Brake system and commercial vehicle

Abstract

The invention relates to the technical field of vehicle engineering, and provides a braking system and a commercial vehicle, and the braking system comprises an electronic foot valve, a control module, a front side wheel module and a rear side wheel module. Wherein the control module comprises a front axle control module and a rear axle control module, the electronic foot valve is connected with the front axle control module through a CAN line, the electronic foot valve is connected with the rear axle control module through a CAN line, and the front axle control module is connected with the rear axle control module through a CAN line; the front side wheel module comprises a front side left wheel module and a front side right wheel module, and the front axle control module is electrically connected with the front side left wheel module and the front side right wheel module; the rear side wheel module comprises a rear side left wheel module and a rear side right wheel module, and the rear axle control module is electrically connected with the rear side left wheel module and the rear side right wheel module. The front axle control module and the rear axle control module are connected through the CAN line and are in mutual redundancy design, when one of the modules fails, the other one can replace the module to give a braking instruction, and the stability of the braking system is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle engineering, and particularly to a braking system and a commercial vehicle. Background Art

[0002] With the development of automotive active safety technologies, the electrification and intelligentization of commercial vehicles have become national strategies. Electro-hydraulic braking technology is an important means to achieve the electrification and intelligentization of commercial vehicles, and plays a crucial role in improving driving safety and reducing traffic accidents. The electro-mechanical braking system for commercial vehicles is the future development trend of electro-hydraulic braking technology. On the one hand, it can achieve a braking distance as short as the physical limit, reduce traffic accidents, and at the same time have efficient energy recovery to improve the vehicle's endurance; on the other hand, it can support future driverless technologies. At present, the electro-mechanical braking systems for commercial vehicles on the market have not been mass-produced, cannot meet the dual-channel redundancy requirements, have a low functional safety level, and are extremely costly.

[0003] Therefore, there is an urgent need for a braking system and a commercial vehicle to solve the above technical problems. Summary of the Invention

[0004] The purpose of the present invention is to provide a braking system that can meet the redundancy design and improve the reliability of the braking system.

[0005] To achieve this purpose, the present invention adopts the following technical solutions:

[0006] A braking system, comprising:

[0007] An electronic foot valve;

[0008] A control module, including a front axle control module and a rear axle control module. The above-mentioned electronic foot valve is connected to the above-mentioned front axle control module, the above-mentioned electronic foot valve is connected to the above-mentioned rear axle control module, and the above-mentioned front axle control module is connected to the above-mentioned rear axle control module through a CAN line;

[0009] A front wheel module, including a front left wheel module and a front right wheel module. The above-mentioned front axle control module is electrically connected to the above-mentioned front left wheel module and the above-mentioned front right wheel module respectively;

[0010] A rear wheel module, including a rear left wheel module and a rear right wheel module. The above-mentioned rear axle control module is electrically connected to the above-mentioned rear left wheel module and the above-mentioned rear right wheel module respectively.

[0011] As a preferred technical solution of the above braking system, the above-mentioned electronic foot valve is connected to the above-mentioned front axle control module and the above-mentioned electronic foot valve is connected to the above-mentioned rear axle control module through hard wires.

[0012] As a preferred technical solution of the above braking system, it further includes a front left wheel speed sensor and a front right wheel speed sensor, and the front axle control module is respectively communicatively connected to the front left wheel speed sensor and the front right wheel speed sensor.

[0013] As a preferred technical solution of the above braking system, it further includes a rear left wheel speed sensor and a rear right wheel speed sensor, and the rear axle control module is respectively communicatively connected to the rear left wheel speed sensor and the rear right wheel speed sensor.

[0014] As a preferred technical solution of the above braking system, it further includes an EPB switch, and the EPB switch is connected to the front axle control module and the EPB switch is connected to the rear axle control module both through CAN lines.

