Electronic mechanical braking system and method and vehicle

Abstract

The embodiment of the invention provides an electronic mechanical braking system and method and a vehicle. A power supply is connected with a braking controller and at least one area controller, each area controller is connected with at least one wheel edge controller to supply power to the braking controller and the at least one area controller; power is supplied to at least one corresponding wheel edge controller through the area controller; the braking controller is connected with the multiple wheel side controllers and the at least one area controller through a vehicle bus so as to send a braking forbidding instruction to the wheel side controllers in the non-expected braking state when receiving non-expected braking signals of the wheel side controllers in the non-expected braking state, and the braking forbidding instruction is sent to the wheel side controllers in the non-expected braking state when receiving the non-expected braking signals of the wheel side controllers in the non-expected braking state. And power supply to the wheel side controllers in the unexpected braking state is cut off through the corresponding area controllers. Therefore, the product complexity, the cost and the size of the wheel-side controller can be reduced on the premise of ensuring the high safety level of the electronic mechanical braking system.

Description

Technical Field

[0001] This application relates to the field of electronic braking technology, and in particular, to an electromechanical braking system, method, and vehicle. Background Art

[0002] An electromechanical braking system (EMB) is a wire-controlled braking technology based on electrical signals. It directly drives the brake caliper through a motor to achieve braking, completely abandoning the hydraulic pipelines and media of traditional hydraulic or pneumatic braking systems. It is an important innovative technology in the fields of intelligent driving and electrified vehicles. In terms of functional safety levels, the commonly used levels are usually the high-safety-level ASIL D (Automotive Safety Integrity Level, ASIL D, which is the highest level in the automotive safety integrity levels defined by the ISO 26262 standard), and the slightly lower safety-level ASIL B (the medium safety integrity level defined by the ISO 26262 standard).

[0003] In the related art, if an electromechanical braking system is to achieve the safety function of the ASIL D level, it is necessary to set up advanced and complex components in the wheel-side controller of the vehicle, which increases the cost of the wheel-side controller and may also increase the volume of the wheel-side controller.

[0004] Therefore, there is an urgent need for an electromechanical braking system, method, and vehicle that can reduce the product complexity, cost, and volume of the wheel-side controller on the premise of ensuring the high safety level of the electromechanical braking system. Summary of the Invention

[0005] The embodiments of this application provide an electromechanical braking system, method, and vehicle that can reduce the manufacturing complexity, cost, and volume of the wheel-side controller product, area controller product, system, and related products on the premise of ensuring the high safety level of the electromechanical braking system.

[0006] In a first aspect, the embodiments of this application provide an electromechanical braking system. The system includes a brake controller, multiple wheel-side controllers, and at least one area controller, and includes: The power supply is respectively connected to the brake controller and the at least one area controller. Each area controller is connected to at least one wheel-side controller to supply power to the brake controller and the at least one area controller, and supply power to the corresponding at least one wheel-side controller through the area controller; The braking controller is respectively connected to the multiple wheel-end controllers and the at least one zone controller through a vehicle bus, so as to send a braking prohibition instruction to a wheel-end controller in an unexpected braking state and disconnect the power supply to the wheel-end controller in the unexpected braking state through the corresponding zone controller when receiving an unexpected braking signal from the wheel-end controller in the unexpected braking state.

[0007] In a second aspect, an electromechanical braking method provided by an embodiment of the present application is applicable to an electromechanical braking system. The method includes: Powering the braking controller and at least one zone controller respectively based on a power supply, and each zone controller powers at least one wheel-end controller connected thereto; When the braking controller receives an unexpected braking signal from a wheel-end controller in an unexpected braking state, send a braking prohibition instruction to the wheel-end controller in the unexpected braking state, and disconnect the power supply to the wheel-end controller in the unexpected braking state through the corresponding zone controller.

