Electromechanical braking system, method and vehicle

Abstract

The embodiments of the present application provide an electronic mechanical braking system, method, and vehicle, including: a power supply connected to a brake controller and at least one regional controller, each regional controller connected to at least one wheel-side controller, to supply power to the brake controller and at least one regional controller, and to supply power to the corresponding at least one wheel-side controller through the regional controller; the brake controller is connected to multiple wheel-side controllers and at least one regional controller through a vehicle bus, so that when receiving an unexpected braking signal from a wheel-side controller in an unexpected braking state, it sends a braking prohibition instruction to the wheel-side controller in the unexpected braking state, and disconnects the power supply to the wheel-side controller in the unexpected braking state through the corresponding regional controller. In this way, the product complexity, cost, and volume of the wheel-side controller can be reduced while ensuring a high safety level of the electronic mechanical braking system.

Description

Technical Field

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

[0002] The Electronic Mechanical Brake (EMB) system is a wire-controlled brake technology based on electrical signal control. It achieves braking by directly driving the brake caliper with an electric motor, completely eliminating the hydraulic lines and media of traditional hydraulic or pneumatic brake systems. It is a key innovative technology in the fields of intelligent driving and electric vehicles. In terms of functional safety levels, commonly used levels are ASIL D (Automotive Safety Integrity Level, ASILD), which is the highest level in the automotive safety integrity level defined by the ISO 26262 standard, and ASILB (a medium safety integrity level defined by the ISO 26262 standard), which is slightly lower.

[0003] In related technologies, if an electronic mechanical braking system is to achieve ASIL D-level safety functions, it is necessary to install advanced and complex components in the vehicle's wheel-side controller, which increases the cost of the wheel-side controller and may also increase the size of the wheel-side controller.

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

[0005] The embodiments of the present application provide an electronic mechanical braking system, method and vehicle, which can reduce the manufacturing complexity, cost and volume of wheel-side controller products, regional controller products, systems and related products while ensuring a high safety level of the electronic mechanical braking system.

[0006] In a first aspect, an embodiment of the present application provides an electromechanical braking system, comprising a brake controller, multiple wheel-side controllers, and at least one zone controller, including:

[0007] A power supply is connected to the brake controller and the at least one zone controller respectively, and each zone controller is connected to at least one wheel-side controller to supply power to the brake controller and the at least one zone controller, and to supply power to the corresponding at least one wheel-side controller through the zone controller;

[0008] The brake controller is connected to the multiple wheel-side controllers and the at least one regional controller respectively through the vehicle bus, so that when receiving an unexpected braking signal from the wheel-side controller in the unexpected braking state, it sends a prohibit braking instruction to the wheel-side controller in the unexpected braking state, and disconnects the power supply to the wheel-side controller in the unexpected braking state through the corresponding regional controller.

[0009] In a second aspect, an embodiment of the present application provides an electromechanical braking method applicable to an electromechanical braking system, the method comprising:

[0010] Power is supplied to the brake controller and at least one zone controller based on the power supply, and each zone controller supplies power to at least one connected wheel-side controller;

[0011] When the brake controller receives an unexpected braking signal from a wheel-side controller in an unexpected braking state, it sends a braking prohibition instruction to the wheel-side controller in the unexpected braking state, and disconnects the power supply to the wheel-side controller in the unexpected braking state through the corresponding regional controller.

[0012] Optionally, the brake controller includes a main brake controller and an auxiliary brake controller, and the main brake controller and the auxiliary brake controller are communicatively connected to each other; the power supply is based on supplying power to the brake controller and at least one regional controller respectively, and each regional controller supplies power to at least one connected wheel-side controller, including:

[0013] supplying power to the main brake controller, the auxiliary brake controller and at least one zone controller based on the power supply;

[0014] When the brake controller receives an unexpected braking signal from a wheel-side controller in an unexpected braking state, the brake controller sends a braking prohibition instruction to the wheel-side controller in the unexpected braking state, and disconnects power to the wheel-side controller in the unexpected braking state through the corresponding regional controller, including:

[0015] When the main brake controller receives the unexpected braking signal, it sends the braking prohibition instruction to the wheel-side controller in the unexpected braking state, and cuts off the power supply to the wheel-side controller in the unexpected braking state through the corresponding regional controller;

[0016] Or when the main brake controller fails, the auxiliary brake controller is used to send the braking prohibition instruction to the wheel-side controller in the unexpected braking state, and the power supply to the wheel-side controller in the unexpected braking state is disconnected through the corresponding regional controller.

