request device is arranged on the vehicle 1 and is used to send a braking request instruction to the first axis control unit; the first axis control unit has an input end that is communicatively connected with the braking request device to receive and process the braking request instruction from the braking request device, and an output end that is communicatively connected with the first braking device on the one hand to send a braking control instruction to the first braking device, and on the other hand to communicate with the second axis control unit to transmit the braking request instruction to the second axis control unit; the second axis control unit has an input end that is communicatively connected with the braking request device to receive and process the braking request instruction from the braking request device, and an output end that is communicatively connected with the first braking device on the one hand to send a braking control instruction to the first braking device, and on the other hand to communicate with the second axis control unit to transmit the braking request instruction to the A control unit, the input end of which is communicatively connected with the output end of the first axis control unit, receives and processes the braking request instruction transmitted from the first axis control unit, and the output end is communicatively connected with the second braking device, sends a braking control instruction to the second braking device; the first braking device is arranged on vehicle one, and brakes vehicle one according to the braking control instruction sent from the first axis control unit; the second braking device is arranged on vehicle two, and brakes vehicle two according to the braking control instruction sent from the second axis control unit; the first axis control unit and the second axis control unit, as well as the braking request device and the first axis control unit, are connected through two parallel communication cables.

[0007] To further ensure safe redundant communication between the shaft control unit and the braking device, the present invention provides a preferred solution in the first aspect, wherein the first shaft control unit and the first braking device, as well as the second shaft control unit and the second braking device, are connected through two parallel first communication cables, and the first communication cables use a CAN bus.

[0008] In order to further meet the different safety redundancy requirements between the axis control unit and the braking device, the present invention provides a preferred solution in the first aspect, wherein the vehicle electronic mechanical braking system is provided with one or two or more first axis control units and / or one or two or more second axis control units.

[0009] Furthermore, there is a first axis control unit, the input end of the first axis control unit is communicatively connected to the braking request device, the output end is communicatively connected to the second axis control unit on the one hand, and the output end is respectively connected to four of the first braking devices on the other hand, so as to control the four first braking devices; there are two or more first axis control units, the input end of one of the first axis control units is communicatively connected to the braking request device, the output end is communicatively connected to another or several first axis control units on the first aspect, the output end is communicatively connected to the second axis control unit on the second aspect, and the output end is communicatively connected to two or four of the first braking devices on the third aspect, so as to control the two or four first braking devices.

[0010] Similarly, further, if there is a second axis control unit, the input end of the second axis control unit is communicatively connected with the first axis control unit, and the output end is respectively connected with four second braking devices to control the four second braking devices; if there are two or more second axis control units, the input end of one second axis control unit is communicatively connected with the first axis control unit, and the output end is communicatively connected with another one or several second axis control units on the one hand, and the output end is communicatively connected with two or four second braking devices on the other hand to control two or four second braking devices.

[0011] In a second aspect, the present invention provides a vehicle electronic mechanical braking method, which utilizes the above-mentioned braking system and includes the following steps: S10: a braking request device sends a braking request instruction to a first axis control unit; the braking request device and the first axis control unit are connected by two parallel communication cables, one of which is used as a backup braking signal and is started when the other fails; S20: the first axis control unit receives and processes the braking request instruction from the braking request device, sends a braking control instruction to the first braking device, and transmits the braking request instruction to the second axis control unit; the first axis control unit and the second axis control unit are connected by two parallel communication cables, one of which is used as a backup braking signal and is started when the other fails; S30: the second axis control unit receives and processes the braking request instruction transmitted from the first axis control unit, and sends a braking control instruction to the second braking device; S40: the first braking device brakes vehicle one according to the braking control instruction sent by the first axis control unit; S50: the second braking device brakes vehicle two according to the braking control instruction sent by the second axis control unit.