[0008] Optionally, the braking controller includes a main braking controller and a secondary braking controller, and the main braking controller and the secondary braking controller are communicatively connected to each other; the powering the braking controller and at least one zone controller respectively based on a power supply, and each zone controller powers at least one wheel-end controller connected thereto includes: Powering the main braking controller, the secondary braking controller and at least one zone controller respectively based on the power supply; The when the braking controller receives an unexpected braking signal from a wheel-end controller in an unexpected braking state, send a braking prohibition instruction to the wheel-end controller in the unexpected braking state, and disconnect the power supply to the wheel-end controller in the unexpected braking state through the corresponding zone controller includes: When the main braking controller receives the unexpected braking signal, send the braking prohibition instruction to the wheel-end controller in the unexpected braking state, and disconnect the power supply to the wheel-end controller in the unexpected braking state through the corresponding zone controller; Or when the main braking controller fails, use the secondary braking controller to send the braking prohibition instruction to the wheel-end controller in the unexpected braking state, and disconnect the power supply to the wheel-end controller in the unexpected braking state through the corresponding zone controller.

[0009] Optionally, the system includes multiple area controllers, among which there is at least one first area controller and at least one second area controller; the multiple wheel-end controllers include at least one first wheel-end controller and at least one second wheel-end controller; the power supply includes a first power supply and a second power supply; the powering the master brake controller, the auxiliary brake controller and at least one area controller respectively based on the power supply includes: Powering the master brake controller and the first area controller respectively based on the first power supply, and powering one or more corresponding first wheel-end controllers through the first area controller; Powering the auxiliary brake controller and the second area controller respectively based on the second power supply, and powering one or more corresponding second wheel-end controllers through the second area controller; Optionally, the vehicle bus includes a first sub-vehicle bus and a second sub-vehicle bus. When the master brake controller receives the unexpected braking signal, sending the braking prohibition instruction to the wheel-end controller in the unexpected braking state, and disconnecting the power supply to the wheel-end controller in the unexpected braking state through the corresponding area controller includes: When the master brake controller receives the unexpected braking signal through the first sub-vehicle bus, sending the braking prohibition instruction to the wheel-end controller in the unexpected braking state based on the first sub-vehicle bus, and disconnecting the power supply to the wheel-end controller in the unexpected braking state through the corresponding area controller using the first sub-vehicle bus; When the master brake controller fails, using the auxiliary brake controller to send the braking prohibition instruction to the wheel-end controller in the unexpected braking state, and disconnecting the power supply to the wheel-end controller in the unexpected braking state through the corresponding area controller includes: When the master brake controller fails, using the auxiliary brake controller to send the braking prohibition instruction to the wheel-end controller in the unexpected braking state through the second sub-vehicle bus, and disconnecting the power supply to the wheel-end controller in the unexpected braking state through the corresponding area controller using the second sub-vehicle bus.

[0010] Optionally, the multiple wheel-end controllers include a front left wheel-end controller, a front right wheel-end controller, a rear left wheel-end controller, and a rear right wheel-end controller; the at least one area controller includes a front left area controller, a front right area controller, a rear left area controller, and a rear right area controller; the power supply includes a first power supply and a second power supply; the powering at least one area controller respectively based on the power supply, and each area controller powering at least one connected wheel-end controller includes: Power the front left area controller and the rear right area controller respectively based on the first power supply, power the front left wheel side controller through the front left area controller, and power the rear right wheel side controller through the rear right area controller; Power the rear left area controller and the front right wheel side controller respectively based on the second power supply, power the rear left wheel side controller through the rear left area controller, and power the front right wheel side controller through the front right area controller.

[0011] Optionally, the system includes multiple area controllers, at least one first area controller and at least one second area controller are included in the multiple area controllers, the power supply includes a first power supply and a second power supply, and the multiple wheel side controllers include a front left wheel side controller, a front right wheel side controller, a rear left wheel side controller, and a rear right wheel side controller; powering at least one area controller respectively based on the power supply, and each area controller powering at least one connected wheel side controller includes: Power the first area controller based on the first power supply, and power the front left wheel side controller and the front right wheel side controller through the first area controller; Power the second area controller based on the second power supply, and power the rear left wheel side controller and the rear right wheel side controller through the second area controller.

[0012] Optionally, transmit a braking control signal to the braking controller based on an electronic pedal, so that the braking controller transmits a braking control instruction to the multiple wheel side controllers through the vehicle bus to control the vehicle operating state.

