Vehicle braking system and vehicle

Abstract

The invention provides a vehicle braking system and a vehicle, and relates to the technical field of vehicle braking, the vehicle braking system comprises a controller used for sending a target instruction, and the target instruction comprises a driving braking instruction and / or a parking braking instruction; the service braking subsystem responds to the service braking instruction from the controller and discharges a service braking medium, and the service braking medium is braking fluid; the parking braking subsystem responds to the parking braking instruction from the controller and discharges a parking braking medium, and the parking braking medium is hydraulic oil.

Description

Technical Field

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

[0002] Based on the current state of the industry, automotive brake-by-wire systems are primarily categorized as electro-mechanical, electro-hydraulic, and pneumatic brake-by-wire. Electro-hydraulic brakes are primarily categorized as full-hydraulic brake-by-wire, electronically assisted hydraulic brakes, and hydraulically assisted hydraulic brakes. Electronically assisted hydraulic brakes replace the traditional vacuum booster with an electronic pedal to collect brake signals. This pedal simulates the traditional vacuum booster to satisfy the driver's braking feel, and electronic power-assist systems are used in passenger cars. Hydraulic power-assist systems differ little from electronic power-assist systems, with the only difference being that the power-assisting mechanism is changed from an electric motor to an accumulator storing high-pressure brake fluid. This ensures faster response times while improving the adaptability of heavy-duty chassis. Hydraulic power-assist systems are suitable for light trucks. Full-hydraulic brake-by-wire systems typically share an oil source with other chassis systems, such as steering. These chassis do not require high speeds and have low wheel-side temperatures. Therefore, the medium can be hydraulic oil, which has a lower temperature resistance than brake fluid.

[0003] Electromechanical braking is a fully electric braking system, where braking commands are transmitted entirely as electrical signals. It controls a highly concentrated motor-brake assembly near the wheel. Currently in its infancy, the technology is still immature. Pneumatic brake-by-wire technology reduces response time by 0.2 seconds compared to traditional pneumatic brake systems, improving vehicle safety and controllability. However, it is slower than fully hydraulic brakes. Its primary application is in light and heavy-duty trucks and buses.

[0004] Currently, for ultra-heavy off-road two-axle vehicles, due to the high-speed requirements, there is a problem of high demand for brake fluid when using a full hydraulic wire-controlled brake system. Summary of the Invention

[0005] The present invention provides a vehicle braking system and a vehicle, which are used to solve the problem in the related art that an ultra-heavy off-road two-axle vehicle has a large demand for brake fluid when using a full hydraulic brake-by-wire system due to the high speed requirement.

[0006] In a first aspect, an embodiment of the present invention provides a vehicle braking system, the vehicle braking system comprising:

[0007] a controller, configured to send a target instruction, wherein the target instruction includes a service brake instruction and / or a parking brake instruction;

[0008] a service brake subsystem, responsive to the service brake command from the controller, discharging a service brake medium, wherein the service brake medium is brake fluid;

[0009] The parking brake subsystem discharges parking brake medium, which is hydraulic oil, in response to the parking brake command from the controller.

[0010] Optionally, the controller generates the target command in response to a remote control command from an element external to the vehicle.

[0011] Optionally, the service brake subsystem includes N electronic hydraulic brake systems, and the N electronic hydraulic brake systems include sub-processors;

[0012] The sub-processor is used to control the N electronic hydraulic brake systems to operate according to target parameters in response to the service brake instruction.

[0013] Optionally, the sub-processor communicates with the controller via a first local area network, and the sub-processor communicates with the electronic hydraulic brake system outside the sub-processor via a second local area network.

[0014] Optionally, the parking brake medium shares a pump station with the vehicle's main oil source.

[0015] Optionally, the controller is further configured to monitor a parking signal during driving of the vehicle, and send the service braking instruction based on the parking signal, wherein the parking signal is a signal reflecting the parking state of the vehicle.