[0015] As a preferred technical solution of the above braking system, the EPB switch is connected to the front axle control module through a hard wire, and the EPB switch is connected to the rear axle control module through a hard wire.

[0016] As a preferred technical solution of the above braking system, the electronic foot valve includes a first pedal sensor and a second pedal sensor, the front axle control module is connected to the first pedal sensor through a CAN line, and the rear axle control module is connected to the second pedal sensor through a CAN line.

[0017] As a preferred technical solution of the above braking system, it further includes a front axle power supply and a rear axle power supply, the front axle power supply is electrically connected to the front axle control module, and the rear axle power supply is communicatively connected to the rear axle control module.

[0018] As a preferred technical solution of the above braking system, the motor controller in the front axle control module is respectively connected to the motor assembly of the front left wheel module and the motor assembly of the front right wheel module through three-phase electricity;

[0019] The motor controller in the rear axle control module is respectively connected to the motor assembly of the rear left wheel module and the motor assembly of the rear right wheel module through three-phase electricity.

[0020] A commercial vehicle is also provided, including the above braking system.

[0021] Advantages of the present invention:

[0022] The present invention provides a braking system and a commercial vehicle, comprising an electronic foot valve, a control module, a front wheel module and a rear wheel module. The control module comprises a front axle control module and a rear axle control module, the electronic foot valve and the front axle control module, the electronic foot valve and the rear axle control module, and the front axle control module and the rear axle control module are all connected via a CAN line; the front wheel module comprises a front left wheel module and a front right wheel module, the front axle control module is electrically connected to the front left wheel module and the front right wheel module respectively; the rear wheel module comprises a rear left wheel module and a rear right wheel module, and the rear axle control module is electrically connected to the rear left wheel module and the rear right wheel module respectively.

[0023] Exemplarily, the electronic foot valve includes a brake pedal and a pedal sensor, the pedal sensor can obtain the rotation angle of the brake pedal when the driver steps on it, and can output a related signal, which is recorded as a brake pedal signal. The front axle control module can obtain the brake pedal signal output by the pedal sensor, and control the front left wheel module and the front right wheel module according to the signal, and the rear axle control module can obtain the brake pedal signal output by the pedal sensor, and control the rear left wheel module and the rear right wheel module according to the signal.

[0024] Furthermore, the front axle control module and the rear axle control module are connected via a CAN line. In this way, the two are designed to be redundant with each other. When one of them fails, the other can replace it to issue a braking command, thereby improving the reliability of the braking system. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0026] Figure 1 It is a schematic diagram of the structure of a braking system provided by an embodiment of the present invention.

[0027] In the figure:

[0028] 1. Electronic foot valve; 11. First pedal sensor; 12. Second pedal sensor;

[0029] 2. Front axle control module; 21. Front axle brake controller; 22. Front axle capacitor; 23. Front axle motor controller;

[0030] 3. Rear axle control module; 31. Rear axle brake controller; 32. Rear axle capacitor; 33. Rear axle motor controller;

[0031] 41a, front left wheel module; 41b, front left wheel speed sensor; 42a, front right wheel module; 42b, front right wheel speed sensor;

[0032] 51a, rear left wheel module; 51b, rear left wheel speed sensor; 52a, rear right wheel module; 52b, rear right wheel speed sensor;

[0033] 6, EPB switch;

[0034] 71, front axle power supply; 72, rear axle power supply. Detailed implementation manners

[0035] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. In addition, it should be noted that, for the convenience of description, only the parts related to the present invention rather than all the structures are shown in the drawings.

[0036] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0037] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "above", and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "below", and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the horizontal height of the first feature is lower than that of the second feature.

[0038] In the description of this embodiment, the orientation or positional relationships such as "above", "below", "right", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention. In addition, the terms "first" and "second" are only used for distinction in description and do not have special meanings.