[0013] Advantages of this application: The electro-mechanical braking system in the embodiment of this application includes a braking controller, multiple wheel side controllers and at least one area controller. The power supply powers the braking controller and at least one area controller, and powers the corresponding at least one wheel side controller through the area controller. When the braking controller receives an unexpected braking signal from a wheel side controller in an unexpected braking state, while sending a prohibited braking instruction to the wheel side controller in the unexpected braking state, it can also disconnect the corresponding area controller from powering the wheel side controller in the unexpected braking state. In this way, the system can use wheel side controllers with a general safety level, simple internal structure, low cost, and low manufacturing complexity, and use the area controller to control the power-off of the wheel side controller in the unexpected braking state, which can ensure the safety braking response speed and improve the safety level of the low-cost wheel side controller in the system. For example, by using the system in this application, wheel side controllers of ASIL B level can be used to achieve the safety function of ASIL D level.

[0014] These implementation manners of the present application or other implementation manners will be more clearly understood in the following description of the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1 Schematic diagram of the architecture of an electro-mechanical braking system provided for an embodiment of the present application; Figure 2 System architecture diagram of a main and auxiliary brake controller - electro-mechanical braking system provided for an embodiment of the present application; Figure 3 System architecture diagram of a dual-power - electro-mechanical braking system provided for an embodiment of the present application; Figure 4 System architecture diagram of a dual-bus - electro-mechanical braking system provided for an embodiment of the present application; Figure 5 System architecture diagram of an electro-mechanical braking system provided for an embodiment of the present application; Figure 6 System architecture diagram of another electro-mechanical braking system provided for an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application.

[0018] An electro-mechanical braking system EMB generally consists of an electronic pedal (ePedal), a brake controller (BrakeController), and four wheel-side controllers (Wheel Control Unit, WCU) (generally speaking); each wheel-side controller is connected to a wheel speed sensor (Wheel Speed Sensor, WSS) and controls the clamping force of a single-wheel caliper; for the two rear wheels, the wheel-side controller also controls the parking actuator.

[0019] Among them, an electronic pedal is used to convert the driver's braking control into an electrical signal and transmit it to the primary braking controller (PBC) and the secondary braking controller (SBC) simultaneously.

[0020] The braking controller, acting as the "brain", analyzes the electrical signal of the electronic pedal, calculates the driver's braking intention; then performs logical operations on the braking function and outputs braking control instructions to the four wheel-side controllers through the vehicle high-speed bus.

[0021] The wheel speed sensor, as the sensor unit for perceiving the dynamic state of the wheels, is a necessary input signal for the chassis control function. The wheel speed sensor is directly connected to the wheel-side controller (WCU), and the sensor is powered, signal acquisition and processing are carried out through the wheel-side controller, and the signals of the four wheel speed sensors are sent to the vehicle high-speed bus.

[0022] The wheel-side controller (WCU), as a braking actuator, receives the wheel-side braking instructions from the primary braking controller (PBC) or the secondary braking controller (SBC), controls the clamping and release of the electronic caliper, and can provide a parking control interface.

[0023] In the functional safety hazard analysis and risk assessment of the braking system, the electro-mechanical braking system (EMB) needs to meet the safety goal of "avoiding unexpected braking", and the functional safety level is the highest ASIL-D. Therefore, for the current common electro-mechanical braking system (EMB) architecture, the wheel-side control unit (WCU) needs to meet the design requirements of the highest ASIL-D functional safety level. Therefore, the cost of research and development and component selection is very high.

[0024] Based on this, the embodiment of the present application provides an electro-mechanical braking system, as Figure 1 shown. The system includes a braking controller 101, multiple wheel-side controllers 103, and at least one area controller 102, including: The power supply 104 is respectively connected to the braking controller 101 and at least one area controller 102. Each area controller 102 is connected to at least one wheel-side controller 103 to supply power to the braking controller 101 and at least one area controller 102, and supply power to the corresponding at least one wheel-side controller through the area controller 102; The braking controller 101 is respectively connected to multiple wheel-side controllers 103 and at least one area controller 102 through the vehicle bus 105. When receiving the unexpected braking signal of the wheel-side controller 103 in the unexpected braking state, a braking prohibition instruction is sent to the wheel-side controller 103 in the unexpected braking state, and the power supply to the wheel-side controller 103 in the unexpected braking state is disconnected through the corresponding area controller 102.

[0025] In one embodiment, the electromechanical braking system in the embodiments of the present application can be applied to various vehicles, or mechanical equipment that requires a braking function, etc. There is no specific limitation on the application of the electromechanical braking system here, and it can be set according to needs.

