Electronic hydraulic braking system and vehicle

Abstract

The embodiment of the invention provides an electronic hydraulic braking system and a vehicle, and relates to the technical field of braking systems. The electronic hydraulic brake system comprises an electronic stability control system and two master cylinder modules, the control method of the electronic hydraulic brake system comprises measures for coping with different faults, and the faults can be classified according to the measures. The controller makes different countermeasures according to different types of faults in the operation process, under the condition that the first master cylinder module breaks down, the second master cylinder module or the electronic stability control system can still supplement assistance to brake, and therefore the situation that the first master cylinder module breaks down can be dealt with with good braking capacity.

Description

Technical Field

[0001] The present application relates to the technical field of brake systems, and in particular to electronic hydraulic brake systems and vehicles. Background Art

[0002] The Electric Hydraulic Brake (EHB) is developed based on the traditional hydraulic brake. The operating mechanism replaces the traditional hydraulic brake pedal with an electronic brake pedal, eliminating the bulky vacuum booster.

[0003] For commercial vehicles with a load greater than 6 tons, the power assist capability may be insufficient when using the existing electronic hydraulic brake system.

[0004] Therefore, the applicant proposed a dual EHB architecture to expand the upper limit of commercial vehicle loads, and use an electronic hydraulic braking system to replace the bulky vacuum booster in commercial vehicles with larger loads. The electronic hydraulic braking system is a dual EHB architecture, which significantly improves the efficiency of the braking system.

[0005] In a dual EHB architecture, how to deal with a situation where one of the EHBs fails is a technical problem to be solved by this application. Summary of the invention

[0006] The purpose of the present application is to provide an electronic hydraulic braking system and a vehicle to solve the technical problem of how to deal with the situation where one of the EHBs fails under a dual EHB architecture.

[0007] To achieve the above objectives, the embodiments of the present application adopt the following technical solutions.

[0008] In a first aspect, an embodiment of the present application provides an electronic hydraulic brake system, including a controller, an electronic stability control system, an oil pot module, a first master cylinder module, and a second master cylinder module; the oil pot module is connected to the first master cylinder module and the second master cylinder module respectively; the oil pot module is used to store brake fluid; The first master cylinder module includes a pedal displacement sensor; the controller is used to determine the pressure building target proportion borne by the first master cylinder module and the pressure building target proportion borne by the second master cylinder module according to the signal of the pedal displacement sensor; the first master cylinder module and the second master cylinder module both have motors for providing assistance for the pressure building target; The first master cylinder module and the second master cylinder module are both connected to the electronic stability control system; The controller is used to execute an electronic hydraulic brake system control method, and the electronic hydraulic brake system control method includes: When the first master cylinder module has a first type of fault, increasing the proportion of the pressure build-up target borne by the electronic stability control system; When the first master cylinder module has a second type of fault, increasing the proportion of the pressure build-up target borne by the second master cylinder module; When the first master cylinder module has a third type of fault, the proportion of the target pressure buildup borne by the electronic stability control system is increased, and the proportion of the target pressure buildup borne by the second master cylinder module is increased.

[0009] Optionally, the first category fault includes at least one of the following sub-category faults: (1) It is detected that the communication of the first master cylinder module is normal and the pedal displacement sensor is abnormal; (2) It is detected that the communication of the first master cylinder module is normal, the pedal displacement sensor is normal, the assist force of the first master cylinder module is insufficient, and the insufficient assist force of the first master cylinder module is less than the pressure build-up target of the second master cylinder module; (3) A communication abnormality of the first master cylinder module is detected, and the power assistance of the first master cylinder module is normal; The communication of the first master cylinder module includes: communication between the first master cylinder module and the controller, communication between the first master cylinder module and the electronic stability control system, and communication between the first master cylinder module and the second master cylinder module.

[0010] Optionally, when the first master cylinder module has a first type of fault, the step of increasing the proportion of the pressure build-up target borne by the electronic stability control system includes: When it is detected that the communication of the first master cylinder module is normal and the pedal displacement sensor is abnormal, the target proportion of pressure buildup borne by the first master cylinder module and the second master cylinder module is canceled, and the electronic stability control system assists in pressure buildup according to the set multiple of the pressure of the first master cylinder module.