[0039] AsFigure 1 As shown in the figure, the present invention provides a braking system, which includes an electronic foot valve 1, a control module, a front wheel module, and a rear wheel module. Among them, the control module includes a front axle control module 2 and a rear axle control module 3. The electronic foot valve 1 is connected to the front axle control module 2, the electronic foot valve 1 is connected to the rear axle control module 3, and the front axle control module 2 is connected to the rear axle control module 3 through CAN lines; the front wheel module includes a front left wheel module 41a and a front right wheel module 42a, and the front axle control module 2 is electrically connected to the front left wheel module 41a and the front right wheel module 42a respectively; the rear wheel module includes a rear left wheel module 51a and a rear right wheel module 52a, and the rear axle control module 3 is electrically connected to the rear left wheel module 51a and the rear right wheel module 52a respectively.

[0040] Exemplarily, the electronic foot valve 1 includes a brake pedal and a pedal sensor. The pedal sensor can obtain the rotation angle of the brake pedal under the driver's stepping and can output relevant signals, denoted as brake pedal signals. The front axle control module 2 can obtain the brake pedal signals output by the pedal sensor and control the front left wheel module 41a and the front right wheel module 42a according to the signals. The rear axle control module 3 can obtain the brake pedal signals output by the pedal sensor and control the rear left wheel module 51a and the rear right wheel module 52a according to the signals.

[0041] Specifically, the front left wheel module 41a includes a front left wheel end braking device. The front left wheel end braking device includes a front left wheel end controller and a front left braking actuator. The front left braking actuator includes a front left wheel braking motor and a front left wheel brake caliper. During braking, the front left wheel end controller controls the front left wheel braking motor to drive the front left wheel brake caliper to clamp the brake disc of the front left wheel, thereby completing the braking of the front left wheel.

[0042] Specifically, the front right wheel module 42a includes a front right wheel end braking device. The front right wheel end braking device includes a front right wheel end controller and a front right braking actuator. The front right braking actuator includes a front right wheel braking motor and a front right wheel brake caliper. During braking, the front right wheel end controller controls the front right wheel braking motor to drive the front right wheel brake caliper to clamp the brake disc of the front right wheel, thereby completing the braking of the front right wheel.

[0043] When the front axle control module 2 obtains the brake pedal signals output by the pedal sensor and determines that a braking instruction needs to be executed currently, the front axle control module 2 sends braking instructions to the front right wheel end controller and the front left wheel end controller respectively, so that the front wheel module completes braking simultaneously.

[0044] Specifically, the rear left wheel module 51a includes a rear left wheel end braking device. The rear left wheel end braking device includes a rear left wheel end controller and a rear left braking actuator. The rear left braking actuator includes a rear left wheel braking motor and a rear left wheel braking caliper. During braking, the rear left wheel end controller controls the rear left wheel braking motor to drive the rear left wheel braking caliper to clamp the brake disc of the rear left wheel, thereby completing the braking of the rear left wheel.

[0045] Specifically, the rear right wheel module 52a includes a rear right wheel end braking device. The rear right wheel end braking device includes a rear right wheel end controller and a rear right braking actuator. The rear right braking actuator includes a rear right wheel braking motor and a rear right wheel braking caliper. During braking, the rear right wheel end controller controls the rear right wheel braking motor to drive the rear right wheel braking caliper to clamp the brake disc of the rear right wheel, thereby completing the braking of the rear right wheel.

[0046] The rear axle control module 3 obtains the brake pedal signal output by the pedal sensor. When it determines that a braking instruction needs to be executed, the rear axle control module 3 sends braking instructions to the rear right wheel end controller and the rear left wheel end controller respectively, so that the rear wheel module completes braking simultaneously.

[0047] Further, the front axle control module 2 and the rear axle control module 3 are connected by a CAN line. In this way, they are designed as redundant to each other. When one of them fails, the other can issue a braking instruction instead.