[0017] Optionally, the 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-side controllers include at least one first wheel-side controller and at least one second wheel-side controller, and the power supply includes a first power supply and a second power supply; and the power supplying power to the main brake controller, the auxiliary brake controller, and the at least one zone controller based on the power supply respectively includes:

[0018] Powering the main brake controller and the first regional controller based on the first power supply, and powering the corresponding one or more first wheel-side controllers through the first regional controller;

[0019] Powering the auxiliary brake controller and the second zone controller respectively based on the second power supply, and powering the corresponding one or more second wheel-side controllers through the second zone controller;

[0020] Optionally, the vehicle bus includes a first sub-vehicle bus and a second sub-vehicle bus, and when the main brake controller receives the unexpected braking signal, the main brake controller sends the braking prohibition instruction to the wheel-side controller in the unexpected braking state, and disconnects the power supply to the wheel-side controller in the unexpected braking state through the corresponding regional controller, including:

[0021] When the main brake controller receives the unexpected braking signal through the first sub-vehicle bus, the main brake controller sends the braking prohibition instruction to the wheel-side controller in the unexpected braking state based on the first sub-vehicle bus, and uses the first sub-vehicle bus to disconnect the power supply to the wheel-side controller in the unexpected braking state through the corresponding regional controller;

[0022] When the main brake controller fails, the auxiliary brake controller is used to send the braking prohibition instruction to the wheel-side controller in the unexpected braking state, and the power supply to the wheel-side controller in the unexpected braking state is disconnected through the corresponding regional controller, including:

[0023] When the main brake controller fails, the auxiliary brake controller is used to send the prohibit braking instruction to the wheel-side controller in the unexpected braking state through the second sub-vehicle bus, and the second sub-vehicle bus is used to disconnect the power supply to the wheel-side controller in the unexpected braking state through the corresponding regional controller.

[0024] Optionally, 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; 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; the power supply includes a first power supply and a second power supply; the power supply is used to supply power to at least one zone controller respectively, and each zone controller supplies power to at least one connected wheel-side controller, including:

[0025] Powering the front left zone controller and the rear right zone controller respectively based on the first power supply, and powering the front left wheel side controller through the front left zone controller, and powering the rear right wheel side controller through the rear right zone controller;

[0026] Based on the second power supply, power is supplied to the rear left area controller and the front right wheel side controller respectively, and the rear left wheel side controller is powered by the rear left area controller, and the front right wheel side controller is powered by the front right area controller.

[0027] Optionally, the 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-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; the power supply is used to supply power to at least one zone controller respectively, and each zone controller supplies power to at least one connected wheel-side controller, including:

[0028] Supplying power to the first regional controller based on the first power supply, and supplying power to the front left wheel side controller and the front right wheel side controller through the first regional controller;

[0029] The second power supply is used to supply power to the second zone controller, and the second zone controller is used to supply power to the rear left wheel side controller and the rear right wheel side controller.

[0030] Optionally, a brake control signal is transmitted to the brake controller based on the electronic pedal, so that the brake controller transmits a brake control instruction to the multiple wheel-side controllers through the vehicle bus to control the vehicle operating state.

[0031] Beneficial effects of this application:

[0032] The electronic mechanical braking system in the embodiment of the present application includes a brake controller, multiple wheel-side controllers and at least one regional controller. The power supply supplies power to the brake controller and the at least one regional controller, and supplies power to the corresponding at least one wheel-side controller through the regional controller. When the brake controller receives an unexpected braking signal from a wheel-side controller in an unexpected braking state, it sends a braking prohibition instruction to the wheel-side controller in the unexpected braking state, and at the same time, it can disconnect the corresponding regional controller to disconnect the power supply to the wheel-side controller in the unexpected braking state. In this way, the system can use a wheel-side controller with a general safety level, a simple internal structure, low cost, and low manufacturing complexity, and use a regional controller to control the power off of the wheel-side controller in the unexpected braking state, which can ensure the safe braking response speed and improve the safety level of the low-cost wheel-side controller in the system. For example, using the system in the present application, an ASIL B-level wheel-side controller can be used to achieve an ASIL D-level safety function.