[0016] Optionally, the controller is further configured to send the service brake instruction simultaneously with sending the parking brake instruction.

[0017] Optionally, the parking brake subsystem includes a reversing valve, and the reversing valve connects the pump station and the oil outlet in response to the parking brake command.

[0018] Optionally, the reversing valve connects the oil outlet and the oil tank when the vehicle is parked.

[0019] In a second aspect, an embodiment of the present invention provides a vehicle, comprising:

[0020] Vehicle body;

[0021] A system is provided on the vehicle body, and the system is the vehicle braking system described in the first aspect.

[0022] An embodiment of the present invention provides a vehicle braking system and a vehicle. The vehicle braking system includes: a controller for sending a target instruction, wherein the target instruction includes a service brake instruction and / or a parking brake instruction; a service brake subsystem for discharging a service brake medium, which is brake fluid, in response to the service brake instruction from the controller; and a parking brake subsystem for discharging a parking brake medium, which is hydraulic oil, in response to the parking brake instruction from the controller. Thus, when the controller issues a parking brake instruction, the parking brake subsystem can discharge hydraulic oil to facilitate parking brake processing, thereby reducing the vehicle's demand for brake fluid and implementing a fully hydraulic brake-by-wire system for different media. This, to a certain extent, addresses the problem in related technologies of high-speed requirements for ultra-heavy off-road two-axle vehicles, which require a large amount of brake fluid when using a fully hydraulic brake-by-wire system. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0024] Figure 1 A conceptual diagram of a vehicle braking system provided by an embodiment of the present invention;

[0025] Figure 2 A conceptual diagram of a service brake subsystem provided by an embodiment of the present invention;

[0026] Figure 3 A schematic diagram of a control valve group circuit of a parking brake subsystem provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0027] As described in the background technology, according to the current status of the industry, automobile wire control brakes are mainly divided into electronic mechanical brakes, electronic hydraulic brakes and pneumatic wire control brakes. Electronic hydraulic brakes are mainly divided into full hydraulic wire control brakes, electronic power-assisted hydraulic brakes and hydraulic power-assisted hydraulic brakes. Electronic power-assisted hydraulic brakes use an electronic pedal to replace the traditional vacuum booster to collect brake signals. The electronic pedal must simulate the traditional vacuum booster to meet the driver's braking feel. The electronic power-assisted system is used for passenger cars. The hydraulic power-assisted system is not much different from the electronic power-assisted system. The only difference is that the power-assisted method is changed from an electric motor to an accumulator to store high-pressure brake fluid. This can meet the response speed while improving the adaptability of heavy-load chassis. Hydraulic power-assisted is suitable for light trucks. The full hydraulic wire control brake system generally shares the oil source with other chassis systems such as steering. This type of chassis does not have high-speed requirements and the wheel side temperature is low. Therefore, the medium can use hydraulic oil with a lower temperature resistance than brake fluid.

[0028] Electromechanical braking is a fully electric braking system, where braking commands are transmitted entirely as electrical signals. It controls a highly concentrated motor-brake assembly near the wheel. Currently in its infancy, the technology is still immature. Pneumatic brake-by-wire technology reduces response time by 0.2 seconds compared to traditional pneumatic brake systems, improving vehicle safety and controllability. However, it is slower than fully hydraulic brakes. Its primary application is in light and heavy-duty trucks and buses.

[0029] Currently, for ultra-heavy off-road two-axle vehicles, due to the high-speed requirements, there is a problem of high demand for brake fluid when using a full hydraulic wire-controlled brake system.

[0030] An embodiment of the present invention provides a vehicle braking system and a vehicle. The vehicle braking system includes: a controller for sending a target instruction, wherein the target instruction includes a service brake instruction and / or a parking brake instruction; a service brake subsystem for discharging a service brake medium, which is brake fluid, in response to the service brake instruction from the controller; and a parking brake subsystem for discharging a parking brake medium, which is hydraulic oil, in response to the parking brake instruction from the controller. Thus, when the controller issues a parking brake instruction, the parking brake subsystem can discharge hydraulic oil to facilitate parking brake processing, thereby reducing the vehicle's demand for brake fluid and implementing a fully hydraulic brake-by-wire system for different media. This, to a certain extent, addresses the problem in related technologies of high-speed requirements for ultra-heavy off-road two-axle vehicles, which require a large amount of brake fluid when using a fully hydraulic brake-by-wire system.