[0012] Compared with the prior art, the above technical solution has the following advantages:

[0013] The electronic mechanical braking system of the present invention sets two parallel communication cable connections between two axis control units that respectively control the braking devices of vehicle one and vehicle two to perform braking, and sets two parallel communication cable connections between the braking request device that sends a braking request instruction and the axis control unit that receives and processes the braking request instruction. One of the two cables is used as a backup braking signal and is started when the other cable fails, thereby realizing redundant communication of braking signals and ensuring the braking reliability of the electronic mechanical braking system. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0015] Figure 1 A module diagram of a vehicle electronic mechanical braking system provided in Embodiment 1 of the present invention;

[0016] Figure 2 A flow chart of the vehicle electronic mechanical braking method provided in Embodiment 1 of the present invention;

[0017] Figure 3 A module diagram of a vehicle electronic mechanical braking system provided in Embodiment 2 of the present invention;

[0018] Figure 4 A module diagram of a vehicle electronic mechanical braking system provided in Embodiment 3 of the present invention;

[0019] Figure 5 A module diagram of a vehicle electronic mechanical braking system provided by Embodiment 4 of the present invention;

[0020] Figure 6 A module diagram of another vehicle electronic mechanical braking system provided by Embodiment 4 of the present invention;

[0021] Figure 7 A module diagram of a vehicle electronic mechanical braking system provided in Embodiment 5 of the present invention;

[0022] Figure 8 A module diagram of a vehicle electronic mechanical braking system provided by Embodiment 6 of the present invention;

[0023] Fig. 9 The figure is a schematic diagram of a commercial vehicle braking system and communication in the prior art.

[0024] Figures 1 to 8 Figure numerals: brake pedal 11, parking switch 12, first axis control unit 20, first signal processing module 21, first power supply module 22, second axis control unit 30, second signal processing module 31, second power supply module 32, first braking device 40, first control unit 41, first brake motor 42, first caliper 43, second braking device 50, second control unit 51, second brake motor 52, second caliper 53, first communication cable 61, second communication cable 62, vehicle battery 70, power cord 80.

[0025] Fig. 9 Reference numerals: tractor 100 , trailer 105 , main brake controller 110 , autonomous driving computer 140 , first communication path 115 , trailer brake controller 130 , autonomous brake controller 110 , redundant brake controller 120 , second communication path 125 . DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0027] Example 1

[0028] Please refer to Figure 1 This embodiment provides a vehicle electronic mechanical braking system for braking vehicle 1 01 and vehicle 2 02; in this embodiment, taking vehicle 1 01 as a tractor and vehicle 2 02 as a trailer as an example, the system mainly comprises the following parts: a braking request device, a first axis control unit 20, a second axis control unit 30, a first braking device 40 and a second braking device 50. Among them, the braking request device is arranged on vehicle 1 01, and is used to send a braking request instruction to the first axis control unit 20; the first axis control unit 20, the input end of which is communicatively connected with the braking request device, receives and processes the braking request instruction from the braking request device, and the output end is communicatively connected with the first braking device 40 on the one hand, sends a braking control instruction to the first braking device 40, and on the other hand, communicates with the second axis control unit 40, transmits the braking request instruction to the second axis control unit 40; the second axis control unit 30, the input end of which is communicatively connected with the output end of the first axis control unit 20, receives and processes the braking request instruction from the first axis control unit The braking request instruction transmitted by the unit 20 is communicated with the second braking device 50 at the output end, and a braking control instruction is sent to the second braking device 50; the first braking device 40 is arranged on the vehicle 01, and brakes the vehicle 01 according to the braking control instruction sent by the first axis control unit 20; the second braking device 50 is arranged on the vehicle 02, and brakes the vehicle 02 according to the braking control instruction sent by the second axis control unit 30; the first axis control unit 20 and the second axis control unit 30, as well as the braking request device and the first axis control unit 20, are connected by two parallel communication cables.

[0029] Please refer to Figure 2 This embodiment provides a vehicle electronic mechanical braking method, which uses the above braking system and is mainly implemented through the following steps:

[0030] S10: The brake request device sends a brake request instruction to the first axis control unit 20; the brake request device and the first axis control unit 20 are connected via two parallel communication cables, one of which is used as a backup brake signal and is activated when the other fails;

[0031] S20: The first axis control unit 20 receives and processes the brake request instruction from the brake request device, sends a brake control instruction to the first brake device 40, and transmits the brake request instruction to the second axis control unit 40; the first axis control unit 20 and the second axis control unit 30 are connected via two parallel communication cables, one of which is used as a backup brake signal and is activated when the other fails;

[0032] S30: The second axis control unit 30 receives and processes the braking request instruction transmitted from the first axis control unit 20, and sends a braking control instruction to the second braking device 50;

[0033] S40: The first braking device 40 brakes the vehicle 01 according to the braking control command sent by the first axis control unit 20;

[0034] S50: The second braking device 50 brakes the vehicle 2 02 according to the braking control instruction sent by the second axis control unit 30 .

