An electro-hydraulic brake system and vehicle

Abstract

The embodiment of the application provides an electronic hydraulic brake system and a vehicle, and relates to the technical field of brake systems.The electronic hydraulic brake system comprises an electronic stability control system and two master cylinder modules, and the control method of the electronic hydraulic brake system comprises response measures for different faults, and each fault can be classified according to the response measures.During operation, the controller makes different response measures according to different categories of faults, and in the case that the first master cylinder module fails, the second master cylinder module or the electronic stability control system can still provide supplementary assistance to brake, so that the case that the first master cylinder module fails can be responded to with good braking capability.

Description

Technical Field

[0001] This application relates to the field of braking system technology, and more particularly to electro-hydraulic braking systems and vehicles. Background Technology

[0002] Electro-hydraulic braking systems (EHB) are developed from traditional hydraulic brakes. The operating mechanism replaces the traditional hydraulic brake pedal with an electronic brake pedal, eliminating the need for a 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 electro-hydraulic braking system.

[0004] Therefore, the applicant proposed a dual EHB architecture to expand the upper limit of commercial vehicle load. In commercial vehicles with larger loads, an electro-hydraulic braking system is used to replace the bulky vacuum booster. Moreover, the electro-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 the failure of one of the EHBs is the technical problem that this application aims to solve. Summary of the Invention

[0006] The purpose of this application is to provide an electro-hydraulic braking system and vehicle to solve the technical problem of how to deal with the failure of one of the EHBs in a dual EHB architecture.

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

[0008] In a first aspect, embodiments of this application provide an electro-hydraulic braking system, including a controller, an electronic stability control system, a reservoir module, a first master cylinder module, and a second master cylinder module; the reservoir module is connected to the first master cylinder module and the second master cylinder module respectively; the reservoir module is used to store brake fluid;

[0009] The first master cylinder module includes a pedal displacement sensor; the controller is used to determine the proportion of the pressure build-up target undertaken by the first master cylinder module and the proportion of the pressure build-up target undertaken by the second master cylinder module based on the signal from the pedal displacement sensor; both the first master cylinder module and the second master cylinder module have motors for providing assistance to the pressure build-up target;

[0010] Both the first master cylinder module and the second master cylinder module are connected to the electronic stability control system;

[0011] The controller is used to execute an electro-hydraulic braking system control method, the electro-hydraulic braking system control method including:

[0012] In the event of a first-category fault in the first master cylinder module, the proportion of pressure build-up target undertaken by the electronic stability control system will be increased.

[0013] In the event of a second-category fault in the first master cylinder module, the proportion of pressure build-up target undertaken by the second master cylinder module will be increased.

[0014] In the event of a third-category fault in the first master cylinder module, the proportion of pressure build-up target undertaken by the electronic stability control system is increased, and the proportion of pressure build-up target undertaken by the second master cylinder module is also increased.

[0015] Optionally, the first category of faults includes at least one of the following subcategories of faults:

[0016] (1) The communication of the first master cylinder module is normal, but the pedal displacement sensor is abnormal;

[0017] (2) The communication of the first master cylinder module is normal, the pedal displacement sensor is normal, the assistance of the first master cylinder module is insufficient, and the insufficient assistance of the first master cylinder module is less than the pressure build-up target of the second master cylinder module.

[0018] (3) A communication abnormality was detected in the first master cylinder module, while the power assist of the first master cylinder module was normal;

[0019] 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.

[0020] Optionally, in the event of a first-category fault in the first master cylinder module, the step of increasing the proportion of the pressure build-up target undertaken by the electronic stability control system includes:

[0021] If the communication of the first master cylinder module is normal and the pedal displacement sensor is abnormal, the pressure build-up target proportion undertaken by the first master cylinder module and the second master cylinder module is cancelled, and the electronic stability control system assists in pressure build-up according to the set multiple of the pressure of the first master cylinder module.

[0022] Optionally, in the event of a first-category fault in the first master cylinder module, the step of increasing the proportion of the pressure build-up target undertaken by the electronic stability control system includes:

[0023] If the communication of the first master cylinder module is normal, the pedal displacement sensor is normal, the assistance of the first master cylinder module is insufficient, and the insufficient assistance of the first master cylinder module is less than the pressure build-up target undertaken by the second master cylinder module, the pressure build-up target undertaken by the second master cylinder module remains unchanged, and the pressure build-up target of the electronic stability control system is increased.