[0031] In an embodiment of the present invention, the controller generates the target instruction in response to a remote control instruction from a component outside the vehicle. The remote control docking function is achieved by generating the target instruction by receiving the remote control instruction from the component outside the vehicle.

[0032] Figure 1 This is a conceptual diagram of a vehicle braking system provided by an embodiment of the present invention. Figure 1 As shown, the vehicle braking system provided by the embodiment of the present invention includes the following components.

[0033] The controller is used to send a target instruction, where the target instruction includes a service brake instruction and / or a parking brake instruction.

[0034] The service brake subsystem discharges service brake medium in response to the service brake command from the controller, wherein the service brake medium is brake fluid.

[0035] The parking brake subsystem discharges parking brake medium, which is hydraulic oil, in response to the parking brake command from the controller.

[0036] In an embodiment of the present invention, the controller may be a vehicle control unit (VCU), which may be located within the vehicle computer system and configured to send target commands. Before sending a target command, the controller may receive a manual operation command. For example, during driving, a manual braking command may be issued, and the controller may respond to the manual operation command by sending a service braking command. The controller may send the target command via an electrical signal.

[0037] In an embodiment of the present invention, when the vehicle is an ultra-heavy-duty off-road two-axle vehicle, the service brake can be located at the rear end of the reduction gear mechanism, and the parking brake can be installed on the rear end cover of the motor. Due to limited axial and radial space, the wheel assembly and parking brake cannot share a single actuator as with traditional wheel assemblies. The service brake subsystem and parking brake subsystem can be arranged separately, independently performing their respective functions. The service brake utilizes a hydraulic caliper system, with dual calipers and brake discs on each wheel. The fluid requirement per wheel is approximately 20ml at 160bar, while the parking brake requires 110ml at 110bar.

[0038] In an embodiment of the present invention, the service brake subsystem can discharge service brake fluid in response to a service brake command from a controller. Because the vehicle is traveling at high speeds and wheel side temperatures are high, the service brake fluid discharged by the service brake subsystem can be a brake fluid with a higher temperature tolerance.

[0039] In an embodiment of the present invention, the parking brake subsystem can discharge parking brake fluid in response to a parking brake command from a controller. Since the vehicle's speed decreases and wheel side temperatures are low during parking, the parking brake fluid discharged by the parking brake subsystem can be the braking fluid commonly used in full hydraulic brake-by-wire systems—namely, hydraulic oil, which has a lower temperature tolerance than brake fluid. Thus, when the controller issues a parking brake command, the parking brake subsystem can discharge hydraulic fluid to facilitate parking brake application, reducing the vehicle's brake fluid demand and enabling full hydraulic brake-by-wire control of various media. This, to some extent, addresses the high brake fluid demand associated with high-speed, ultra-heavy off-road two-axle vehicles using full hydraulic brake-by-wire systems, a problem previously discussed.

[0040] In an embodiment of the present invention, the service brake subsystem may include N electronic hydraulic brake systems (Electric Hydraulic Brake, EHB for short), and the N electronic hydraulic brake systems include sub-processors.

[0041] In an embodiment of the present invention, in order to better achieve service braking, N electronic hydraulic braking systems can be configured on the vehicle. In order to achieve a balanced vehicle effect, the number of electronic hydraulic braking systems can be set according to the number and / or position of the vehicle tires. For example, according to the number of vehicles, one electronic hydraulic braking system is configured for each wheel, and N is 4 in this case; and two electronic hydraulic braking systems can be configured for each wheel in consideration of backup, and N is 8 in this case.