[0035] The vehicle electronic mechanical braking system and braking method of this embodiment are configured with two parallel communication cable connections between the two axle control units that respectively control the braking devices of the tractor and trailer to perform braking, and two parallel communication cable connections are configured between the braking request device that sends a braking request instruction and the axle control unit that receives and processes the braking request instruction. One of the two communication cable connections is used as a backup braking signal and is activated when the other fails, thereby realizing redundant communication of braking signals and ensuring the braking reliability of the electronic mechanical braking system.

[0036] Example 2

[0037] The vehicle electronic mechanical brake system of this embodiment is based on the embodiment 1, and distinguishes two communication cables, a first communication cable 61 and a second communication cable 62. In this embodiment, the first communication cable 61 preferably uses a CAN bus, and the second communication cable 62 preferably uses a hard wire.

[0038] First, the two parallel communication cables between the brake request device and the first axis control unit 20 can be selected in the following two ways:

[0039] Mode 1: connecting via a first communication cable 61 and a second communication cable 62 in parallel.

[0040] Mode 2: connecting via two parallel first communication cables 61 .

[0041] Secondly, the two parallel communication cables between the first axis control unit 20 and the second axis control unit 30 also have the following three options:

[0042] Mode 3: connecting via a first communication cable 61 and a second communication cable 62 in parallel.

[0043] Mode 4: connecting through two parallel first communication cables 61 .

[0044] In this embodiment, the first axis control unit 20 and the first braking device 40 , as well as the second axis control unit 30 and the second braking device 50 , are connected via two first communication cables 61 .

[0045] The above-mentioned methods 1 to 2 and methods 3 to 4 can be combined arbitrarily to obtain 4 implementation schemes, all of which can realize redundant communication between the request brake mechanism 10 and the first axis control unit 20, and between the first axis control unit 20 and the second axis control unit 30. This embodiment selects one of the more preferred solutions, please refer to Figure 3 The preferred embodiment adopted in this embodiment uses two communication cables, one of which is used as a backup brake signal and is started when the other fails, to realize redundant communication between the request brake device 10 and the first axis control unit 20, and the first axis control unit 20 and the second axis control unit 30, thereby ensuring the braking reliability of the electronic mechanical brake system.

[0046] At the same time, two communication cables are distinguished. A first communication cable 61 of the CAN bus and a second communication cable 62 of a hard wire are used between the request braking device 10 and the first axis control unit 20, and between the first axis control unit 20 and the second axis control unit 30. The second communication cable 62 of the hard wire is used as a backup braking signal, which is started when the first communication cable 61 of the CAN bus fails. The advantages of the two cables are combined. For example, the CAN bus can quickly and stably transmit a large amount of complex signals according to priority, so it is used as the main braking signal transmission path, and the hard wire has advantages in low-speed and stable signal transmission, and is simple, reliable, and has strong anti-interference ability, so it can be used as a backup signal transmission.

[0047] Example 3

[0048] The vehicle electronic mechanical brake system of this embodiment is based on the embodiment 2, and distinguishes two communication cables, a first communication cable 61 and a second communication cable 62. In this embodiment, the first communication cable 61 preferably uses a CAN bus, and the second communication cable 62 preferably uses a hard wire.

[0049] Please refer to Figure 4, distinguish between two communication cables, and use a first communication cable 61 of the CAN bus and a second communication cable 62 of a hard line between the request brake device 10 and the first axis control unit 20, and between the first axis control unit 20 and the second axis control unit 30. The second communication cable 62 of the hard line is used as a backup brake signal, which is activated when the first communication cable 61 of the CAN bus fails, and can combine the advantages of the two cables. In this embodiment, the first axis control unit 20 and the first brake device 40, and the second axis control unit 30 and the second brake device 50 are connected by two parallel first communication cables 61 (CAN bus), which not only realizes redundant communication between the request brake device 10 and the first axis control unit 20, and between the first axis control unit 20 and the second axis control unit 30, but also realizes safe redundant communication between the axis control unit and the brake device, further improving the safety and reliability of the electronic mechanical brake system.