[0033] These implementations or other implementations of the present application will be more concise and understandable in the description of the following embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0035] Figure 1 A schematic diagram of the architecture of an electromechanical braking system provided in an embodiment of the present application;

[0036] Figure 2 A system architecture diagram of a primary and secondary brake controller-electromechanical brake system provided in an embodiment of the present application;

[0037] Figure 3 A system architecture diagram of a dual power supply-electromechanical brake system provided in an embodiment of the present application;

[0038] Figure 4 A system architecture diagram of a dual-bus electronic mechanical braking system provided in an embodiment of the present application;

[0039] Figure 5 A system architecture diagram of an electromechanical braking system provided in an embodiment of the present application;

[0040] Figure 6 This is a system architecture diagram of another electromechanical braking system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] To make the objectives, technical solutions, and advantages of this application more clear, this application will be further described in detail below with reference to the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0042] The electronic mechanical braking system EMB is usually composed of an electronic pedal (ePedal), a brake controller (BrakeController), and four wheel control units (WCU) (generally speaking); each wheel control unit 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 control unit also controls the parking actuator.

[0043] Among them, the electronic pedal is used to convert the driver's brake control into an electrical signal and transmit it to the primary brake controller PBC and the auxiliary brake controller SBC at the same time.

[0044] The brake controller, acting as the brain, analyzes the electrical signals from the electronic pedal and calculates the driver's braking intention. It then performs logical operations on the braking function and outputs the brake control instructions to the four wheel-side controllers through the vehicle's high-speed bus.

[0045] Wheel speed sensors, as sensor units for wheel dynamics, are essential input signals for chassis control functions. They are directly connected to the wheel-side controller (WCU), which provides sensor power, collects and processes signals, and transmits the four wheel speed sensor signals to the vehicle's high-speed bus.

[0046] The wheel-side controller WCU, as a brake actuator, receives wheel-side braking instructions from the main brake controller PBC or the auxiliary brake controller SBC, controls the clamping and release of the electronic caliper, and can provide a parking control interface.

[0047] In the functional safety hazard analysis and risk assessment of the braking system, the electromechanical brake system (EMB) needs to meet the safety goal of "avoiding unintended braking" and has the highest functional safety level, ASIL-D. Therefore, for the currently common electromechanical brake system (EMB) architecture, the wheel-side control unit (WCU) needs to meet the design requirements of ASIL-D, the highest functional safety level. As a result, the costs of R&D and component selection are very high.

[0048] Based on this, the embodiment of the present application provides an electromechanical braking system, such as Figure 1As shown, the system includes a brake controller 101, multiple wheel-side controllers 103 and at least one regional controller 102, including:

[0049] The power supply 104 is connected to the brake controller 101 and at least one regional controller 102 respectively, and each regional controller 102 is connected to at least one wheel-side controller 103 to supply power to the brake controller 101 and at least one regional controller 102, and to supply power to the corresponding at least one wheel-side controller through the regional controller 102;

[0050] The brake controller 101 is connected to multiple wheel-side controllers 103 and at least one regional controller 102 through the vehicle bus 105, so that when it receives an unexpected braking signal from the wheel-side controller 103 in the unexpected braking state, it sends a prohibit braking instruction to the wheel-side controller 103 in the unexpected braking state, and disconnects the power supply to the wheel-side controller 103 in the unexpected braking state through the corresponding regional controller 102.

[0051] In one embodiment, the electronic mechanical braking system in the embodiment of the present application can be used in various vehicles, or mechanical equipment that requires braking functions, etc. There is no specific limitation on the application of the electronic mechanical braking system here, and it can be set as needed.

[0052] In one embodiment, there is no specific limit on the number of wheel-side controllers 103. 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 based on cost considerations, a six-wheeled vehicle can be provided with three wheel-side controllers 103.

[0053] In one embodiment, the relationship between the zone controller 102 and the wheel controller 103 can be a one-to-one or one-to-many relationship.

[0054] In one embodiment, the 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 multiple wheel-side controllers through a vehicle bus to control the vehicle operating state.