[0042] At the same time, considering that N electronic hydraulic brake systems are set up on the vehicle, if each electronic hydraulic brake system adopts an independent control strategy, it is easy to have the problem of inconsistent response of the left and right wheel sides and pressure of the vehicle. In an embodiment of the present invention, any one of the N electronic hydraulic brake systems can be set as a sub-processor of the service brake subsystem, or this sub-processor can be understood as the main electronic hydraulic brake system. The sub-processor can be used to respond to the service brake command, control the N electronic hydraulic brake systems to work according to the target parameters, and uniformly manage other electronic hydraulic brake systems and itself to make the vehicle's service braking effect better. For example, the sub-processor controls the service brake subsystem (which can be understood as N electronic hydraulic brake systems) to use the same pressure building parameters, the same gear movement rate, and the same motor output torque and other working parameters to ensure that the response time between the N electronic hydraulic brake systems is the same, and to coordinate control to ensure the stability of the vehicle chassis under braking.

[0043] In an embodiment of the present invention, further consideration is given to communication line issues. To facilitate smoother communication between the sub-processor and the controller, and between the sub-processor and other electronic hydraulic brake systems, the sub-processor and the controller can communicate via a first local area network (LAN), while the sub-processor and the electronic hydraulic brake system outside the sub-processor can communicate via a second local area network (LAN). The first LAN can be a public Controller Area Network (CAN), and the second LAN can be a private CAN, thereby implementing a dual-channel CAN and, further, a dual-channel power supply architecture.

[0044] Furthermore, in this embodiment of the present invention, considering the possibility of sub-processor failure, if the sub-processor does not respond promptly after the controller sends a service brake command, the sub-processor can be considered failed. Upon failure of the sub-processor, the controller can perform failure degradation on the entire vehicle to ensure vehicle safety.

[0045] To better understand the service brake subsystem provided by the embodiment of the present invention, please refer to Figure 2 . Figure 2 A conceptual diagram of a service brake subsystem provided by an embodiment of the present invention, such as Figure 2 As shown, in the embodiment of the present invention, a single wheel is equipped with an electronic power-assisted hydraulic brake electronic hydraulic brake system, one of which serves as the main controller ( Figure 2 The left front wheel is shown above. The controller responds to the service brake command, which can be specifically a brake deceleration command or oil pressure target control command for the upper mechanism. It controls the operation of the motors in all electronic hydraulic brake systems and converts the motor's rotational torque into horizontal movement torque through a worm gear mechanism. This in turn drives the master cylinder of the electronic hydraulic brake system to generate brake pressure. The brake slave cylinder, under the action of hydraulic pressure, pushes the friction pads to clamp the brake discs, generating braking force and distributing the braking force. Specific operating parameters can be shown as follows:

[0046] 1) Each wheel has an electronic hydraulic brake system, with separate ID settings, supporting 12V and 24V voltage platforms.

[0047] 2) The service brake medium is brake fluid, and the master cylinder discharge volume can be greater than 30ml.

[0048] 3) The electronic hydraulic brake system communicates internally via private CAN, and the braking force is distributed by the main electronic hydraulic brake system.

[0049] 4) Support dual-channel CAN and dual-channel power supply architecture.

[0050] 5) After the main electronic hydraulic brake system fails, the vehicle has a failure degradation mode function.

[0051] 6) Receive the vehicle VCU braking deceleration or pressure signal.

[0052] In the embodiment of the present invention, not only a service brake subsystem is provided, but also a parking brake subsystem is provided. In the parking brake subsystem, since the wheel side temperature is relatively low during the parking process, in order to improve the ultra-heavy off-road two-axle vehicle's large fluid demand, the parking brake medium can adopt hydraulic oil with lower temperature resistance than brake fluid. Since in the embodiment of the present invention, the ultra-heavy off-road two-axle vehicle adopts a full hydraulic wire control brake system with hydraulic oil as the medium, the parking brake medium can share a pump station with the vehicle's main oil source.