[0026] In one embodiment, the number of wheel-side controllers 103 is not specifically limited. For example, a two-wheeled vehicle can be provided with two wheel-side controllers 103, a three-wheeled vehicle can be provided with three wheel-side controllers 103, a four-wheeled vehicle can be provided with four wheel-side controllers 103, a six-wheeled vehicle can be provided with six wheel-side controllers 103, etc. Or, considering cost, a six-wheeled vehicle can also be provided with three wheel-side controllers 103.

[0027] In one embodiment, the relationship between the area controller 102 and the wheel-side controller 103 can be a one-to-one or one-to-many relationship.

[0028] In one embodiment, the electronic pedal is connected to the braking controller and is used to transmit a braking control signal to the braking controller, so that the braking controller transmits a braking control instruction to multiple wheel-side controllers through the vehicle bus to control the vehicle operating state.

[0029] Based on the above Figure 1 system architecture, the embodiments of the present application provide a system architecture diagram of a main and auxiliary braking controller - electromechanical braking system, as Figure 2 shown. The braking controller includes a main braking controller 2012 and an auxiliary braking controller 2011, and the main braking controller 2012 and the auxiliary braking controller 2011 are communicatively connected to each other; The power supply 204 is respectively connected to the main braking controller 2012 and the auxiliary braking controller 2011 to supply power to the main braking controller 2012 and the auxiliary braking controller 2011; The main braking controller 2012 is respectively connected to multiple wheel-side controllers 203 and at least one area controller 202 through the vehicle bus 205; and the auxiliary braking controller 2011 is respectively connected to multiple wheel-side controllers 203 and at least one area controller 202 through the vehicle bus 205; So that when the main braking controller 2012 receives an unexpected braking signal, it sends a braking prohibition instruction to the wheel-side controller 203 in the unexpected braking state, and disconnects the power supply to the wheel-side controller 203 in the unexpected braking state through the corresponding area controller 202, or when the main braking controller 2012 fails, the auxiliary braking controller 2011 is used to send a braking prohibition instruction to the wheel-side controller 203 in the unexpected braking state, and disconnects the power supply to the wheel-side controller 203 in the unexpected braking state through the corresponding area controller 202.

[0030] In one embodiment, the primary brake controller 2012 (PBC), acting as the brain, analyzes the electrical signals of the electronic pedal, calculates the driver's braking intention, then performs logical operations for the braking function, and outputs braking control instructions to the four wheel-side controllers 203 via the vehicle high-speed bus.

[0031] The secondary brake controller 2011 (SBC), serving as the monitor of the primary brake controller 2012 and the backup controller after the failure of the primary brake controller 2012, takes over the braking control function of the primary brake controller 2012 (PBC) when the primary brake controller 2012 (PBC) fails, including analyzing the electrical signals of the electronic pedal, calculating the driver's braking intention, performing logical operations for the braking function, and outputting braking control instructions to the four wheel-side controllers 203 via the vehicle high-speed bus.

[0032] Based on the above Figure 2 system architecture, the embodiment of the present application provides a system architecture diagram of a dual-power electro-mechanical braking system, as shown in Figure 3 shown. The system includes multiple zone controllers, among which there are at least one first zone controller 3021 and at least one second zone controller 3022, among the multiple wheel-side controllers there are at least one first wheel-side controller 3031 and at least one second wheel-side controller 3032, and the power supply includes a first power supply 3041 and a second power supply 3042; The first power supply 3041 is respectively connected to the primary brake controller 3011 and the first zone controller 3021, and the first zone controller 3021 is connected to the corresponding first wheel-side controller 3031 to supply power to the corresponding one or more first wheel-side controllers 3031 through the first zone controller 3021; The second power supply 3042 is respectively connected to the secondary brake controller 3012 and the second zone controller 3022, and the second zone controller 3022 is connected to the corresponding second wheel-side controller 3032 to supply power to the corresponding one or more second wheel-side controllers 3032 through the second zone controller 3022.

[0033] In one embodiment, for the power supply part, a dual-channel redundant power supply scheme is adopted, that is, it includes power supplies: a first power supply 3041 and a second power supply 3042.