[0011] Optionally, when the first master cylinder module has a first type of fault, the step of increasing the proportion of the pressure build-up target borne by the electronic stability control system includes: When it is detected that the communication of the first master cylinder module is normal, the pedal displacement sensor is normal, the assist force of the first master cylinder module is insufficient, and the insufficient assist force of the first master cylinder module is smaller than the pressure buildup target borne by the second master cylinder module, the pressure buildup target borne by the second master cylinder module is kept unchanged, and the pressure buildup target of the electronic stability control system is increased.

[0012] Optionally, when the first master cylinder module has a first type of fault, the step of increasing the proportion of the pressure build-up target borne by the electronic stability control system includes: When a communication anomaly of the first master cylinder module is detected and the assist of the first master cylinder module is normal, a pressure building target of the electronic stability control system is set, and the portion borne by the electronic stability control system is increased, while the portion borne by the first master cylinder module is reduced.

[0013] Optionally, the second category fault includes the following sub-category faults: It is detected that the communication of the first master cylinder module is abnormal and the power assistance of the first master cylinder module is abnormal.

[0014] Optionally, when the first master cylinder module has a second type of fault, the step of adjusting the pressure build-up target of the second master cylinder module to a larger pressure build-up target includes: The pressure build-up target of the second master cylinder module is set according to the vehicle speed so as to decelerate the vehicle to a stop.

[0015] Optionally, the third category fault includes the following sub-category faults: It is detected that the communication of the first master cylinder module is normal, the pedal displacement sensor is normal, the assist force of the first master cylinder module is insufficient, and the insufficient assist force of the first master cylinder module is greater than the pressure building target of the second master cylinder module.

[0016] Optionally, when the first master cylinder module has a third type of fault, the steps of increasing the proportion of the pressure build-up target borne by the electronic stability control system and increasing the proportion of the pressure build-up target borne by the second master cylinder module include: When it is detected that the communication of the first master cylinder module is normal, the pedal displacement sensor is normal, the assist force of the first master cylinder module is insufficient, and the insufficient assist force of the first master cylinder module is greater than the pressure building target of the second master cylinder module, the proportion of the pressure building target borne by the second master cylinder module is increased, and the pressure building target of the electronic stability control system is set to achieve the total pressure building target.

[0017] In a second aspect, an embodiment of the present application provides a vehicle, wherein the vehicle includes the electronic hydraulic braking system described in the first aspect.

[0018] Compared with the prior art, this application has the following beneficial effects: When the electronic hydraulic brake system provided by the embodiment of the present application is working, if the first master cylinder module fails, braking can still be achieved by the second master cylinder module. The second master cylinder module forms redundancy and can cope with the failure of the first master cylinder module with good braking ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A schematic diagram of an electronic hydraulic brake system provided in an embodiment of the present application; Figure 2 A schematic diagram of an electronic hydraulic brake system including a first valve and a second valve provided in an embodiment of the present application; Figure 3 A schematic diagram of communication between a first master cylinder module and a second master cylinder module provided in an embodiment of the present application; Figure 4 A schematic diagram of a specific implementation of an electronic stability control system 1 provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. The described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described in the drawings here can be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0023] In the description of this application, it should be noted that: Relational terms such as first and second, etc., are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations; “Connection” should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium.

[0024] like Figure 1The electronic hydraulic brake system includes a controller, an electronic stability control system (ESC), an oil tank module, a first master cylinder module and a second master cylinder module; both the first master cylinder module and the second master cylinder module have motors. The electronic stability control system is used to use the hydraulic pressure of the brake fluid to brake the wheels of the vehicle with the brake pads. In particular, when the vehicle skids, drifts, or understeers / oversteers, the electronic stability control system can automatically intervene to help the vehicle regain stability by braking one or more wheels and adjusting the engine power output. The oil tank module is used to provide brake fluid to the first master cylinder module and the second master cylinder module. The brake fluid can be selected from oil suitable for the hydraulic system.

[0025] The oil pot module is connected to the first master cylinder module and the second master cylinder module respectively; the first master cylinder module and the second master cylinder module are both connected to the electronic stability control system.

[0026] The first master cylinder module includes a pedal displacement sensor; the controller is used to determine the proportion of the pressure building target borne by the first master cylinder module and the proportion of the pressure building target borne by the second master cylinder module according to the signal of the pedal displacement sensor; the first master cylinder module and the second master cylinder module both have motors for providing assistance for the pressure building target.