[0053] In an embodiment of the present invention, to prevent accidental parking during driving, the controller is further configured to monitor a parking signal during driving and issue the service brake command based on the parking signal. The parking signal is a signal reflecting the parking state of the vehicle. The parking signal may be a parameter indicating the parking state, such as oil pressure, travel switch, and brake disc temperature. The service brake command is issued when the parking signal is abnormal, such as when the brake disc temperature is too high.

[0054] Since the duration of parking brake application is primarily determined by the parking brake return spring and the brake disc compression spring force, to avoid prolonged application time, in an embodiment of the present invention, when the controller issues a parking brake command, it also issues a service brake command, causing the service brake subsystem to engage synchronously. After parking is fully implemented, the automatic service brake subsystem automatically disengages. Automatic parking can be achieved after the chassis is powered off.

[0055] In an embodiment of the present invention, the parking brake subsystem can implement the parking brake concept through the parking brake valve group. The parking brake must ensure that the parking is released during driving to prevent impact damage to the wheels. The parking brake valve group focuses on reliability design. For example, the parking brake valve group may include a pressure reducing valve, a one-way valve, an accumulator, a relief valve, etc. Among them, the pressure reducing valve can control the pressure of the components connected to the rear of the valve group, the one-way valve can control the hydraulic oil to flow in only one direction, the accumulator can control the pressure storage of the entire parking brake subsystem and play a certain buffering role, and the relief valve can prevent the abnormal high pressure inside the wheel parking brake from causing damage to the system parts.

[0056] The parking brake valve assembly of the parking brake subsystem provided in an embodiment of the present invention may further include a reversing valve that connects the pump station to the oil outlet in response to the parking brake command and connects the oil outlet to the fuel tank when the vehicle is parked. The reversing valve controls the on-off flow of the hydraulic oil, allowing the hydraulic oil to flow through different routes when the vehicle is parked and unparked, thereby achieving operation of the parking brake subsystem.

[0057] To better understand the parking brake valve group of the parking brake subsystem provided by the embodiment of the present invention, you can refer to the following examples: Figure 3 . Figure 3 A circuit diagram of a parking brake valve group of a parking brake subsystem provided in an embodiment of the present invention is shown in FIG. Figure 3 As shown, when the vehicle chassis is started or in the process of driving, the vehicle controller valve group is energized, and the controller sends a parking brake command to the parking brake subsystem. The parking brake subsystem responds to the parking brake command and starts Figure 3 The left pump applies pressure to the main oil source to deliver hydraulic oil. When the parking brake subsystem pressure reaches 3MPa, the pump station stops. The solenoid valve (i.e., the reversing valve mentioned above) will also remain in a normally energized state, connecting the pump station to the oil outlet ( Figure 3 The reversing solenoid valve shown is connected to the oil outlet and the oil tank. When the solenoid valve is energized, the valve switch should be connected to the connection above the current connection). The hydraulic oil is processed by the pressure reducing valve to reduce the pressure, and then flows to the oil tank through the one-way valve and the reversing valve. Figure 3 The oil outlet of the parking brake valve group on the right side shown then flows to the wheels.

[0058] Correspondingly, after parking is completed and the vehicle is parked, the solenoid valve is powered off, and the oil outlet is connected to the oil tank, that is, Figure 3 In the state shown, hydraulic oil flows from the oil outlet through the reversing valve and pressure reducing valve, then flows to the tank for pressure relief. During operation of the control valve assembly, the accumulator maintains system pressure between 2 and 3 MPa. Verification has shown that the reliability of the control valve assembly provided by this embodiment of the present invention meets safety requirements.

[0059] In addition, in the embodiment of the present invention, a handshake protocol may be added, and the controller may receive a remote control instruction through the handshake protocol and generate the target instruction in response to the remote control instruction, wherein the remote control instruction comes from an element outside the vehicle.