[0034] In one embodiment, for power supply 1 - the first power supply 3041, it supplies power to the electronic pedal, the primary brake controller 3011 (PBC), the front left and rear right wheel-side controllers; for power supply 2 - the second power supply 3042, it supplies power to the electronic pedal, the secondary brake controller SBC, the front right and rear left wheel-side controllers; in this way, it can ensure that when one of the power supply systems fails or malfunctions, there is still the other one providing power, and it can ensure the logical operations and function control of the electro-hydraulic braking system.

[0035] Based on the above Figure 2 system architecture, an embodiment of the present application provides a system architecture diagram of a dual-bus electro-mechanical braking system, as Figure 4 shown, the vehicle bus includes a first sub-vehicle bus and a second sub-vehicle bus; The first sub-vehicle bus is respectively connected to the main brake controller, multiple wheel-side controllers and at least one area controller for data exchange between the controllers; The second sub-vehicle bus is respectively connected to the auxiliary brake controller, multiple wheel-side controllers and at least one area controller for data exchange between the controllers.

[0036] Here, as Figure 4 shown in the bus, vehicle bus 1 - the first sub-vehicle center line and vehicle bus 2 - the second sub-vehicle bus, the first sub-vehicle center line is used to serve the corresponding main brake controller, corresponding area controller and wheel-side controller, and the second sub-vehicle center line is used to serve the corresponding auxiliary brake controller, corresponding area controller and wheel-side controller.

[0037] Based on the system architecture in the above figures, an embodiment of the present application provides a system architecture diagram of an electro-mechanical braking system, as Figure 5 shown, among the multiple wheel-side controllers, there are a front left wheel-side controller, a front right wheel-side controller, a rear left wheel-side controller, and a rear right wheel-side controller; at least one area controller includes a front left area controller, a front right area controller, a rear left area controller, and a rear right area controller, and the power supply includes a first power supply and a second power supply; The front left area controller and the rear right area controller are respectively connected to the first power supply; The front right area controller and the rear left area controller are respectively connected to the second power supply; The front left area controller is connected to the front left wheel-side controller to supply power to the front left wheel-side controller; the front right area controller is connected to the front right wheel-side controller to supply power to the front right wheel-side controller; The rear left area controller is connected to the rear left wheel-side controller to supply power to the rear left wheel-side controller; the rear right area controller is connected to the rear right wheel-side controller to supply power to the rear right wheel-side controller.

[0038] In one embodiment, the area controller (Zone Control Unit, ZCU) of the electro-mechanical braking system EMB of the present application is configured in four areas of the vehicle, namely the front left, front right, rear left, and rear right area controllers (ZCU FL / FR / RL / RR); The zone controller ZCU is introduced into the electro-mechanical braking system EMB architecture and participates in the power management of the four wheel-end controllers. At this time, the vehicle power supply architecture becomes that power supply 1 supplies power to the electronic pedal, the main brake controller PBC, ZCU FL, and ZCU RR; power supply 2 supplies power to the electronic pedal, the auxiliary brake controller SBC, ZCU FR, and ZCU RL; then each ZCU conducts power supply management for the corresponding wheel-end controller WCU in the area, including turning on or off the power supply of the wheel-end controller WCU according to the instruction, and turning on or off the power supply of the wheel-end controller WCU according to the power supply voltage condition.

[0039] Correspondingly, for the safety goal of "avoiding unexpected braking", when the main brake controller PBC is working properly, it needs to monitor the operating status of the four-wheel wheel-end controllers in real time. When it detects an "unexpected braking" situation in the wheel-end controller, it will simultaneously send an instruction of "braking force control is 0" to the wheel-end controller through vehicle bus 1, and send an instruction of "stop WCU power supply" to the corresponding zone controller. For example, when the PBC detects an unexpected clamping force control condition in the front left wheel, the PBC will send an instruction of "braking force control is 0" to the front left wheel-end controller, and send an instruction of "stop WCU power supply" to the corresponding front left zone controller.

[0040] When the main brake controller PBC fails to work properly, the auxiliary brake controller SBC takes over the control. It needs to monitor the operating status of the four-wheel wheel-end controllers in real time. When it detects an "unexpected braking" situation in the wheel-end controller, it will send an instruction of "braking force control is 0" to the wheel-end controller through vehicle bus 2, and send an instruction of "stop WCU power supply" to the corresponding zone controller. For example, when the SBC detects an unexpected clamping force control condition in the front left wheel, the SBC will send an instruction of "braking force control is 0" to the front left wheel-end controller, and send an instruction of "stop WCU power supply" to the corresponding front left zone controller.