[0027] The first master cylinder module, the second master cylinder module and the electronic stability control system all have pressure-building functions and can assume certain pressure-building targets; the ratio of a module's pressure-building target to the total pressure-building target is the pressure-building target ratio of the module. The pressure-building target can be a target flow at a target pressure, or a target power for increasing hydraulic pressure. Generally, the driver's foot alone is not enough to achieve sufficient hydraulic pressure for good braking, so pressure building usually requires assistance.

[0028] like Figure 2 , the electronic stability control system may include a first oil circuit and a second oil circuit. Different oil circuits provide hydraulic pressure for different wheel brake pads. For example, the following different implementations: The first oil circuit is used to provide braking for the left wheel, and the second oil circuit is used to provide braking for the right wheel; Or the first oil circuit is used to provide braking for the right wheel, and the second oil circuit is used to provide braking for the left wheel; Or the first oil circuit is used to provide braking for the front axle, and the second oil circuit is used to provide braking for the rear axle; Alternatively, the first oil circuit is used to provide braking for the rear axle, and the second oil circuit is used to provide braking for the front axle.

[0029] The beneficial effect of the left and right side division method is that when the vehicle skids, drifts, or understeers / oversteers, the electronic stability control system can provide different hydraulic pressures to the left and right wheel brake pads more quickly, thereby better restoring the stability of the vehicle when skidding, drifting, or understeers / oversteers.

[0030] Each master cylinder module can be connected to the first oil circuit and the second oil circuit of the electronic stability control system at the same time. The output of the first master cylinder module includes two circuits, and the output of the second master cylinder module includes two circuits, with the following connection relationship: The first output of the first master cylinder module is connected to the first oil circuit; The second output of the first master cylinder module is connected to the second oil circuit; The first output of the second master cylinder module is connected to the first oil circuit; The second output of the second master cylinder module is connected to the second oil circuit.

[0031] In some embodiments, a valve may be provided between the output of the master cylinder module and the oil circuit of the electronic stability control system to facilitate the control of different master cylinder modules, for example Figure 2 , set the first valve and the second valve: The first output of the first master cylinder module is directly connected to the first oil circuit; The second output of the first master cylinder module is connected to the second oil circuit through the first valve; The first output of the second master cylinder module is connected to the first oil circuit through the second valve; The second output of the second master cylinder module is directly connected to the second oil circuit.

[0032] The two master cylinder modules may have different configurations, for example, the first master cylinder module includes a pedal displacement sensor, a first motor module and a first master cylinder, the pedal displacement sensor is used to detect the displacement when the brake pedal is stepped on, and the second master cylinder module includes a second motor module and a second master cylinder, and the second master cylinder module is not related to the brake pedal. In the first master cylinder module, according to the output signal of the pedal displacement sensor, the first motor module causes the brake fluid to build pressure in the first master cylinder.

[0033] The output of the first master cylinder can be divided into two paths, and the two outputs of the first master cylinder can correspond to the first output and the second output of the first master cylinder module mentioned above: the first output of the first master cylinder is directly connected to the electronic stability control system; the second output of the first master cylinder is connected to the electronic stability control system through the first valve.

[0034] The first master cylinder module can output a signal, and the controller of the output signal can be set in the first motor module. The second master cylinder module can determine the amount of assistance based on the output signal of the first master cylinder module, that is: based on the output signal of the first master cylinder module, the second motor module causes the brake fluid to build up pressure in the second master cylinder.

[0035] The output of the second master cylinder can be divided into two paths, and the two outputs of the second master cylinder can correspond to the first output and the second output of the second master cylinder module mentioned above: the first output of the second master cylinder is connected to the electronic stability control system through the second valve; the second output of the second master cylinder is directly connected to the electronic stability control system. Figure 3 .

[0036] The first master cylinder module may output signals through a bus, such as a CAN bus. The second master cylinder module may also receive output signals from the first master cylinder module through a bus, that is, the second master cylinder module and the first master cylinder module are both connected to the CAN bus, and the second motor module builds up brake fluid pressure in the second master cylinder according to the signal output to the CAN bus by the first master cylinder module.