[0048] Exemplarily, when the front axle control module 2 fails, the front wheel module cannot obtain the braking signal through the front axle control module 2. After the rear axle control module 3 obtains the braking signal, it sends it to the front axle control module 2 through the CAN line network, so that the front wheel module can also obtain the braking signal and execute braking according to the braking signal. In this way, the reliability of the braking system is improved.

[0049] Optionally, the electronic foot valve 1 is connected to the front axle control module 2 and the electronic foot valve 1 is connected to the rear axle control module 3 by hard wires.

[0050] The hard wire connection and the CAN line network connection are designed as redundant to each other. When the CAN line network fails, the electronic foot valve 1 can still send the braking signal to the front axle control module 2 and the rear axle control module 3 through the hard wire harness, thereby improving the stability of the braking system.

[0051] Optionally, the front wheel module further includes a front left wheel speed sensor 41b and a front right wheel speed sensor 42b. The front axle control module 2 is communicatively connected to the front left wheel speed sensor 41b and the front right wheel speed sensor 42b respectively.

[0052] Exemplarily, the front left wheel speed sensor 41b is used to detect the front left wheel speed signal. The front left wheel speed sensor 41b is communicatively connected to the front axle control module 2 and can send the speed signal of the front left wheel to the front axle control module 2. The front axle control module 2 determines the current wheel speed state of the front left wheel through this signal. When a braking signal is obtained, the front axle control module 2 calculates the braking pressure of the front left wheel according to the braking signal and the front left wheel speed signal, and sends the braking pressure value to the front left wheel end controller. The front left wheel end controller commands the front left brake actuator to apply a braking force to the front left wheel according to the signal value.

[0053] Exemplarily, the front right wheel speed sensor 42b is used to detect the front right wheel speed signal. The front right wheel speed sensor 42b is communicatively connected to the front axle control module 2 and can send the speed signal of the front right wheel to the front axle control module 2. The front axle control module 2 determines the current wheel speed state of the front right wheel through this signal. When a braking signal is obtained, the front axle control module 2 calculates the braking pressure of the front right wheel according to the braking signal and the front right wheel speed signal, and sends the braking pressure value to the front right wheel end controller. The front right wheel end controller commands the front right brake actuator to apply a braking force to the front right wheel according to the signal value.

[0054] Optionally, the rear wheel module further includes a rear left wheel speed sensor 51b and a rear right wheel speed sensor 52b. The rear axle control module 3 is communicatively connected to the rear left wheel speed sensor 51b and the rear right wheel speed sensor 52b respectively.

[0055] Exemplarily, the rear left wheel speed sensor 51b is used to detect the rear left wheel speed signal. The rear left wheel speed sensor 51b is communicatively connected to the rear axle control module 3 and can send the speed signal of the rear left wheel to the rear axle control module 3. The rear axle control module 3 determines the wheel speed state of the rear left wheel through this signal. When a braking signal is obtained, the rear axle control module 3 calculates the braking pressure of the rear left wheel according to the braking signal and the rear left wheel speed signal, and sends the braking pressure value to the rear left wheel end controller. The rear left wheel end controller commands the rear left brake actuator to apply a braking force to the rear left wheel according to the signal value.

[0056] Exemplarily, the rear right wheel speed sensor 52b is used to detect the rear right wheel speed signal. The rear right wheel speed sensor 52b is communicatively connected to the rear axle control module 3 and can send the speed signal of the rear right wheel to the rear axle control module 3. The rear axle control module 3 determines the wheel speed state of the rear right wheel through this signal. When a braking signal is obtained, the rear axle control module 3 calculates the braking pressure of the rear right wheel according to the braking signal and the rear right wheel speed signal, and sends the braking pressure value to the rear right wheel end controller. The rear right wheel end controller commands the rear right brake actuator to apply a braking force to the rear right wheel according to the signal value.