[0060] In an embodiment of the present invention, the controller may generate a target command in response to a remote control command from a component external to the vehicle. For example, the controller may generate a target command in response to a remote control command from a component external to the vehicle, such as a car key or a mobile phone, and transmit the target command to the corresponding subsystem (as described above, the service brake command is transmitted to the service brake subsystem, and the parking brake command is transmitted to the parking brake subsystem). For example, after receiving the remote control command, the controller may transmit a service brake command (e.g., in the form of a percentage or a matrix definition), and the main electronic hydraulic brake system responds, enabling the service brake subsystem to generate braking force and transmit the pressure of each axis to the controller.

[0061] Furthermore, in this embodiment of the present invention, the vehicles can be remotely released from the parking state via a remote control command. For example, in docking mode, one vehicle remains stationary while the other slowly moves. After docking is complete, the VCU (i.e., the controller described above) sends a parking command to the brake-by-wire subsystem, which then parks the vehicle.

[0062] In order to better understand the vehicle braking system provided by the embodiment of the present invention, an example is given. The application object of the embodiment of the present invention can be an ultra-heavy off-road vehicle, and the wheels are electric wheels. The service brake is arranged at the rear end of the deceleration mechanism. Due to the limitation of axial and radial space, the driving and parking brakes of the wheel assembly cannot share a set of actuators like the traditional wheel assembly, but are arranged separately to independently realize their respective functions. The parking brake is installed on the rear end cover of the motor. The service brake adopts a hydraulic brake caliper type, and each wheel has a double brake caliper and a brake disc. The liquid volume required for a single wheel is about 20ml@160bar, and the parking brake requires 110ml@110bar.

[0063] The service brake medium is brake fluid. Each wheel is equipped with an electronic hydraulic brake system with a discharge volume of not less than 30ml. One of them serves as the main controller, responding to the vehicle controller (i.e., the controller mentioned above) or the upper machine's brake deceleration or oil pressure target control instructions, controlling the operation of the electronic hydraulic brake system motor, and converting the motor's rotational torque into horizontal movement torque through the worm gear mechanism, thereby pushing the brake master cylinder to generate braking pressure. Under the action of hydraulic pressure, the brake slave cylinder pushes the friction plate to clamp the brake disc to generate braking force and distribute the braking force.

[0064] The electronic hydraulic braking system for service braking uses independent control of a single wheel, which is prone to inconsistent left and right wheel sides and pressure responses. The same pressure building parameters, gear movement rate, motor output torque, etc. are used to ensure response time and coordinated control to ensure chassis stability in the braking state.

[0065] The parking brake utilizes hydraulic oil, sharing a pump station with the main oil source. When the chassis is started, the vehicle controller valve block is energized, and the main oil source pumps oil. The pump station stops when the system pressure reaches 3 MPa. During driving, the solenoid valve remains energized, and reliability has been verified to meet requirements. An accumulator maintains system pressure between 2 and 3 MPa. When the vehicle is parked, the solenoid valve is de-energized, and the parking brake fluid returns to the tank to relieve pressure.

[0066] The duration of parking brake engagement is primarily determined by the parking brake return spring and the brake disc compression spring force. To avoid prolonged parking, the service brake is engaged simultaneously with the parking command. Once parking is fully engaged, the service brake automatically releases. Automatic parking is possible after the chassis is powered off.

[0067] To prevent accidental parking during driving, the vehicle controller needs to monitor three signals reflecting the parking status (oil pressure, travel switch, brake disc temperature) and vehicle speed, and take timely service braking.

[0068] In addition, a handshake protocol is added during remote braking, with the vehicle controller VCU sending commands and the main electronic hydraulic brake system controller responding. The specific working mode can be referred to as follows:

[0069] 1) After docking begins, the remote control can release the parking brake.

[0070] 2) The docking mode is that one vehicle is stationary and the other vehicle moves slowly.

[0071] 3) The VCU sends instructions (in percentage form, matrix definition) to the main electronic hydraulic brake system controller, and the wire control system can generate braking force accordingly and transmit the pressure of each axis to the VCU at the same time.