[0024] Optionally, in the event of a first-category fault in the first master cylinder module, the step of increasing the proportion of the pressure build-up target undertaken by the electronic stability control system includes:

[0025] If a communication anomaly is detected in the first master cylinder module, but the assist function of the first master cylinder module is normal, the pressure build-up target of the electronic stability control system is set, and the portion undertaken by the electronic stability control system is increased, while the portion undertaken by the first master cylinder module is reduced.

[0026] Optionally, the second category of faults includes the following subcategories of faults:

[0027] A communication anomaly was detected in the first master cylinder module, and an assist anomaly was detected in the first master cylinder module.

[0028] Optionally, in the event of a second-category fault in the first master cylinder module, the step of adjusting the pressure build-up target of the second master cylinder module to a larger pressure build-up target includes:

[0029] The pressure build-up target of the second master cylinder module is set according to the vehicle speed to decelerate the vehicle to a stop.

[0030] Optionally, the third category of faults includes the following subcategories of faults:

[0031] The communication of the first master cylinder module is normal, the pedal displacement sensor is normal, the assistance of the first master cylinder module is insufficient, and the insufficient assistance of the first master cylinder module is greater than the pressure build-up target of the second master cylinder module.

[0032] Optionally, in the event of a third-category fault in the first master cylinder module, the steps of increasing the proportion of pressure build-up target undertaken by the electronic stability control system and increasing the proportion of pressure build-up target undertaken by the second master cylinder module include:

[0033] If the communication of the first master cylinder module is normal, the pedal displacement sensor is normal, the assistance of the first master cylinder module is insufficient, and the insufficient assistance of the first master cylinder module is greater than the pressure build-up target of the second master cylinder module, the proportion of the pressure build-up target undertaken by the second master cylinder module is increased, and the pressure build-up target of the electronic stability control system is set to achieve the total pressure build-up target.

[0034] Secondly, embodiments of this application provide a vehicle that includes the electro-hydraulic braking system described in the first aspect.

[0035] Compared with the prior art, this application has the following advantages:

[0036] When the electro-hydraulic braking system provided in this application embodiment is working, if the first master cylinder module fails, the second master cylinder module can still achieve braking. The second master cylinder module forms redundancy and can cope with the failure of the first master cylinder module with good braking capability. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 A schematic diagram of an electro-hydraulic braking system provided in this application embodiment;

[0039] Figure 2 A schematic diagram of an electro-hydraulic braking system including a first valve and a second valve is provided for an embodiment of this application;

[0040] Figure 3 A schematic diagram illustrating communication between a first master cylinder module and a second master cylinder module, provided for an embodiment of this application;

[0041] Figure 4 This is a schematic diagram illustrating a specific implementation of an electronic stability control system 1 provided in this application. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. The described embodiments are only some embodiments of this application, not all embodiments. The components of the embodiments of this application described in the accompanying drawings can generally be arranged and designed in various different configurations.

[0043] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0044] In the description of this application, it should be noted that:

[0045] Relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations;

[0046] "Connection" should be interpreted broadly. 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.

[0047] like Figure 1 The electro-hydraulic braking system includes a controller, an Electronic Stability Control (ESC) system, a brake fluid reservoir module, a first master cylinder module, and a second master cylinder module; both the first and second master cylinder modules have motors. The ESC system uses the hydraulic pressure of the brake fluid to brake the individual wheels of the vehicle. Especially when the vehicle experiences skidding, fishtailing, or understeer / oversteer, the ESC system can automatically intervene by braking one or more wheels and adjusting engine power output to help the vehicle regain stability. The brake fluid reservoir module supplies brake fluid to the first and second master cylinder modules. The brake fluid can be a suitable oil for hydraulic systems.

[0048] The oil reservoir module is connected to the first master cylinder module and the second master cylinder module respectively; both the first master cylinder module and the second master cylinder module are connected to the electronic stability control system.