[0057] Optionally, the control module is further configured to control the start of the Anti-lock Braking System (ABS) when it determines that the wheel speed state of any wheel is in a locked state. The wheel speed sensor can accurately, reliably, and timely obtain the wheel speed and convert it into an electrical signal for input to the control module. When the control module determines that the wheel speed state of any wheel is in a locked state, that is, it determines that the vehicle is locked and slipping, the control module controls the start of the anti-lock system to prevent the wheels from locking.

[0058] In this embodiment, the front left wheel speed sensor 41b is communicatively connected to the front axle control module 2, the front right wheel speed sensor 42b is communicatively connected to the front axle control module 2, the rear left wheel speed sensor 51b is communicatively connected to the rear axle control module 3, and the rear right wheel speed sensor 52b is communicatively connected to the rear axle control module 3. The front left wheel speed sensor 41b is used to detect the frequency signal of the rotation of the front left wheel, the front right wheel speed sensor 42b is used to detect the frequency signal of the rotation of the front right wheel, the rear left wheel speed sensor 51b is used to detect the frequency signal of the rotation of the rear left wheel, and the rear right wheel speed sensor 52b is used to detect the frequency signal of the rotation of the rear right wheel, so as to determine the rotational speed of each wheel. When an emergency braking occurs, the ABS system starts to work. When the ABS system controls the wheels to brake and release alternately, the front left wheel speed sensor 41b transmits the distance signal of the front left wheel from being braked to rotating to the ABS system, the front right wheel speed sensor 42b transmits the distance signal of the front right wheel from being braked to rotating to the ABS system, the rear left wheel speed sensor 51b transmits the distance signal of the rear left wheel from being braked to rotating to the ABS system, and the rear right wheel speed sensor 52b transmits the distance signal of the rear right wheel from being braked to rotating to the ABS system, so that the ABS system can control the braking to achieve the optimal braking distance.

[0059] Optionally, the braking system further includes an EPB switch 6. The EPB switch 6 is connected to the front axle control module 2 and the EPB switch 6 is also connected to the rear axle control module 3 through CAN lines.

[0060] The EPB (Electronic Parking Brake) switch is a control input device of the electronic parking brake system. The driver triggers or releases the parking brake through it. The EPB switch 6 communicates with the front axle control module 2 and the rear axle control module 3 through the CAN network. After the driver triggers the EPB switch 6, the internal MCU processes the original signal and obtains the EPB opening signal. After ensuring the effectiveness of the signal through differential signal cross-checking, it is sent to the CAN line. The parking signal is sent to the front axle control module 2 and the rear axle control module 3 through the CAN network. The front axle control module 2 then commands the front wheel module to execute the parking instruction, and the rear axle control module 3 then commands the rear wheel module to execute the parking instruction.

[0061] Optionally, the EPB switch 6 is hard-wired to the front axle control module 2 and the EPB switch 6 is hard-wired to the rear axle control module 3.

[0062] The EPB switch 6 is hard-wired to the front axle control module 2 and the rear axle control module 3. When the driver triggers the EPB switch 6, a parking signal is sent. The parking signal is transmitted through the wire harness to the front axle control module 2 and the rear axle control module 3. The front axle control module 2 then commands the front wheel module to execute the parking instruction, and the rear axle control module 3 commands the rear wheel module to execute the parking instruction.

[0063] With such a setting, the EPB can send the parking signal through the CAN line and can also transmit the parking signal through the hard-wired wire harness. When at least one of them is determined to be effective, the front axle control module 2 and the rear axle control module 3 execute the parking brake instruction. The CAN line connection and the hard-wired connection are redundant designs for each other.

[0064] Optionally, the electronic foot valve 1 includes a first pedal sensor 11 and a second pedal sensor 12. The front axle control module 2 is connected to the first pedal sensor 11 through the CAN line, and the rear axle control module 3 is connected to the second pedal sensor 12 through the CAN line.