[0072] 4) After the docking is completed, the VCU gives the brake-by-wire system a parking command, and the brake-by-wire system is able to park the vehicle.

[0073] The embodiment of the present invention, on the basis of realizing the remote control docking function, also realizes the full hydraulic wire control braking of super heavy off-road vehicles with different media, and the coaxial driving braking force can be balanced and controlled. In the driving brake subsystem, the main controller can realize the interactive communication between the driving brake subsystem and the vehicle controller as well as the internal private CAN communication through dual power supply and dual CAN. In addition, in the embodiment of the present invention, it is also realized that the parking brake subsystem and the main oil source share the pump station, and the parking state remains released during driving. In order to prevent rolling down the slope and prevent brake damage caused by accidental parking, the embodiment of the present invention supplements the parking brake clearance in the driving brake function.

[0074] The vehicle braking system provided by the embodiments of the present invention enables fully hydraulic brake-by-wire for ultra-heavy off-road vehicles. It utilizes two different media: brake fluid meets the high-temperature requirements of service braking, and hydraulic oil meets the high-volume requirements of parking brakes. Furthermore, it fully considers safety, implementing a coaxial braking force balance design and redundant design to ensure a safe and reliable braking system, providing valuable reference and promotional value.

[0075] An embodiment of the present invention further provides a vehicle, comprising:

[0076] Vehicle body;

[0077] A system is provided on the vehicle body, wherein the system is the vehicle braking system described above.

[0078] While the above description does not provide detailed technical details regarding the patterning of each layer, those skilled in the art will appreciate that various technical means can be employed to form layers, regions, and the like in desired shapes. Furthermore, those skilled in the art may devise methods that differ from those described above to achieve the same structure. Furthermore, while each embodiment has been described separately, this does not mean that the measures in each embodiment cannot be advantageously combined.

[0079] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0080] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A vehicle braking system, characterized in that: The vehicle braking system comprises: a controller, configured to send a target instruction, wherein the target instruction includes a service brake instruction and / or a parking brake instruction; a service brake subsystem, responsive to the service brake command from the controller, discharging a service brake medium, wherein the service brake medium is brake fluid; The parking brake subsystem discharges parking brake medium, which is hydraulic oil, in response to the parking brake command from the controller.

2. The vehicle braking system according to claim 1, characterized in that The controller generates the target command in response to a remote control command from an element external to the vehicle.

3. The vehicle braking system according to claim 1, characterized in that The service brake subsystem includes N electronic hydraulic brake systems, and the N electronic hydraulic brake systems include a sub-processor; The sub-processor is used to control the N electronic hydraulic brake systems to operate according to target parameters in response to the service brake instruction.

4. The vehicle braking system according to claim 3, characterized in that: The sub-processor communicates with the controller via a first local area network, and the sub-processor communicates with the electronic hydraulic brake system outside the sub-processor via a second local area network.

5. The vehicle braking system according to claim 1, wherein: The parking brake medium shares a pump station with the vehicle's main oil source.

6. The vehicle braking system according to claim 1, wherein: The controller is further configured to monitor a parking signal during driving of the vehicle and send the service braking instruction based on the parking signal, wherein the parking signal is a signal reflecting the parking state of the vehicle.

7. The vehicle braking system according to claim 1, wherein: The controller is further configured to send the service brake instruction simultaneously with sending the parking brake instruction.

8. The vehicle braking system according to claim 5, characterized in that: The parking brake subsystem includes a reversing valve, which connects the pump station and the oil outlet in response to the parking brake command.

9. The vehicle braking system according to claim 8, characterized in that The reversing valve connects the oil outlet and the oil tank when the vehicle is parked.

10. A vehicle, characterized in that: The vehicle comprises: Vehicle body; A system arranged on the vehicle body, wherein the system is the vehicle braking system according to any one of claims 1 to 9.

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