[0050] Example 4

[0051] The vehicle electronic mechanical braking system of this embodiment further distinguishes the number and position of the braking devices of vehicle 1 01 (tractor) and vehicle 2 02 (trailer) on the basis of embodiment 3, and provides a quantity scheme corresponding to the axle control units and the braking devices.

[0052] The vehicle electronic mechanical brake system is provided with four first brake devices 40, which are respectively located at both ends of the front axle and the rear axle of the vehicle 1 01; four second brake devices 50 are respectively located at both ends of the front axle and the rear axle of the vehicle 2 02; at the same time, one or two or more first axle control units 20 and / or one or two or more second axle control units 30 are provided. In other words, both the vehicle 1 01 (tractor) and the vehicle 2 02 (trailer) can be provided with a certain number of axle control units according to different redundant control requirements, and one axle control unit can control four brake devices, or multiple axle control units can control them separately.

[0053] This embodiment selects two preferred control schemes, but is not limited to these two schemes.

[0054] Solution 1: Please refer to Figure 5 In this control scheme, the vehicle electronic mechanical brake system is provided with a first axis control unit 20, the input end of the first axis control unit 20 is connected to the brake request device, the output end is connected to the second axis control unit 30, and the output end is connected to the four first brake devices 40 to control the four first brake devices 40. A second axis control unit 30 is provided, the input end of the second axis control unit 30 is connected to the first axis control unit 20, and the output end is connected to the four second brake devices 50 to control the four second brake devices 50.

[0055] Solution 2: Please refer to Figure 6 In this control scheme, the tractor controls the two brake devices of its front axle and the two brake devices of its rear axle respectively through two axle control units; the trailer also controls the two brake devices of its front axle and the two brake devices of its rear axle respectively through two axle control units, and a communication scheme with two brake request devices is provided. Specifically, the input ends of the two first axle control units 20 are respectively connected to the two brake request devices, the output end of one first axle control unit 20 is connected to the other first axle control unit 20 in a first aspect, the output end is connected to the second axle control unit 30 in a second aspect, and the output end is connected to the two first brake devices 40 located on the front axle of the vehicle-01 (tractor) in a third aspect to control the two first brake devices 40 of the front axle; the other first axle control unit 20 is connected to the other two first brake devices 40 located on the rear axle of the vehicle-01 (tractor) in a third aspect to control the two first brake devices 40 of the front axle; the other first axle control unit 20 is connected to the other two first brake devices 40 located on the rear axle of the vehicle-01 (tractor) in a third aspect to control the two first brake devices 40 of the rear axle. The vehicle electronic mechanical braking system is provided with two second axis control units 30, wherein the input end of one second axis control unit 30 is communicatively connected to the first axis control unit 20, and the output end is communicatively connected to the other second axis control unit 30 on the one hand, and the output end is communicatively connected to the two second braking devices 50 located on the front axle of the vehicle 2 02 (trailer) on the other hand, to control the two second braking devices 50 of the front axle; the other second axis control unit 30 is communicatively connected to the other two second braking devices 50 located on the rear axle of the vehicle 2 02 (trailer), to control the two second braking devices 50 of the rear axle.

[0056] Compared with Scheme 1, Scheme 2 has better braking reliability and safety.

[0057] Example 5

[0058] The vehicle electronic mechanical brake system of this embodiment is based on the scheme 1 of the fourth embodiment, and further provides the internal component modules of the shaft control unit, distinguishes different types of brake request devices, and further explains the specific components of the electronic mechanical brake device. Specifically, the first shaft control unit 20 includes a first signal processing module 21 and a first power module 22; the first signal processing module 21 receives and processes the brake request signal, and sends a brake control instruction to the first brake device 40; the first power module 22 is powered by the vehicle battery 70 through the power line 80, performs energy storage and energy management, and supplies power to the first brake device 40; the second shaft control unit 30 includes a second signal processing module 31 and a second power module 32; the second signal processing module 31 receives and processes the brake request signal, and sends a brake control instruction to the second brake device 50; the second power module 32 is powered by the vehicle battery 70 through the power line 80, performs energy storage and energy management, and supplies power to the second brake device 50.

[0059] The brake request device can be any one of the brake pedal 11, the parking switch 12, and the automatic driving brake request instruction sending device. One or two or more brake request devices are set on the vehicle. After being manually or automatically controlled, the brake request device generates a brake request signal. The brake pedal 11 sends a driving brake request instruction, the parking switch 12 sends a parking request brake instruction, and the automatic driving brake request instruction sending device can send driving and parking brake request instructions.