[0065] In this embodiment, the first pedal sensor 11 and the second pedal sensor 12 are redundant designs for each other. The two pedal sensors can more accurately detect the movement state of the brake pedal. And when one of the pedal sensors fails, the other pedal sensor can still obtain the movement state of the brake pedal, thereby improving the reliability of the braking system. When the driver steps on the brake pedal, the MCU inside the electronic foot valve 1 processes the original signal and obtains the opening signal of the brake pedal. After ensuring the signal is valid through differential signal cross-checking, it is sent to the CAN line network and then sent to the front axle control module 2 and the rear axle control module 3 through the CAN network respectively.

[0066] Further, when both the first pedal sensor 11 and the second pedal sensor 12 are effective, the front axle control module 2 executes braking according to the braking signal of the first pedal sensor 11, and the rear axle control module 3 executes braking according to the braking signal of the second pedal sensor 12. Exemplarily, when the first pedal sensor 11 fails and the second pedal sensor 12 is effective, the front axle control module 2 cannot obtain the braking signal from the first pedal sensor 11. After the rear axle control module 3 obtains the braking signal from the second pedal sensor 12, it sends the signal to the front axle control module 2 through the CAN line network. In this way, the front axle control module 2 and the rear axle control module 3 can also be redundant designs for each other.

[0067] The first pedal sensor 11 and the second pedal sensor 12 can be a brake pedal displacement sensor or a brake pedal pressure sensor.

[0068] Exemplarily, a brake pedal displacement sensor is used to monitor the movement angle of the brake pedal. The front axle control module 2 and the rear axle control module 3 calculate the stroke of the brake pedal based on the movement angle from the corresponding brake pedal displacement sensor, and then obtain the current braking force demand of the vehicle.

[0069] Exemplarily, a brake pedal pressure sensor is used to monitor the pressure acting on the brake pedal. The front axle control module 2 and the rear axle control module 3 calculate the braking stroke corresponding to the pressure acting on the brake pedal, and then obtain the current braking force demand of the vehicle.

[0070] Optionally, the braking system further includes a front axle power supply 71 and a rear axle power supply 72. The front axle power supply 71 is electrically connected to the front axle control module 2, and the rear axle power supply 72 is electrically connected to the rear axle control module 3.

[0071] With such an arrangement, the front axle power supply 71 is configured for the front axle control module 2, and the rear axle power supply 72 is configured for the rear axle control module 3. The front axle power supply 71 and the rear axle power supply 72 are designed redundantly with each other. Under normal conditions, the front axle power supply 71 can supply power to the front axle control module 2, and the rear axle power supply 72 can supply power to the rear axle control module 3. When one of them fails, exemplarily, when the front axle power supply 71 cannot supply power to the front axle control module 2, the rear axle power supply 72 can maintain the operation of the rear axle control module 3. The rear axle control module 3 can send signals to the front axle control module 2 through the CAN line network and send them to the front side wheel module.

[0072] Optionally, the motor controllers in the front axle control module 2 are respectively connected to the motor assemblies of the front left wheel module 41a and the front right wheel module 42a through three-phase electricity; the motor controllers in the rear axle control module 3 are respectively connected to the motor assemblies of the rear left wheel module 51a and the rear right wheel module 52a through three-phase electricity.

[0073] Exemplarily, the motor controller in the front axle control module 2 is denoted as the front axle motor controller 23. The front axle motor controller 23 includes a control circuit and a brake motor power circuit. The brake motor power circuit includes a three-phase bridge arm. The motor assembly of the front left wheel module 41a includes a front left wheel brake motor. The front left wheel brake motor includes a three-phase winding. The midpoints of the three-phase bridge arm of the brake motor power circuit are respectively used to connect the three-phase windings of the front left wheel brake motor. The control circuit is used to control the brake motor power circuit to output a brake motor drive current to the three-phase windings of the front left wheel brake motor. The brake motor drive current is used to control the front left wheel brake motor to drive the front left wheel brake caliper to clamp the brake disc.