[0049] The first master cylinder module includes a pedal displacement sensor; the controller is used to determine the proportion of the pressure build-up target undertaken by the first master cylinder module and the proportion of the pressure build-up target undertaken by the second master cylinder module based on the signal from the pedal displacement sensor; both the first master cylinder module and the second master cylinder module have motors for providing assistance to the pressure build-up target.

[0050] The first master cylinder module, the second master cylinder module, and the electronic stability control system all have pressure-building capabilities and can each undertake a certain pressure-building target. The ratio of a module's pressure-building target to the total pressure-building target is the percentage of that module's pressure-building target. The pressure-building target can be a target flow rate at a target pressure or a target power used to increase hydraulic pressure. Under normal circumstances, the driver's foot pedal alone is insufficient to generate enough hydraulic pressure for effective braking; therefore, pressure building usually requires assistance.

[0051] like Figure 2 The electronic stability control system may include a first hydraulic circuit and a second hydraulic circuit. Different hydraulic circuits provide hydraulic pressure to different wheel brake pads. Examples of different implementations include:

[0052] The first hydraulic circuit is used to provide braking for the left wheel, and the second hydraulic circuit is used to provide braking for the right wheel;

[0053] Alternatively, the first hydraulic circuit can be used to brake the right wheel, and the second hydraulic circuit can be used to brake the left wheel;

[0054] Alternatively, the first hydraulic circuit can be used to provide braking for the front axle, and the second hydraulic circuit can be used to provide braking for the rear axle;

[0055] Alternatively, the first hydraulic circuit can be used to brake the rear axle, and the second hydraulic circuit can be used to brake the front axle.

[0056] The advantage of dividing the vehicle into left and right sides is that when the vehicle experiences skidding, fishtailing, or understeer / oversteer, the electronic stability control system can more quickly provide different hydraulic pressures to the brake pads of the left and right wheels, thereby better restoring the vehicle to stability during skidding, fishtailing, or understeer / oversteer.

[0057] Each master cylinder module can be simultaneously connected to the first and second hydraulic circuits of the electronic stability control system. The first master cylinder module has two outputs, and the second master cylinder module has two outputs, with the following connection relationships:

[0058] The first output of the first master cylinder module is connected to the first oil circuit;

[0059] The second output of the first master cylinder module is connected to the second oil circuit;

[0060] The first output of the second master cylinder module is connected to the first oil circuit;

[0061] The second output of the second master cylinder module is connected to the second oil circuit.

[0062] In some implementations, a valve can be installed 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:

[0063] The first output of the first master cylinder module is directly connected to the first oil circuit;

[0064] The second output of the first master cylinder module is connected to the second oil circuit via the first valve;

[0065] The first output of the second master cylinder module is connected to the first oil circuit via the second valve;

[0066] The second output of the second master cylinder module is directly connected to the second oil circuit.

[0067] The two master cylinder modules can have different configurations. For example, the first master cylinder module can include a pedal displacement sensor, a first motor module, and a first master cylinder. The pedal displacement sensor is used to detect the displacement of the brake pedal when it is depressed. The second master cylinder module includes a second motor module and a second master cylinder, and the second master cylinder module is independent of the brake pedal. In the first master cylinder module, based on the output signal of the pedal displacement sensor, the first motor module pressurizes the brake fluid in the first master cylinder.

[0068] The output of the first master cylinder can be divided into two paths, which correspond to the first and second outputs 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.

[0069] The first master cylinder module can output a signal, and the controller for 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.

[0070] The output of the second master cylinder can be divided into two paths, which correspond to the first and second outputs of the second master cylinder module described above: the first output of the second master cylinder is connected to the electronic stability control system via the second valve; the second output of the second master cylinder is directly connected to the electronic stability control system. The above composition and connection structure are as follows: Figure 3 .

[0071] The first master cylinder module can output signals via a bus, such as a CAN bus. The second master cylinder module can also receive the output signals from the first master cylinder module via a bus, meaning both the second and first master cylinder modules are connected to the CAN bus. The second motor module uses the signals output from the first master cylinder module to the CAN bus to pressurize the brake fluid in the second master cylinder.