[0060] The first brake device 40 and the second brake device 50 described in the present invention both refer to electronic mechanical brake devices, which are applicable to the electronic mechanical brake system of the vehicle of the present invention. Among them, the first brake device 40 is mainly composed of a first control unit 41, a first brake motor 42 and a first caliper 43. The second brake device 50 is mainly composed of a second control unit 51, a second brake motor 52 and a second caliper 53. The first control unit 41 receives the control instruction of the first shaft control unit 20, converts the corresponding braking demand torque into a driving current, rotates the first brake motor 42, and then drives the first caliper 43 to move, engage with the brake disc on the wheel hub, generate friction braking force, and decelerate the vehicle. The second brake device 50 is the same.

[0061] Usually, in the braking device, the service brake and parking brake functions can be realized by using two sets of control units, brake motors, and caliper structures, or they can share a set of structures and set a parking lock mechanism on the brake motor or caliper to realize the parking function, depending on actual needs.

[0062] Please refer to Figure 7In the specific setting of the brake request device, this embodiment selects a reference embodiment, and gives a case where the brake request device is provided with a brake pedal 11 and a parking switch 12, and gives a preferred solution for the communication cable solution between the brake pedal 11 and the first axis control unit 20, between the parking switch 12 and the first axis control unit 20, and between the first axis control unit 20 and the first axis control unit 30. The specific solution is as follows:

[0063] A brake pedal 11 and a parking switch 12 are provided on the vehicle 01 (tractor). The brake pedal 11 is connected to the first axle control unit 20 in parallel via a first communication cable 61 (CAN bus) and a second communication cable 62 (hard wire) to transmit a service brake request instruction. The parking switch 42 is connected to the first axle control unit 20 in parallel via a first communication cable 61 (CAN bus) and a second communication cable 62 (hard wire) to transmit a parking brake request instruction.

[0064] During the service braking process of vehicle 01 (tractor), the first axle control unit 20 gives priority to processing the instructions transmitted from the first communication cable 61 (CAN bus) connected to it. If the CAN bus fails or fails, it processes the instructions transmitted from the second communication cable 62 (hard wire) connected to it, and controls the first braking device 40 to perform service braking of the tractor.

[0065] During the parking braking process of vehicle 01 (tractor), the first axle control unit 20 gives priority to processing the instructions transmitted from the first communication cable 61 (CAN bus) connected thereto. If the CAN bus fails or fails, it processes the instructions transmitted from the second communication cable 62 (hard wire) connected thereto and controls the first braking device 50 to perform the parking braking of the tractor.

[0066] The first axis control unit 20 is connected to the second axis control unit 30 in parallel via the first communication cable 61 (CAN bus) and the second communication cable 62 (hard wire), and both the CAN bus and the hard wire transmit the service brake request command and the parking brake request command. The second axis control unit 30 prioritizes the command transmitted by the first communication cable 61 (CAN bus) connected thereto. If the CAN bus fails or fails, it processes the command transmitted from the second communication cable 62 (hard wire) connected thereto, and controls the second brake device 50 to perform the trailer service brake or the passing vehicle parking brake.

[0067] The electronic mechanical braking system of this embodiment realizes the transmission of the braking request command in the tractor and trailer, and realizes redundant transmission. The CAN bus and the hard line are independent communication networks. When one of the networks is damaged or interfered, the other is not affected; secondly, at least two communication lines are used to connect any two communication nodes. When one of the lines is physically damaged or the signal fails, the other line replaces the signal transmission, so each node can still receive the signal and work stably.

[0068] Example 6

[0069] The vehicle electronic mechanical braking system provided in this embodiment is different from that in Embodiment 5 in that:

[0070] Please refer to Figure 8 In the specific setting of the brake request device, this embodiment selects a scheme different from that of Embodiment 5. The brake request device is also provided with a brake pedal 11 and a parking switch 12, but another preferred scheme is provided for the communication cable scheme between the brake pedal 11 and the first axis control unit 20 and the communication cable scheme between the parking switch 12 and the first axis control unit 20. The specific scheme is as follows:

[0071] A brake pedal 11 and a parking switch 12 are provided on the vehicle 01 (tractor). The brake pedal 11 is connected to the first axle control unit 20 in parallel via two first communication cables 61 (CAN bus) to transmit the service brake request instruction. The parking switch 42 is connected to the first axle control unit 20 in parallel via two second communication cables 62 (hard wire) to transmit the parking brake request instruction.