[0074] Exemplarily, the motor controller in the front axle control module 2 is denoted as the front axle motor controller 23. The front axle motor controller 23 includes a control circuit and a braking motor power circuit. The braking motor power circuit includes a three-phase bridge arm. The motor assembly of the front right wheel module 42a includes a front right wheel braking motor. The front right wheel braking motor includes a three-phase winding. The midpoints of the three-phase bridge arms of the braking motor power circuit are respectively used to connect the three-phase windings of the front right wheel braking motor. The control circuit is used to control the braking motor power circuit to output a braking motor drive current to the three-phase windings of the front right wheel braking motor. The braking motor drive current is used to control the front right wheel braking motor to drive the front right wheel brake caliper to clamp the brake disc.

[0075] Exemplarily, the motor controller in the rear axle control module 3 is denoted as the rear axle motor controller 33. The rear axle motor controller 33 includes a control circuit and a braking motor power circuit. The braking motor power circuit includes a three-phase bridge arm. The motor assembly of the rear left wheel module 51a includes a rear left wheel braking motor. The rear left wheel braking motor includes a three-phase winding. The midpoints of the three-phase bridge arms of the braking motor power circuit are respectively used to connect the three-phase windings of the rear left wheel braking motor. The control circuit is used to control the braking motor power circuit to output a braking motor drive current to the three-phase windings of the rear left wheel braking motor. The braking motor drive current is used to control the rear left wheel braking motor to drive the rear left wheel brake caliper to clamp the brake disc.

[0076] Exemplarily, the motor controller in the rear axle control module 3 is denoted as the rear axle motor controller 33. The rear axle motor controller 33 includes a control circuit and a braking motor power circuit. The braking motor power circuit includes a three-phase bridge arm. The motor assembly of the rear right wheel module 52a includes a rear right wheel braking motor. The rear right wheel braking motor includes a three-phase winding. The midpoints of the three-phase bridge arms of the braking motor power circuit are respectively used to connect the three-phase windings of the rear right wheel braking motor. The control circuit is used to control the braking motor power circuit to output a braking motor drive current to the three-phase windings of the rear right wheel braking motor. The braking motor drive current is used to control the rear right wheel braking motor to drive the rear right wheel brake caliper to clamp the brake disc.

[0077] Specifically, the front axle control module 2 includes a front axle brake controller 21, a front axle capacitor 22, and a front axle motor controller 23. Among them, the front axle brake controller 21 is used to connect with the EPB switch 6, the electronic foot valve 1, and the rear axle brake controller 31 through the CAN line network, and is also used to connect with the front left wheel speed sensor 41b and the front right wheel speed sensor 42b through a wire harness. The front axle capacitor 22 is used to be electrically connected to the front axle power supply 71. The front axle motor controller 23 is used to be three-phase connected to the motor assemblies of the front left wheel module 41a and the front right wheel module 42a, and is also used to be electrically connected to the reducer assemblies of the front left wheel module 41a and the front right wheel module 42a.

[0078] Specifically, the rear axle control module 3 includes a rear axle brake controller 31, a rear axle capacitor 32, and a rear axle motor controller 33. Among them, the rear axle brake controller 31 is used to be connected to the EPB switch 6, the electronic foot valve 1, and the rear axle brake controller 31 through a CAN line network, and is also used to be connected to the rear left wheel speed sensor 51b and the rear right wheel speed sensor 52b through a wire harness. The rear axle capacitor 32 is used to be electrically connected to the rear axle power supply 72. The rear axle motor controller 33 is used to be three-phase connected to the motor assemblies of the rear left wheel module 51a and the rear right wheel module 52a, and is also used to be electrically connected to the reducer assemblies of the rear left wheel module 51a and the rear right wheel module 52a.

[0079] A commercial vehicle is also provided, which includes the above-mentioned braking system.