[0037] Figure 4 An implementation of an electronic stability control system 1 with multiple valves is shown. In the figure, M represents a motor. The motor in the electronic stability control system 1 can drive two reflux pumps. The reflux pumps can return oil to the oil pot module to release the brake. The oil pot module can include a large oil pot and two small oil pots; the large oil pot is connected to the two small oil pots respectively, the first small oil pot is connected to the first master cylinder module; the second small oil pot is connected to the second master cylinder module, which is convenient for the arrangement and oil use of the two master cylinder modules. One circuit of the electronic stability control system 1 provides hydraulic pressure for the brakes of the two wheels on the left (1F and 1R in the figure), and the other circuit provides hydraulic pressure for the brakes of the two wheels on the right (2F and 2R in the figure). A pressure sensor can be set at the inlet of one circuit, and a corresponding solenoid valve can be set for each wheel branch. Figure 4 , two pressure sensors may be provided to detect the pressures of the first master cylinder and the second master cylinder.

[0038] The controller is used to execute the electronic hydraulic brake system control method, which includes countermeasures for dealing with different faults, and each fault can be classified according to severity or countermeasures. The controller makes different countermeasures according to different types of faults during operation.

[0039] The electronic hydraulic brake system control method may include part or all of the following execution logic: 1. In the absence of any faults, the first master cylinder module and the second master cylinder module share the pressure building target in proportion (for example, a 1:1 ratio can make the two master cylinder modules age evenly and extend their service life to the maximum extent). The first master cylinder module and the second master cylinder module can form a redundant backup for each other, and the electronic stability control system may not build up pressure; or in the absence of any faults, only the first master cylinder module bears the pressure building target, and the second master cylinder module serves as a redundant backup for the first master cylinder module.

[0040] 2. The communication of the first master cylinder module is normal, the pedal displacement sensor is normal, and the power assistance of the first master cylinder module is insufficient. Specifically, it can be divided into the following different situations: (1) The insufficient power assistance of the first master cylinder module is less than the current pressure target of the second master cylinder module (this condition can also be replaced by: the insufficient power assistance of the first master cylinder module is less than a threshold, that is, replacing the pressure target of the second master cylinder module with a threshold). This is a relatively minor fault. The countermeasures at this time are: the pressure target of the second master cylinder module remains unchanged, the pressure target of the electronic stability control system is increased, or the pressure target ratio of the electronic stability control system is increased. The electronic stability control system can make up for the insufficient power assistance of the first master cylinder module.

[0041] (2) The insufficient power of the first master cylinder module is greater than the current pressure target of the second master cylinder module (this condition can also be replaced by: the insufficient power of the first master cylinder module is greater than a threshold). This is a slightly more serious fault than the previous fault. The countermeasures at this time are: the pressure target of the second master cylinder module is increased, and the pressure target of the electronic stability control system is set to achieve the total pressure target. (An alternative countermeasure is not to set the pressure target of the electronic stability control system, and the total pressure target is achieved entirely by the second master cylinder module.) 3. The communication of the first master cylinder module is normal, but the pedal displacement sensor is abnormal (regardless of the power assist of the first master cylinder module). The countermeasures at this time are: cancel the power assist of the first master cylinder module and the second master cylinder module, and the electronic stability control system builds pressure as a certain multiple of the internal pressure of the first master cylinder module as the pressure target. The internal pressure of the first master cylinder module is the pressure generated by the driver's pedal. The reason for this measure is: when the first master cylinder module and the second master cylinder module are both set to obtain the pressure target by relying on the pedal displacement sensor, when the pedal displacement sensor fails, the first master cylinder module and the second master cylinder module cannot determine the pressure target, so the electronic stability control system builds pressure. (An alternative countermeasure is to not cancel the power assist of the first master cylinder module and the second master cylinder module, not use the pedal displacement sensor, but use the internal pressure sensor, still use the power assist of the first master cylinder module and the second master cylinder module, and set the controller to determine the pressure target of the first master cylinder module and the second master cylinder module according to the internal pressure sensor.) 4. The communication of the first master cylinder module is abnormal (regardless of the pedal displacement sensor), and the assistance of the first master cylinder module is normal. At this time, the countermeasures are: the first master cylinder module and the electronic stability control system build pressure at the same time, and the part borne by the electronic stability control system increases, and the part borne by the first master cylinder module decreases. The reason for this measure is: because of the abnormal communication, it is impossible to determine the execution of the first master cylinder module, which is a more serious fault; under normal circumstances, normal communication must be maintained to determine that the first master cylinder module is executing normally, and it is considered safe enough; when the execution of the first master cylinder module cannot be determined, the electronic stability control system gradually replaces the work of the first master cylinder module.