[0072] During the service braking process of vehicle 01 (tractor), the first axle control unit 20 gives priority to processing the instructions transmitted from one of the first communication cables 61 (CAN bus) connected to it. If this CAN bus fails or fails, it processes the instructions transmitted from the other first communication cable 61 (CAN bus) connected to it, and controls the first braking device 40 to perform service braking of the tractor.

[0073] During the parking braking process of vehicle 01 (tractor), the first axle control unit 20 gives priority to processing the instructions transmitted from one of the second communication cables 62 (hard wire) connected thereto. If this hard wire fails or fails, it processes the instructions transmitted from the other second communication cable 62 (hard wire) connected thereto to control the first braking device 50 to perform the parking braking of the tractor.

[0074] The first axis control unit 20 is connected to the second axis control unit 30 in parallel via the first communication cable 61 (CAN bus) and the second communication cable 62 (hard wire), and both the CAN bus and the hard wire transmit the service brake request command and the parking brake request command. The second axis control unit 30 prioritizes the command transmitted by the first communication cable 61 (CAN bus) connected thereto. If the CAN bus fails or fails, it processes the command transmitted from the second communication cable 62 (hard wire) connected thereto, and controls the second brake device 50 to perform the trailer service brake or the passing vehicle parking brake.

[0075] In this embodiment, two CAN buses are used to redundantly transmit the service brake request command issued by the brake pedal 11. Considering that the service brake is frequently used, the amount of signals to be transmitted is large and complex, and the CAN bus transmission is more efficient and accurate; and in the extremely small probability that both CAN buses fail, the first axis control unit 20 can still receive the parking brake request command issued by the parking switch 22 transmitted by hard wire, and the hard wire has advantages in low-speed and stable signal transmission; at least two communication lines are used to connect any two communication nodes. When one of the lines is physically damaged or the signal fails, the other line will replace the signal transmission, so each node can still receive the signal and work stably.

[0076] In addition to the above embodiments, if the vehicle adopts an automatic driving brake request instruction sending device, it can send both a driving brake request instruction and a parking brake request instruction. It can use one CAN bus and one hard wire to connect to the first axis control unit 20 to achieve the same redundant relationship as Example 6.

[0077] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0078] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0079] The above-described embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A vehicle electronic mechanical braking system for braking a vehicle 1 (01) and a vehicle 2 (02); characterized in that: include: A brake request device, a first shaft control unit (20), a second shaft control unit (30), a first brake device (40) and a second brake device (50); wherein, A brake request device, arranged on the vehicle (01), for sending a brake request instruction to the first axle control unit (20); A first shaft control unit (20), the input end of which is connected in communication with the brake request device to receive and process a brake request instruction from the brake request device, and the output end of which is connected in communication with the first brake device (40) to send a brake control instruction to the first brake device (40) and is connected in communication with the second shaft control unit (40) to transmit the brake request instruction to the second shaft control unit (40); A second shaft control unit (30), the input end of which is communicatively connected to the output end of the first shaft control unit (20), receives and processes a braking request instruction transmitted from the first shaft control unit (20), and the output end of which is communicatively connected to the second braking device (50), sends a braking control instruction to the second braking device (50); A first braking device (40) is provided on the vehicle (01) and brakes the vehicle (01) according to a braking control instruction sent by the first shaft control unit (20); A second braking device (50) is provided on the second vehicle (02) and brakes the second vehicle (02) according to a braking control instruction sent by the second shaft control unit (30); The first axis control unit (20) and the second axis control unit (30), as well as the brake request device and the first axis control unit (20), are connected via two parallel communication cables.

2. The vehicle electronic mechanical braking system according to claim 1, characterized in that: The brake request device is connected to the first shaft control unit (20) via a first communication cable (61) and a second communication cable (62) in parallel, or the brake request device is connected to the first shaft control unit (20) via two first communication cables (61) in parallel; the first communication cable (61) uses a CAN bus, and the second communication cable (62) uses a hard line.