[0041] For the zone controller ZCU, it is also connected to the PBC through vehicle bus 1 and connected to the SBC through vehicle bus 2. The PCB and SBC can control the power management inside the ZCU through the vehicle bus communication signal and perform program control on its power supply output.

[0042] After adopting this solution, the functional safety level requirements for the wheel-end controller can be decomposed, from the original functional safety level ASIL D to ASIL B (D). At the same time, the functional safety level of the zone controller is also decomposed to ASIL B (D). This reduces the product design and development difficulty and cost as a whole. That is to say, zone controllers and wheel-end controllers with a low safety level can be used to achieve high-safety-level braking control.

[0043] In one embodiment, for the power supply section, a dual-channel redundant power supply scheme is adopted for power supply. Power supply 1 supplies power to the electronic pedal, the main brake controller PBC, the front left and rear right wheel side controllers; Power supply 2 supplies power to the electronic pedal, the auxiliary brake controller SBC, the front right and rear left wheel side controllers; In this way, it can be ensured that when one of the power supply systems fails or malfunctions, there is still another one providing power supply, and the logical operation and function control of the electronic braking system are ensured.

[0044] Based on the system architectures in the above figures, an embodiment of the present application provides a system architecture diagram of an electro-mechanical braking system, as Figure 6 shown. The system includes multiple zone controllers, among which there are at least one first zone controller and at least one second zone controller. The power supply includes a first power supply and a second power supply. Among the multiple wheel side controllers, there are a front left wheel side controller, a front right wheel side controller, a rear left wheel side controller, and a rear right wheel side controller; The first power supply is connected to the first zone controller, and the first zone controller is respectively connected to the front left wheel side controller and the front right wheel side controller to supply power to the front left wheel side controller and the front right wheel side controller; The second power supply is connected to the second zone controller, and the second zone controller is respectively connected to the rear left wheel side controller and the rear right wheel side controller to supply power to the rear left wheel side controller and the rear right wheel side controller.

[0045] In one embodiment, the electro-mechanical braking system architecture can be adjusted according to the vehicle's electronic and electrical architecture. When the vehicle adopts an architecture of front and rear zone controllers, the power supply method can be adjusted to that power supply 1 supplies power to the electronic pedal, the main brake controller PBC, and the front zone controller of the vehicle (ZCU Front, where Front refers to the front wheels of the vehicle, and ZCU Front refers to the zone controller of the front wheels of the vehicle); Power supply 2 supplies power to the electronic pedal, the auxiliary brake controller SBC, and the rear zone controller of the vehicle (ZCU Rear, where Rear refers to the rear wheels of the vehicle, and ZCU Rear refers to the zone controller of the rear wheels of the vehicle); Then the front zone controller (ZCU Front) supplies power to the front left and front right wheel side controllers WCU in the corresponding area for power supply management, including turning on or off the power supply of the wheel side controller WCU according to instructions, and turning on or off the power supply of the wheel side controller WCU according to the power supply voltage condition. The rear zone controller (ZCU Rear) supplies power to the rear left and rear right wheel side controllers WCU in the corresponding area for power supply management. In this way, if the main brake controller or the auxiliary brake controller is in an unexpected braking state of the wheel side controller, even if one zone controller is controlled, the bilateral braking situation can be controlled more evenly. For example, controlling the left and right wheels of the front wheels, or the left and right wheels of the rear wheels. It will not cause the vehicle to become unbalanced due to only managing one side of the wheel side controller.

[0046] Based on the above system architectures, an embodiment of the present application provides an electro-mechanical braking method, which is applicable to an electro-mechanical braking system and includes: Step a: Supply power to the braking controller and at least one zone controller respectively based on a power supply, and each zone controller supplies power to at least one wheel-end controller connected thereto.

[0047] Step b: When the braking controller receives an unexpected braking signal from a wheel-end controller in an unexpected braking state, send a braking prohibition instruction to the wheel-end controller in the unexpected braking state, and disconnect the power supply to the wheel-end controller in the unexpected braking state through the corresponding zone controller.