[0055] Based on the above Figure 1 The system architecture of the present application embodiment provides a system architecture diagram of a main and auxiliary brake controller-electromechanical brake system, such as Figure 2 As shown, the brake controller includes a main brake controller 2012 and an auxiliary brake controller 2011, and the main brake controller 2012 and the auxiliary brake controller 2011 are communicatively connected to each other;

[0056] The power supply 204 is connected to the main brake controller 2012 and the auxiliary brake controller 2011 respectively to supply power to the main brake controller 2012 and the auxiliary brake controller 2011;

[0057] The main brake controller 2012 is connected to the plurality of wheel-side controllers 203 and at least one regional controller 202 via the vehicle bus 205; and the auxiliary brake controller 2011 is connected to the plurality of wheel-side controllers 203 and at least one regional controller 202 via the vehicle bus 205;

[0058] So that when the main brake controller 2012 receives an unexpected braking signal, it sends a prohibit braking 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 regional controller 202, or when the main brake controller 2012 fails, the auxiliary brake controller 2011 is used to send a prohibit braking 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 regional controller 202.

[0059] In one embodiment, the primary brake controller 2012 (PBC) acts as the brain, analyzing the electrical signals from the electronic pedal and calculating the driver's braking intention; it then performs logical operations on the braking function and outputs the braking control instructions to the four wheel-side controllers 203 through the vehicle's high-speed bus.

[0060] The auxiliary brake controller 2011 (SBC) serves as a monitor for the main brake controller 2012 and a backup controller in the event of failure of the main brake controller 2012. When the main brake controller 2012 (PBC) fails, it takes over the braking control functions of the main brake controller 2012 (PBC), including parsing the electrical signal of the electronic pedal and calculating the driver's braking intention; performing logical operations on the braking function and outputting the braking control instructions to the four wheel-side controllers 203 through the vehicle's high-speed bus.

[0061] Based on the above Figure 2 The system architecture of the present application embodiment provides a system architecture diagram of a dual power supply-electronic mechanical brake system, such as Figure 3 As shown, the system includes multiple regional controllers, the multiple regional controllers include at least one first regional controller 3021 and at least one second regional controller 3022, the multiple wheel-side controllers include 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;

[0062] The first power supply 3041 is connected to the main brake controller 3011 and the first zone controller 3021 respectively. 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.

[0063] The second power supply 3042 is connected to the auxiliary brake controller 3012 and the second zone controller 3022 respectively. 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.

[0064] In one embodiment, a dual-channel redundant power supply solution is adopted for the power supply part, that is, it includes power supplies: a first power supply 3041 and a second power supply 3042 .

[0065] In one embodiment, power supply 1 - the first power supply 3041, supplies power to the electronic pedal, the primary brake controller 3011 (PBC), and the front left and rear right wheel side controllers; power supply 2 - the second power supply 3042, supplies power to the electronic pedal, the auxiliary brake controller SBC, and the front right and rear left wheel side controllers; this ensures that when one power supply system fails or malfunctions, there is still another power supply to ensure the logical operation and functional control of the electronic control braking system.

[0066] Based on the above Figure 2 The system architecture of the present application embodiment provides a system architecture diagram of a dual bus-electronic mechanical brake system, such as Figure 4 As shown, the vehicle bus includes a first sub-vehicle bus and a second sub-vehicle bus;

[0067] The first sub-vehicle bus is respectively connected to the main brake controller, multiple wheel-side controllers and at least one regional controller, and is used for data exchange between the controllers;

[0068] The second sub-vehicle bus is respectively connected to the auxiliary brake controller, multiple wheel-side controllers and at least one regional controller for data exchange between the controllers.

[0069] Here, if Figure 4 The buses shown, 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, the corresponding regional controller and the wheel side controller, and the second sub-vehicle center line is used to serve the corresponding auxiliary brake controller, the corresponding regional controller and the wheel side controller.

[0070] Based on the system architecture in the above figures, the embodiment of the present application provides a system architecture diagram of an electromechanical braking system, such as Figure 5As shown, 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; 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;

[0071] The front left zone controller and the rear right zone controller are respectively connected to the first power supply;

[0072] The front right zone controller and the rear left zone controller are respectively connected to the second power supply;

[0073] 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;

[0074] 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 left wheel side controller to supply power to the rear right wheel side controller.