[0072] Figure 4 An embodiment of an electronic stability control system 1 with multiple valves is illustrated. In the figure, M represents a motor. The motor in the electronic stability control system 1 can drive two return pumps. The return pumps can return oil to the oil reservoir module to release the brakes. The oil reservoir module can include a large oil reservoir and two small oil reservoirs. The large oil reservoir is connected to each of the two small oil reservoirs. The first small oil reservoir is connected to the first master cylinder module, and the second small oil reservoir is connected to the second master cylinder module, facilitating the arrangement and oil supply of the two master cylinder modules. One path of the electronic stability control system 1 provides hydraulic pressure to the brakes of the two left wheels (1F and 1R in the figure), and another path provides hydraulic pressure to the brakes of the two right wheels (2F and 2R in the figure). A pressure sensor can be installed at the inlet of one of the paths, and a corresponding solenoid valve can be installed in each wheel branch. Figure 4Two pressure sensors can be set to detect the pressure of the first master cylinder and the second master cylinder.

[0073] The controller is used to execute the control methods of the electro-hydraulic braking system, which include countermeasures for different faults. These faults can be categorized according to their severity or the corresponding countermeasures. During operation, the controller takes different countermeasures based on the different categories of faults.

[0074] The control method for an electro-hydraulic braking system may include some or all of the following execution logic:

[0075] 1. Under fault-free conditions, the first master cylinder module and the second master cylinder module share the pressure build-up target proportionally (e.g., a 1:1 ratio, which allows the two master cylinder modules to age evenly and maximize their lifespan). The first master cylinder module and the second master cylinder module can form a redundant backup for each other, while the electronic stability control system does not need to build up pressure; or under fault-free conditions, only the first master cylinder module undertakes the pressure build-up target, and the second master cylinder module serves as a redundant backup for the first master cylinder module.

[0076] 2. The communication of the first master cylinder module is normal, the pedal displacement sensor is normal, but the power assist of the first master cylinder module is insufficient. This can be further divided into the following different situations:

[0077] (1) The insufficient assistance of the first master cylinder module is less than the pressure build-up target of the current second master cylinder module (this condition can also be replaced by: the insufficient assistance of the first master cylinder module is less than a threshold, that is, replace the pressure build-up target of the second master cylinder module with a threshold). This is a minor fault. The countermeasures are: keep the pressure build-up target of the second master cylinder module unchanged, increase the pressure build-up target of the electronic stability control system, or increase the proportion of the pressure build-up target of the electronic stability control system. The electronic stability control system can then make up for the insufficient assistance of the first master cylinder module.

[0078] (2) The insufficient boost from the first master cylinder module exceeds the pressure build-up target of the current second master cylinder module (this condition can also be replaced by: the insufficient boost from the first master cylinder module exceeds a threshold). This is a slightly more serious fault than the previous one. The solution is to increase the pressure build-up target of the second master cylinder module and set the pressure build-up target of the electronic stability control system to achieve the total pressure build-up target. (An alternative solution is not to set the pressure build-up target of the electronic stability control system, and let the second master cylinder module achieve the total pressure build-up target entirely.)

[0079] 3. Communication with the first master cylinder module is normal, but the pedal displacement sensor is malfunctioning (regardless of the power assist of the first master cylinder module). The appropriate response is to cancel the power assist of both the first and second master cylinder modules. The electronic stability control system will then build up pressure based on a certain multiple of the internal pressure of the first master cylinder module as the pressure target. This internal pressure of the first master cylinder module is the pressure generated by the driver's pedal. The reason for this measure is that when both the first and second master cylinder modules are configured to obtain the pressure target using the pedal displacement sensor, a malfunction in the pedal displacement sensor prevents the first and second master cylinder modules from determining the pressure target, thus requiring the electronic stability control system to build up pressure. (An alternative response is to not cancel the power assist of the first and second master cylinder modules, but instead use the internal pressure sensor instead of the pedal displacement sensor, still using the power assist of the first and second master cylinder modules, and setting the controller to determine the pressure target of the first and second master cylinder modules based on the internal pressure sensor.)

[0080] 4. Communication failure of the first master cylinder module (regardless of the pedal displacement sensor), but normal power assist from the first master cylinder module. The appropriate action is to have both the first master cylinder module and the electronic stability control system simultaneously build up pressure, with the electronic stability control system taking on a larger share and the first master cylinder module taking on a smaller share. The reason for this measure is that the communication failure makes it impossible to determine the execution status of the first master cylinder module, which is a serious malfunction. Normally, communication must be maintained to confirm the first master cylinder module's proper functioning, which is considered sufficiently safe. When the execution status of the first master cylinder module cannot be determined, the electronic stability control system should gradually take over its function.