[0042] 5. The communication of the first master cylinder module is abnormal (regardless of the pedal displacement sensor), and the power assistance of the first master cylinder module is abnormal. This is one of the most serious faults. The countermeasures at this time are: the second master cylinder module builds pressure according to the vehicle speed to slow the vehicle down to a stop. The reason why the second master cylinder module builds pressure instead of the electronic stability control system is that the pressure-building capacity of the electronic stability control system is usually small, which may not be enough to provide enough braking force to slow the vehicle down quickly enough, especially when driving at high speed.

[0043] According to the countermeasures, the above faults can be classified into Category I faults, Category II faults and Category III faults, which are explained one by one below.

[0044] The first category of faults may include at least one of the following sub-category faults: (1) It is detected that the communication of the first master cylinder module is normal and the pedal displacement sensor is abnormal (the communication of the first master cylinder module includes: the communication between the first master cylinder module and the controller, the communication between the first master cylinder module and the electronic stability control system, and the communication between the first master cylinder module and the second master cylinder module); (2) It is detected that the communication of the first master cylinder module is normal, the pedal displacement sensor is normal, the assist of the first master cylinder module is insufficient, and the insufficient assist of the first master cylinder module is less than the pressure build-up target of the second master cylinder module; (3) Communication abnormality of the first master cylinder module is detected, but the power assistance of the first master cylinder module is normal.

[0045] When the first master cylinder module has a first type of fault, the controller increases the proportion of the pressure build-up target borne by the electronic stability control system, while not increasing the pressure build-up target of the second master cylinder module, which may be specifically one of the following: The target proportion of pressure buildup undertaken by the first and second master cylinder modules is cancelled, and the electronic stability control system assists in pressure buildup according to the set multiple of the pressure of the first master cylinder module; Setting a pressure build-up target for the electronic stability control system, and increasing the portion borne by the electronic stability control system and decreasing the portion borne by the first master cylinder module; When the insufficient assistance of the first master cylinder module is smaller than the pressure buildup target borne by the second master cylinder module, the pressure buildup target borne by the second master cylinder module is kept unchanged, and the pressure buildup target of the electronic stability control system is increased.

[0046] The second category of failures includes the following subcategories of failures: A communication anomaly of the first master cylinder module is detected, and a boost anomaly of the first master cylinder module is detected.

[0047] When the first master cylinder module has a second category fault, the controller adjusts the pressure buildup target of the second master cylinder module to a larger pressure buildup target without increasing the pressure buildup target of the electronic stability control system. Specifically, the pressure buildup target of the second master cylinder module is set according to the vehicle speed to slow the vehicle down to a stop.

[0048] The third category of failures includes the following sub-categories of failures: It is detected that the communication of the first master cylinder module is normal, the pedal displacement sensor is normal, the assist force of the first master cylinder module is insufficient, and the insufficient assist force of the first master cylinder module is greater than the pressure building target of the second master cylinder module.

[0049] When the first master cylinder module has a third category fault, the controller increases the proportion of the pressure buildup target borne by the electronic stability control system, and increases the proportion of the pressure buildup target borne by the second master cylinder module. Specifically, the proportion of the pressure buildup target borne by the second master cylinder module is increased, and the pressure buildup target of the electronic stability control system is set to achieve the total pressure buildup target.

[0050] Based on the above embodiments, an embodiment of the present application further provides a vehicle, which includes the above-mentioned electronic hydraulic braking system.

[0051] The above-described device and system embodiments are merely illustrative, and some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. A person skilled in the art may understand and implement the present embodiment without creative effort.

[0052] The above are only preferred specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An electronic hydraulic brake system, characterized in that: It includes a controller, an electronic stability control system, an oil pot module, a first master cylinder module and a second master cylinder module; the oil pot module is connected to the first master cylinder module and the second master cylinder module respectively; the oil pot module is used to store brake fluid; The first master cylinder module includes a pedal displacement sensor; the controller is used to determine the pressure building target proportion borne by the first master cylinder module and the pressure building target proportion borne by the second master cylinder module according to the signal of the pedal displacement sensor; the first master cylinder module and the second master cylinder module both have motors for providing assistance for the pressure building target; The first master cylinder module and the second master cylinder module are both connected to the electronic stability control system; The controller is used to execute an electronic hydraulic brake system control method, and the electronic hydraulic brake system control method includes: When the first master cylinder module has a first type of fault, increasing the proportion of the pressure build-up target borne by the electronic stability control system; When the first master cylinder module has a second type of fault, increasing the proportion of the pressure build-up target borne by the second master cylinder module; When the first master cylinder module has a third type of fault, the proportion of the target pressure buildup borne by the electronic stability control system is increased, and the proportion of the target pressure buildup borne by the second master cylinder module is increased.