3. The vehicle electronic mechanical braking system according to claim 1 or 2, characterized in that: The first axis control unit (20) and the second axis control unit (30) are connected via a first communication cable (61) and a second communication cable (62) in parallel; the first communication cable (61) uses a CAN bus, and the second communication cable (62) uses a hard line.

4. The vehicle electronic mechanical braking system according to claim 1, characterized in that: The first axis control unit (20) and the first brake device (40), as well as the second axis control unit (30) and the second brake device (50), are connected via two parallel first communication cables (61), and the first communication cables (61) use a CAN bus.

5. The vehicle electronic mechanical braking system according to claim 1, characterized in that: Four first braking devices (40) are provided, respectively located at the two ends of the front axle and the two ends of the rear axle of vehicle one (01); four second braking devices (50) are provided, respectively located at the two ends of the front axle and the two ends of the rear axle of vehicle two (01); one or two or more first axle control units (20) and / or one or two or more second axle control units (30) are provided.

6. The vehicle electronic mechanical braking system according to claim 5, characterized in that: A first shaft control unit (20) is provided, wherein the input end of the first shaft control unit (20) is communicatively connected to the brake request device, the output end is communicatively connected to the second shaft control unit (30) on one hand, and the output end is respectively connected to the four first brake devices (40) on the other hand to control the four first brake devices (40); Two or more first axis control units (20) are provided, wherein an input end of one of the first axis control units (20) is communicatively connected to a brake request device, a first output end is communicatively connected to another one or more first axis control units (20), a second output end is communicatively connected to a second axis control unit (30), and a third output end is communicatively connected to two or four of the first brake devices (40) to control the two or four first brake devices (40).

7. The vehicle electronic mechanical braking system according to claim 5 or 6, characterized in that: A second axis control unit (30) is provided, wherein the input end of the second axis control unit (30) is communicatively connected to the first axis control unit (20), and the output end is respectively connected to four second braking devices (50) to control the four second braking devices (50); Two or more second axis control units (30) are provided, wherein the input end of one of the second axis control units (30) is communicatively connected to the first axis control unit (20), the output end is communicatively connected to another one or more second axis control units (30) on the one hand, and the output end is communicatively connected to two or four second brake devices (50) on the other hand, so as to control the two or four second brake devices (50).

8. The vehicle electronic mechanical braking system according to any one of claims 1, 2, 4, 5 and 6, characterized in that: Any one of a brake pedal (11), a parking switch (12), and an automatic driving brake request instruction sending device, or a combination of two or more brake request devices is used.

9. The vehicle electronic mechanical braking system according to any one of claims 1, 2, 4, 5 and 6, characterized in that: The first axis control unit (20) comprises a first signal processing module (21) and a first power module (22); the first signal processing module (21) receives and processes a braking request signal, and sends a braking control instruction to a first braking device (40); the first power module (22) is powered by a vehicle battery through a power line (80), performs energy storage and energy management, and supplies power to the first braking device (40); the second axis control unit (30) comprises a second signal processing module (31) and a second power module (32); the second signal processing module (31) receives and processes a braking request signal, and sends a braking control instruction to a second braking device (50); the second power module (32) is powered by a vehicle battery (70) through a power line (80), performs energy storage and energy management, and supplies power to the second braking device (50).

10. A vehicle electromechanical braking method, using the braking system according to any one of claims 1 to 9, characterized in that: The steps include: S10: the brake request device sends a brake request instruction to the first shaft control unit (20); the brake request device and the first shaft control unit (20) are connected via two parallel communication cables, one of which is used as a backup brake signal and is activated when the other fails; S20: the first axis control unit (20) receives and processes a brake request instruction from a brake request device, sends a brake control instruction to a first brake device (40), and transmits the brake request instruction to a second axis control unit (40); the first axis control unit (20) and the second axis control unit (30) are connected via two parallel communication cables, one of which is used as a backup brake signal and is activated when the other fails; S30: the second shaft control unit (30) receives and processes the braking request instruction transmitted from the first shaft control unit (20), and sends a braking control instruction to the second braking device (50); S40: the first braking device (40) brakes the vehicle 1 (01) according to the braking control command sent by the first shaft control unit (20); S50: The second braking device (50) brakes the vehicle 2 (02) according to the braking control command sent by the second shaft control unit (30).

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