[0080] The braking system provided by the present invention combines electric control and machinery on the basis of a traditional pneumatic braking system, reduces energy consumption, improves the response time, and can accurately adjust the braking of each wheel. The present invention combines an electric control braking control software, can realize full-wheel parking braking, and at the same time can increase the utilization rate of the adhesion coefficient by 5% and improve the energy recovery efficiency by 3%; at the same time, the number of components is reduced by more than 70%, and the weight is reduced by about 80 kg to 100 kg, and mass production can be achieved. With the development of new energy commercial vehicles, the cost of the electro-mechanical braking system is equivalent to that of the electro-controlled pneumatic system, which has become the development trend of future new energy vehicles. Moreover, with the development of autonomous driving technology, the electro-mechanical braking system is easier to integrate with the autonomous driving system, providing more precise vehicle control and improving the overall safety performance. The present invention can expand the high redundancy configuration without changing the system architecture.

[0081] In addition, the above is only the preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described here, and various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A braking system, characterized in that, Comprising: An electronic foot valve (1); A control module, including a front axle control module (2) and a rear axle control module (3), the electronic foot valve (1) is connected to the front axle control module (2), the electronic foot valve (1) is connected to the rear axle control module (3), and the front axle control module (2) is connected to the rear axle control module (3) all through CAN lines; A front side wheel module, including a front side left wheel module (41a) and a front side right wheel module (42a), the front axle control module (2) is electrically connected to the front side left wheel module (41a) and the front side right wheel module (42a) respectively; A rear side wheel module, including a rear side left wheel module (51a) and a rear side right wheel module (52a), the rear axle control module (3) is electrically connected to the rear side left wheel module (51a) and the rear side right wheel module (52a) respectively.

2. The braking system according to claim 1, wherein The electronic foot valve (1) is connected to the front axle control module (2) and the electronic foot valve (1) is connected to the rear axle control module (3) both through hard wires.

3. The braking system according to claim 1, characterized in that, It further includes a front side left wheel speed sensor (41b) and a front side right wheel speed sensor (42b), and the front axle control module (2) is communicatively connected to the front side left wheel speed sensor (41b) and the front side right wheel speed sensor (42b) respectively.

4. The braking system according to claim 1, characterized in that, It further includes a rear side left wheel speed sensor (51b) and a rear side right wheel speed sensor (52b), and the rear axle control module (3) is communicatively connected to the rear side left wheel speed sensor (51b) and the rear side right wheel speed sensor (52b) respectively.

5. The braking system according to claim 1, characterized in that, It further includes an EPB switch (6), the EPB switch (6) is connected to the front axle control module (2), and the EPB switch (6) is connected to the rear axle control module (3) all through CAN lines.

6. The braking system according to claim 5, characterized in that, The EPB switch (6) is connected to the front axle control module (2) through a hard wire, and the EPB switch (6) is connected to the rear axle control module (3) through a hard wire.

7. The braking system according to claim 1, characterized in that, The electronic foot valve (1) includes a first pedal sensor (11) and a second pedal sensor (12), the front axle control module (2) is connected to the first pedal sensor (11) through a CAN line, and the rear axle control module (3) is connected to the second pedal sensor (12) through a CAN line.

8. The braking system according to claim 1, characterized in that It further includes a front axle power supply (71) and a rear axle power supply (72), the front axle power supply (71) is electrically connected to the front axle control module (2), and the rear axle power supply (72) is communicatively connected to the rear axle control module (3).

9. The braking system according to any one of claims 1-8, characterized in that, The motor controller in the front axle control module (2) is connected to the motor assemblies of the front side left wheel module (41a) and the front side right wheel module (42a) respectively through three-phase electricity; The motor controller in the rear axle control module (3) is connected to the motor assemblies of the rear side left wheel module (51a) and the rear side right wheel module (52a) respectively through three-phase electricity.

10. A commercial vehicle, characterized in that, It includes the braking system according to any one of claims 1-9.

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