[0075] In one embodiment, the zone controller (Zone ControlUnit, ZCU) of the electronic mechanical braking system EMB of the present application is configured in four areas around the vehicle, namely the front left, front right, rear left, and rear right zone controllers (ZCU FL / FR / RL / RR);

[0076] The regional controller ZCU is introduced into the EMB architecture of the electronic mechanical brake system and participates in the power management of the four wheel-side controllers. At this time, the power supply architecture of the entire vehicle becomes: power supply 1 supplies power to the electronic pedal, main brake controller PBC, ZCU FL, and ZCU RR; power supply 2 supplies power to the electronic pedal, auxiliary brake controller SBC, ZCU FR, and ZCU RL; then each ZCU manages the power supply to the wheel-side controller WCU in the corresponding area, including turning on or off the power supply to the wheel-side controller WCU according to instructions, and turning on or off the power supply to the wheel-side controller WCU according to the supply voltage conditions.

[0077] Accordingly, to achieve the safety goal of "avoiding unexpected braking," the main brake controller (PBC) needs to monitor the operating status of the four wheel-side controllers in real time when operating normally. When it detects "unexpected braking" in a wheel-side controller, it will simultaneously send a "brake force control to 0" command to the wheel-side controller via vehicle bus 1, and a "stop WCU power supply" command to the corresponding regional controller. For example, when the PBC detects an unexpected clamping force control condition on the front left wheel, it will send a "brake force control to 0" command to the front left wheel-side controller and a "stop WCU power supply" command to the corresponding front left regional controller.

[0078] When the primary brake controller (PBC) fails to operate normally, the secondary brake controller (SBC) takes over control. It monitors the operating status of all four wheel controllers in real time. If it detects an unexpected braking situation, it simultaneously sends a "brake force control to 0" command to the wheel controller via vehicle bus 2, and a "stop WCU power supply" command to the corresponding zone controller. For example, if the SBC detects an unexpected clamping force control condition on the front left wheel, it sends a "brake force control to 0" command to the front left wheel controller and a "stop WCU power supply" command to the corresponding front left zone controller.

[0079] For the ZCU, the PCB is connected to the PBC via vehicle bus 1 and the SBC via vehicle bus 2. The PCB and SBC can control the power management inside the ZCU via vehicle bus communication signals and program its power output.

[0080] This solution allows the functional safety level requirements for wheel-side controllers to be broken down from ASIL D to ASIL B(D). Simultaneously, the functional safety level for zone controllers is also broken down to ASIL B(D). This reduces the overall difficulty and cost of product design and development. This means that high-safety braking control can be achieved using low-safety-level zone and wheel-side controllers.

[0081] In one embodiment, for the power supply part, a dual-channel redundant power supply solution is adopted. Power supply 1 supplies power to the electronic pedal, the main brake controller PBC, and the front left and rear right wheel side controllers; power supply 2 supplies power to the electronic pedal, the auxiliary brake controller SBC, and the front right and rear left wheel side controllers. In this way, it can be ensured that when one line of the power supply system fails or malfunctions, there is still another line to provide power and ensure the logical operation and functional control of the electronic control braking system.

[0082] Based on the system architecture in the above figures, the embodiment of the present application provides a system architecture diagram of an electromechanical braking system, such as Figure 6 As shown, the system includes multiple area controllers, the multiple area controllers include at least one first area controller and at least one second area controller, 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;

[0083] The first power supply is connected to the first area controller, and the first area controller is connected to the front left wheel side controller and the front right wheel side controller respectively to supply power to the front left wheel side controller and the front right wheel side controller;

[0084] The second power supply is connected to the second area controller, and the second area controller is connected to the rear left wheel side controller and the rear right wheel side controller respectively to supply power to the rear left wheel side controller and the rear right wheel side controller.