[0081] 5. Communication malfunction of the first master cylinder module (regardless of the pedal displacement sensor) and assist malfunction of the first master cylinder module are among the most serious faults. The solution is for the second master cylinder module to build up pressure based on vehicle speed to decelerate the vehicle to a stop. This measure relies on the second master cylinder module to build up pressure instead of the electronic stability control system because the electronic stability control system typically has limited pressure-building capability and may not provide sufficient braking force to decelerate the vehicle quickly enough, especially at high speeds.

[0082] Based on the countermeasures, the above-mentioned faults can be classified into Category I faults, Category II faults, and Category III faults, which will be explained one by one below.

[0083] Category 1 faults may include at least one of the following subcategories of faults:

[0084] (1) The communication of the first master cylinder module is normal, but 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).

[0085] (2) The communication of the first master cylinder module is normal, the pedal displacement sensor is normal, the assistance of the first master cylinder module is insufficient, and the insufficient assistance of the first master cylinder module is less than the pressure build-up target of the second master cylinder module.

[0086] (3) A communication abnormality was detected in the first master cylinder module, while the power assist of the first master cylinder module was normal.

[0087] In the event of a Category I fault in the first master cylinder module, the controller will increase the proportion of the pressure build-up target undertaken by the electronic stability control system, while not increasing the pressure build-up target of the second master cylinder module. Specifically, this can be one of the following:

[0088] The pressure build-up target proportion undertaken by the first master cylinder module and the second master cylinder module is cancelled, and the electronic stability control system assists in pressure build-up according to the set multiple of the pressure of the first master cylinder module;

[0089] Set the pressure build-up target for the electronic stability control system, and increase the portion undertaken by the electronic stability control system while reducing the portion undertaken by the first master cylinder module;

[0090] If the insufficient assistance from the first master cylinder module is less than the pressure build-up target undertaken by the second master cylinder module, the pressure build-up target undertaken by the second master cylinder module remains unchanged, and the pressure build-up target of the electronic stability control system is increased.

[0091] Category II faults include the following subcategories:

[0092] A communication anomaly was detected in the first master cylinder module, and an assist anomaly was detected in the first master cylinder module.

[0093] In the event of a Category II fault in the first master cylinder module, the controller adjusts the pressure build-up target of the second master cylinder module to a larger target, while not increasing the pressure build-up target of the electronic stability control system. Specifically, the pressure build-up target of the second master cylinder module can be set according to the vehicle speed to decelerate the vehicle to a stop.

[0094] Category 3 faults include the following subcategories:

[0095] The communication of the first master cylinder module is normal, the pedal displacement sensor is normal, the assistance of the first master cylinder module is insufficient, and the insufficient assistance of the first master cylinder module is greater than the pressure build-up target of the second master cylinder module.

[0096] In the event of a Category 3 fault in the first master cylinder module, the controller will increase the proportion of the pressure build-up target undertaken by the electronic stability control system and the proportion of the pressure build-up target undertaken by the second master cylinder module. Specifically, this can be achieved by increasing the proportion of the pressure build-up target undertaken by the second master cylinder module and setting the pressure build-up target of the electronic stability control system to achieve the total pressure build-up target.

[0097] Based on the above embodiments, this application also provides a vehicle, which includes the above-described electro-hydraulic braking system.

[0098] The apparatus and system embodiments described above are merely illustrative. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement these embodiments without any creative effort.