[0048] Based on the above electro-mechanical braking method, an embodiment of the present application provides another electro-mechanical braking method. The braking controller includes a main braking controller and an auxiliary braking controller, and the main braking controller and the auxiliary braking controller are communicatively connected to each other; supply power to the braking controller and at least one zone controller respectively based on a power supply, and each zone controller supplies power to at least one wheel-end controller connected thereto, including: In the above step a, it includes: supplying power to the main braking controller, the auxiliary braking controller and at least one zone controller respectively based on the power supply; In the above step b, when the braking controller receives an unexpected braking signal from a wheel-end controller in an unexpected braking state, send a braking prohibition instruction to the wheel-end controller in the unexpected braking state, and disconnect the power supply to the wheel-end controller in the unexpected braking state through the corresponding zone controller, including: When the main braking controller receives the unexpected braking signal, send a braking prohibition instruction to the wheel-end controller in the unexpected braking state, and disconnect the power supply to the wheel-end controller in the unexpected braking state through the corresponding zone controller; Or when the main braking controller fails, use the auxiliary braking controller to send a braking prohibition instruction to the wheel-end controller in the unexpected braking state, and disconnect the power supply to the wheel-end controller in the unexpected braking state through the corresponding zone controller.

[0049] Based on the system architectures, electro-mechanical braking methods and related embodiments of the above electro-mechanical braking systems, an embodiment of the present application provides a vehicle, which may include any of the above electro-mechanical braking systems and execute any of the above electro-mechanical braking methods.

[0050] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0051] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or combinations of blocks.

[0052] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or combinations of blocks.

[0053] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or combinations of blocks.

[0054] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims

1. An electromechanical braking system, characterized in that, The electro-mechanical braking system includes a brake controller, a plurality of wheel-end controllers, and at least one zone controller, and the electro-mechanical braking system comprises: A power supply is respectively connected to the brake controller and the at least one zone controller, and each zone controller is connected to at least one wheel-end controller to supply power to the brake controller and the at least one zone controller, and supply power to the corresponding at least one wheel-end controller through the zone controller; The brake controller is respectively connected to the plurality of wheel-end controllers and the at least one zone controller through a vehicle bus. When receiving an unexpected braking signal from a wheel-end controller in an unexpected braking state, the brake controller sends a braking prohibition instruction to the wheel-end controller in the unexpected braking state, and disconnects the power supply to the wheel-end controller in the unexpected braking state through the corresponding zone controller.

2. The electromechanical braking system according to claim 1, wherein The brake controller includes a main brake controller and a secondary brake controller, and the main brake controller and the secondary brake controller are communicatively connected to each other; The power supply is respectively connected to the main brake controller and the secondary brake controller to supply power to the main brake controller and the secondary brake controller; The main brake controller is respectively connected to the plurality of wheel-end controllers and the at least one zone controller through the vehicle bus; and the secondary brake controller is respectively connected to the plurality of wheel-end controllers and the at least one zone controller through the vehicle bus; So that when the main brake controller receives the unexpected braking signal, the main brake controller sends the braking prohibition instruction to the wheel-end controller in the unexpected braking state, and disconnects the power supply to the wheel-end controller in the unexpected braking state through the corresponding zone controller, or when the main brake controller fails, the secondary brake controller is used to send the braking prohibition instruction to the wheel-end controller in the unexpected braking state, and disconnects the power supply to the wheel-end controller in the unexpected braking state through the corresponding zone controller.

3. The electromechanical braking system according to claim 2, wherein, The electro-mechanical braking system includes a plurality of zone controllers, the plurality of zone controllers include at least one first zone controller and at least one second zone controller, the plurality of wheel-end controllers include at least one first wheel-end controller and at least one second wheel-end controller, and the power supply includes a first power supply and a second power supply; The first power supply is respectively connected to the main brake controller and the first zone controller, and the first zone controller is connected to the corresponding first wheel-end controller to supply power to the corresponding one or more first wheel-end controllers through the first zone controller; The second power supply is respectively connected to the secondary brake controller and the second zone controller, and the second zone controller is connected to the corresponding second wheel-end controller to supply power to the corresponding one or more second wheel-end controllers through the second zone controller.