[0085] In one embodiment, the electronic mechanical braking system architecture can be adjusted according to the vehicle's electronic and electrical architecture. When the vehicle adopts a front and rear zone controller architecture, the power supply method can be adjusted to power supply 1 to the electronic pedal, the main brake controller PBC, and the front zone controller (ZCU Front, where Front refers to the front wheels of the vehicle and ZCU Front refers to the zone controller for the front wheels of the vehicle); power supply 2 to the electronic pedal, the auxiliary brake controller SBC, and the rear zone controller (ZCU Rear, where Rear refers to the rear wheels of the vehicle and ZCU Rear refers to the zone controller for 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 of the corresponding area for power management, including turning on or off the power supply to the wheel-side controllers WCU according to instructions and turning on or off the power supply to the wheel-side controllers WCU according to the power supply voltage conditions. The rear zone controller (ZCU Rear) supplies power to the rear left and rear right wheel-side controllers WCU of the corresponding area for power management. This way, if the primary or secondary brake controller is in an unexpected braking state when a wheel-side controller is in use, even if it is controlling a single zone controller, it can still achieve even braking on both sides, for example, controlling the left and right front wheels, or the left and right rear wheels. This prevents the vehicle from becoming unbalanced due to only controlling one wheel-side controller.

[0086] Based on the above system architectures, an embodiment of the present application provides an electromechanical braking method applicable to an electromechanical braking system, including:

[0087] Step a: supply power to the brake controller and at least one zone controller based on the power supply, and each zone controller supplies power to at least one connected wheel-side controller.

[0088] Step b: When the brake controller receives an unexpected braking signal from the wheel-side controller in the unexpected braking state, it sends a prohibit braking instruction to the wheel-side controller in the unexpected braking state, and disconnects the power supply to the wheel-side controller in the unexpected braking state through the corresponding regional controller.

[0089] Based on the above-mentioned electromechanical braking method, an embodiment of the present application provides another electromechanical braking method, wherein a brake controller includes a main brake controller and an auxiliary brake controller, and the main brake controller and the auxiliary brake controller are communicatively connected to each other; power is supplied to the brake controller and at least one regional controller based on a power supply, and each regional controller supplies power to at least one connected wheel-side controller, including:

[0090] The above step a includes: supplying power to the main brake controller, the auxiliary brake controller and at least one zone controller respectively based on the power supply;

[0091] In the above step b, when the brake controller receives an unexpected braking signal from a wheel-side controller in an unexpected braking state, it sends a braking prohibition instruction to the wheel-side controller in the unexpected braking state, and disconnects the power supply to the wheel-side controller in the unexpected braking state through the corresponding regional controller, including:

[0092] When the main brake controller receives an unexpected braking signal, it sends a braking prohibition instruction to the wheel-side controller in the unexpected braking state, and cuts off the power supply to the wheel-side controller in the unexpected braking state through the corresponding regional controller;

[0093] Or when the main brake controller fails, the auxiliary brake controller is used to send a braking prohibition instruction to the wheel-side controller in the unexpected braking state, and the power supply to the wheel-side controller in the unexpected braking state is disconnected through the corresponding regional controller.

[0094] Based on the system architecture of the above-mentioned electronic mechanical braking systems, electronic mechanical braking methods and related embodiments thereof, an embodiment of the present application provides a vehicle, which may include any of the above-mentioned electronic mechanical braking systems and execute any of the above-mentioned electronic mechanical braking methods.