[0099] The above are merely preferred embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An electro-hydraulic braking system, characterized in that, It includes a controller, an electronic stability control system, a reservoir module, a first master cylinder module, and a second master cylinder module; the reservoir module is connected to both the first master cylinder module and the second master cylinder module; the reservoir module is used to store brake fluid. The first master cylinder module includes a pedal displacement sensor; the controller is used to determine the proportion of the pressure build-up target undertaken by the first master cylinder module and the proportion of the pressure build-up target undertaken by the second master cylinder module based on the signal from the pedal displacement sensor; both the first master cylinder module and the second master cylinder module have motors for providing assistance to the pressure build-up target; Both the first master cylinder module and the second master cylinder module are connected to the electronic stability control system; The controller is used to execute an electro-hydraulic braking system control method, the electro-hydraulic braking system control method including: In the event of a first-category fault in the first master cylinder module, the proportion of pressure build-up target undertaken by the electronic stability control system will be increased. In the event of a second-category fault in the first master cylinder module, the proportion of pressure build-up target undertaken by the second master cylinder module will be increased. In the event of a third-category fault in the first master cylinder module, the proportion of pressure build-up target undertaken by the electronic stability control system is increased, and the proportion of pressure build-up target undertaken by the second master cylinder module is also increased. The first category of faults includes at least one of the following subcategories of faults: (1) The communication of the first master cylinder module is normal, but the pedal displacement sensor is abnormal; (2) The communication of the first master cylinder module is normal, the pedal displacement sensor is normal, the assistance of the first master cylinder module is insufficient, and the insufficient assistance of the first master cylinder module is less than the pressure build-up target of the second master cylinder module. (3) A communication abnormality was detected in the first master cylinder module, while the power assist of the first master cylinder module was 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. The second category of faults includes the following subcategories of faults: A communication anomaly was detected in the first master cylinder module, and an assist anomaly was detected in the first master cylinder module. The third category of faults includes the following subcategories of faults: The communication of the first master cylinder module is normal, the pedal displacement sensor is normal, the assistance of the first master cylinder module is insufficient, and the insufficient assistance of the first master cylinder module is greater than the pressure build-up target of the second master cylinder module.

2. The electro-hydraulic braking system as described in claim 1, characterized in that, In the event of a first-category fault in the first master cylinder module, the steps to increase the proportion of pressure build-up target undertaken by the electronic stability control system include: If the communication of the first master cylinder module is normal and the pedal displacement sensor is abnormal, the pressure build-up target proportion undertaken by the first master cylinder module and the second master cylinder module is cancelled, and the electronic stability control system assists in pressure build-up according to the set multiple of the pressure of the first master cylinder module.

3. The electro-hydraulic braking system as described in claim 1, characterized in that, In the event of a first-category fault in the first master cylinder module, the steps to increase the proportion of pressure build-up target undertaken by the electronic stability control system include: If the communication of the first master cylinder module is normal, the pedal displacement sensor is normal, the assistance of the first master cylinder module is insufficient, and the insufficient assistance of the first master cylinder module is less than the pressure build-up target undertaken by the second master cylinder module, the pressure build-up target undertaken by the second master cylinder module remains unchanged, and the pressure build-up target of the electronic stability control system is increased.

4. The electro-hydraulic braking system as described in claim 1, characterized in that, In the event of a first-category fault in the first master cylinder module, the steps to increase the proportion of pressure build-up target undertaken by the electronic stability control system include: If a communication anomaly is detected in the first master cylinder module, but the assist function of the first master cylinder module is normal, the pressure build-up target of the electronic stability control system is set, and the portion undertaken by the electronic stability control system is increased, while the portion undertaken by the first master cylinder module is reduced.

5. The electro-hydraulic braking system as described in claim 1, characterized in that, In the event of a second-category fault in the first master cylinder module, the steps for adjusting the pressure build-up target of the second master cylinder module to a larger pressure build-up target include: The pressure build-up target of the second master cylinder module is set according to the vehicle speed to decelerate the vehicle to a stop.

6. The electro-hydraulic braking system as described in claim 1, characterized in that, In the event of a third-category fault in the first master cylinder module, the steps of increasing the proportion of pressure build-up target borne by the electronic stability control system and increasing the proportion of pressure build-up target borne by the second master cylinder module include: If the communication of the first master cylinder module is normal, the pedal displacement sensor is normal, the assistance of the first master cylinder module is insufficient, and the insufficient assistance of the first master cylinder module is greater than the pressure build-up target of the second master cylinder module, the proportion of the pressure build-up target undertaken by the second master cylinder module is increased, and the pressure build-up target of the electronic stability control system is set to achieve the total pressure build-up target.

7. A vehicle, characterized in that, The vehicle includes the electro-hydraulic braking system as described in any one of claims 1 to 6.

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