2. The electronic hydraulic brake system according to claim 1, characterized in that: The first category fault includes at least one of the following sub-category faults: (1) It is detected that the communication of the first master cylinder module is normal and the pedal displacement sensor is abnormal; (2) It is detected that the communication of the first master cylinder module is normal, the pedal displacement sensor is normal, the assist force of the first master cylinder module is insufficient, and the insufficient assist force of the first master cylinder module is less than the pressure build-up target of the second master cylinder module; (3) A communication abnormality of the first master cylinder module is detected, and the power assistance of the first master cylinder module is normal; The communication of the first master cylinder module includes: communication between the first master cylinder module and the controller, communication between the first master cylinder module and the electronic stability control system, and communication between the first master cylinder module and the second master cylinder module.

3. The electronic hydraulic brake system according to claim 2, characterized in that: When the first master cylinder module has a first type of fault, the step of increasing the proportion of the pressure build-up target borne by the electronic stability control system includes: When it is detected that the communication of the first master cylinder module is normal and the pedal displacement sensor is abnormal, the target proportion of pressure buildup borne by the first master cylinder module and the second master cylinder module is canceled, and the electronic stability control system assists in pressure buildup according to the set multiple of the pressure of the first master cylinder module.

4. The electronic hydraulic brake system according to claim 2, characterized in that: When the first master cylinder module has a first type of fault, the step of increasing the proportion of the pressure build-up target borne by the electronic stability control system includes: When it is detected that the communication of the first master cylinder module is normal, the pedal displacement sensor is normal, the assist force of the first master cylinder module is insufficient, and the insufficient assist force of the first master cylinder module is smaller than the pressure buildup target borne by the second master cylinder module, the pressure buildup target borne by the second master cylinder module is kept unchanged, and the pressure buildup target of the electronic stability control system is increased.

5. The electronic hydraulic brake system according to claim 2, characterized in that: When the first master cylinder module has a first type of fault, the step of increasing the proportion of the pressure build-up target borne by the electronic stability control system includes: When a communication anomaly of the first master cylinder module is detected and the assist of the first master cylinder module is normal, a pressure building target of the electronic stability control system is set, and the portion borne by the electronic stability control system is increased, while the portion borne by the first master cylinder module is reduced.

6. The electronic hydraulic brake system according to claim 1, characterized in that: The second category of faults includes the following sub-categories of faults: It is detected that the communication of the first master cylinder module is abnormal and the power assistance of the first master cylinder module is abnormal.

7. The electronic hydraulic brake system according to claim 6, characterized in that: When the first master cylinder module has a second type of fault, the step of adjusting the pressure build-up target of the second master cylinder module to a larger pressure build-up target includes: The pressure build-up target of the second master cylinder module is set according to the vehicle speed so as to decelerate the vehicle to a stop.

8. The electronic hydraulic brake system according to claim 1, characterized in that: The third category of faults includes the following sub-categories of faults: It is detected that the communication of the first master cylinder module is normal, the pedal displacement sensor is normal, the assist force of the first master cylinder module is insufficient, and the insufficient assist force of the first master cylinder module is greater than the pressure building target of the second master cylinder module.

9. The electronic hydraulic brake system according to claim 1, characterized in that: When the first master cylinder module has a third type of fault, the steps of increasing the pressure build target ratio borne by the electronic stability control system and increasing the pressure build target ratio borne by the second master cylinder module include: When it is detected that the communication of the first master cylinder module is normal, the pedal displacement sensor is normal, the assist force of the first master cylinder module is insufficient, and the insufficient assist force of the first master cylinder module is greater than the pressure building target of the second master cylinder module, the proportion of the pressure building target borne by the second master cylinder module is increased, and the pressure building target of the electronic stability control system is set to achieve the total pressure building target.

10. A vehicle, characterized in that: The vehicle comprises the electronic hydraulic brake system according to any one of claims 1 to 9.

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