[0095] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0096] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes 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 a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0097] These computer program instructions may 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, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0098] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0099] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. An electromechanical braking system, characterized in that: The electromechanical braking system comprises a brake controller, a plurality of wheel-side controllers and at least one zone controller, and the electromechanical braking system includes: A power supply is connected to the brake controller and the at least one zone controller respectively, and each zone controller is connected to at least one wheel-side controller to supply power to the brake controller and the at least one zone controller, and to supply power to the corresponding at least one wheel-side controller through the zone controller; The brake controller is connected to the plurality of wheel-side controllers and the at least one regional controller respectively through a vehicle bus, so that when receiving an unexpected braking signal from a wheel-side controller in an unexpected braking state, the brake controller sends a braking prohibition instruction to the wheel-side controller in the unexpected braking state, and disconnects power to the wheel-side controller in the unexpected braking state through the corresponding regional controller; The brake controller includes a main brake controller and an auxiliary brake controller, and the main brake controller and the auxiliary brake controller are communicatively connected with each other; The power supply is connected to the main brake controller and the auxiliary brake controller respectively to supply power to the main brake controller and the auxiliary brake controller; The main brake controller is connected to the plurality of wheel side controllers and the at least one regional controller respectively through the vehicle bus; and the auxiliary brake controller is connected to the plurality of wheel side controllers and the at least one regional controller respectively through the vehicle bus; so that when the main brake controller receives the unexpected braking signal, it sends the braking prohibition instruction to the wheel-side controller in the unexpected braking state, and disconnects the power supply to the wheel-side controller in the unexpected braking state through the corresponding regional controller; or when the main brake controller fails, the auxiliary brake controller sends the braking prohibition instruction to the wheel-side controller in the unexpected braking state, and disconnects the power supply to the wheel-side controller in the unexpected braking state through the corresponding regional controller; The electronic 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-side controllers include at least one first wheel-side controller and at least one second wheel-side controller, and the power supply includes a first power supply and a second power supply; The first power supply is connected to the main brake controller and the first zone controller respectively, and the first zone controller is connected to the corresponding first wheel-side controller to supply power to the corresponding one or more first wheel-side controllers through the first zone controller; The second power supply is connected to the auxiliary brake controller and the second zone controller respectively, and the second zone controller is connected to the corresponding second wheel-side controller to supply power to the corresponding one or more second wheel-side controllers through the second zone controller.

2. The electromechanical braking system according to claim 1, 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 multiple wheel-side controllers and the at least one regional controller for data exchange between the controllers; The second sub-vehicle bus is connected to the auxiliary brake controller, the multiple wheel-side controllers and the at least one regional controller respectively, and is used for data exchange between the controllers.

3. The electromechanical braking system according to claim 1 or 2, characterized in that: 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; 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; 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 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 left wheel side controller to supply power to the rear right wheel side controller.

4. The electromechanical braking system according to claim 1 or 2, characterized in that: The electronic 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 power supply includes a first power supply and a second power supply, and the plurality of 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; The first power supply is connected to the first zone controller, and the first zone controller is connected to the front left wheel side controller and the front right wheel side controller respectively 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 area controller, and the second area controller is connected to the rear left wheel side controller and the rear right wheel side controller respectively to supply power to the rear left wheel side controller and the rear right wheel side controller.

5. The electromechanical braking system according to claim 1 or 2, characterized in that: The electronic pedal is connected to the brake controller and is used to transmit a brake control signal to the brake controller, so that the brake controller transmits a brake control instruction to the multiple wheel-side controllers through the vehicle bus to control the vehicle operation state.

6. An electromechanical braking method, characterized in that: Suitable for use in electromechanical braking systems, including: Power is supplied to the brake controller and at least one zone controller based on the power supply, and each zone controller supplies power to at least one connected wheel-side controller; When the brake controller receives an unexpected braking signal from a wheel-side controller in an unexpected braking state, it sends a braking prohibition instruction to the wheel-side controller in the unexpected braking state, and disconnects the power supply to the wheel-side controller in the unexpected braking state through the corresponding regional controller.

7. The electromechanical braking method according to claim 6, wherein: The brake controller includes a main brake controller and an auxiliary brake controller, and the main brake controller and the auxiliary brake controller are communicatively connected to each other; the power supply is respectively supplied to the brake controller and at least one regional controller, and each regional controller supplies power to at least one connected wheel-side controller, including: supplying power to the main brake controller, the auxiliary brake controller and at least one zone controller based on the power supply; When the brake controller receives an unexpected braking signal from a wheel-side controller in an unexpected braking state, the brake controller sends a braking prohibition instruction to the wheel-side controller in the unexpected braking state, and disconnects power to the wheel-side controller in the unexpected braking state through the corresponding regional controller, including: When the main brake controller receives the unexpected braking signal, it sends the braking prohibition instruction to the wheel-side controller in the unexpected braking state, and cuts off the power supply to the wheel-side controller in the unexpected braking state through the corresponding regional controller; Or when the main brake controller fails, the auxiliary brake controller is used to send the braking prohibition instruction to the wheel-side controller in the unexpected braking state, and the power supply to the wheel-side controller in the unexpected braking state is disconnected through the corresponding regional controller.

8. A vehicle, characterized in that: The vehicle comprises an electromechanical braking system as described in any one of claims 1 to 5 above, and performs an electromechanical braking method as described in claim 6 or claim 7 above.

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