4. The electromechanical braking system according to claim 2, wherein The vehicle bus includes a first sub-vehicle bus and a second sub-vehicle bus; The first sub-vehicle bus is respectively connected to the main brake controller, the plurality of wheel-end controllers, and the at least one zone controller for data exchange between the controllers; The second sub-vehicle bus is respectively connected to the auxiliary brake controller, the multiple wheel-end controllers, and the at least one zone controller for data exchange between the controllers.

5. The electromechanical braking system according to any one of claims 1-4, characterized in that, The multiple wheel-end controllers include a front left wheel-end controller, a front right wheel-end controller, a rear left wheel-end controller, and a rear right wheel-end controller; the at least one zone controller includes a front left zone controller, a front right zone controller, a rear left zone controller, and a rear right zone controller, and the power supply includes a first power supply and a second power supply; The front left zone controller and the rear right zone controller are respectively connected to the first power supply; The front right zone controller and the rear left zone controller are respectively connected to the second power supply; The front left zone controller is connected to the front left wheel-end controller to supply power to the front left wheel-end controller; the front right zone controller is connected to the front right wheel-end controller to supply power to the front right wheel-end controller; The rear left zone controller is connected to the rear left wheel-end controller to supply power to the rear left wheel-end controller; the rear right zone controller is connected to the rear right wheel-end controller to supply power to the rear right wheel-end controller.

6. The electromechanical braking system according to any one of claims 1-4, characterized in that, The electro-mechanical braking system includes multiple zone controllers, the multiple zone controllers include at least one first zone controller and at least one second zone controller, the power supply includes a first power supply and a second power supply, and the multiple wheel-end controllers include a front left wheel-end controller, a front right wheel-end controller, a rear left wheel-end controller, and a rear right wheel-end controller; The first power supply is connected to the first zone controller, and the first zone controller is respectively connected to the front left wheel-end controller and the front right wheel-end controller to supply power to the front left wheel-end controller and the front right wheel-end controller; The second power supply is connected to the second zone controller, and the second zone controller is respectively connected to the rear left wheel-end controller and the rear right wheel-end controller to supply power to the rear left wheel-end controller and the rear right wheel-end controller.

7. The electro-mechanical braking system according to any one of claims 1-4, wherein An electronic pedal is connected to the brake controller for transmitting a brake control signal to the brake controller, so that the brake controller transmits a brake control instruction to the multiple wheel-end controllers through the vehicle bus to control the vehicle running state.

8. An electro-mechanical braking method, characterized in that, Applicable to an electro-mechanical braking system, including: Based on the power supply respectively supplying power to the brake controller and at least one zone controller, and each zone controller supplying power to at least one connected wheel-end controller; When the brake controller receives an unexpected brake signal from a wheel-end controller in an unexpected brake state, sending a brake prohibition instruction to the wheel-end controller in the unexpected brake state, and disconnecting the power supply to the wheel-end controller in the unexpected brake state through the corresponding zone controller.

9. The electromechanical braking method as described in claim 8, wherein The braking controller includes a main braking controller and an auxiliary braking controller, and the main braking controller and the auxiliary braking controller are communicatively connected to each other; the power supply respectively supplies power to the braking controller and at least one zone controller, and each zone controller supplies power to at least one wheel-end controller connected thereto, including: Based on the power supply, respectively supply power to the main braking controller, the auxiliary braking controller and at least one zone controller; When the braking controller receives an unexpected braking signal from a wheel-end controller in an unexpected braking state, send a braking prohibition instruction to the wheel-end controller in the unexpected braking state, and disconnect the power supply to the wheel-end controller in the unexpected braking state through the corresponding zone controller, including: When the main braking controller receives the unexpected braking signal, send the braking prohibition instruction to the wheel-end controller in the unexpected braking state, and disconnect the power supply to the wheel-end controller in the unexpected braking state through the corresponding zone controller; Or when the main braking controller fails, use the auxiliary braking controller to send the braking prohibition instruction to the wheel-end controller in the unexpected braking state, and disconnect the power supply to the wheel-end controller in the unexpected braking state through the corresponding zone controller.

10. A vehicle, characterized in that, The vehicle includes an electromechanical braking system as described in any one of claims 1-7 above, and executes the electromechanical braking method as described in claim 8 or claim 9 above.

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