Brake control system, electromechanical brake system, brake control method and device

Abstract

The invention relates to the technical field of brake control, and provides a brake control system, an electronic mechanical brake system and a brake control method and device. The brake control system comprises a brake pedal and a plurality of brake calipers arranged at the wheel end. Each brake controller is in communication connection with a brake pedal and a plurality of brake calipers; the two power supply modules are respectively in power supply connection with the two brake controllers, and each power supply module is in power supply connection with one brake caliper; and the at least one power supply switching module is arranged at the non-wheel end, each power supply switching module can be selectively connected with one power supply module, and each power supply switching module is respectively connected with each brake caliper which is not in power supply connection with the power supply module. According to the brake control system, the power switching module and other components are arranged at the non-wheel end, redundant design failure caused by the severe wheel end environment is avoided, power supply and communication lines of the brake calipers are simplified through line design, and meanwhile the influence of power supply or control failure at one position on the whole brake control system is avoided.

Description

Technical Field

[0001] This application relates to the field of braking control technology, and more specifically, to braking control systems, electromechanical braking systems, braking control methods, and devices. Background Technology

[0002] In braking control systems such as Electronic Mechanical Brake (EMB), the driver receives control signals via the brake pedal. The brake controller then sends corresponding control commands to the wheel-end brake calipers based on the instructions from the brake pedal, thereby generating the corresponding braking force at the wheel ends.

[0003] For safety reasons, the braking control system requires a redundant design. Currently, redundant power supply and control are typically designed for the wheel-end brake calipers. However, due to the harsh environment at the wheel end, redundant designs are easily susceptible to short circuits caused by water ingress, leading to brake failure. Furthermore, achieving a completely isolated design would result in high costs and design complexity.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] This application provides a braking control system, an electromechanical braking system, a braking control method, and an apparatus. By placing components such as the power switching module at the non-wheel end, the harsh environment at the wheel end can be avoided, which could cause redundant design failures. Furthermore, the circuit design simplifies the power supply and communication lines of the brake caliper, while also preventing the impact of a power supply or control failure in one place on the overall braking control system.

[0006] According to one aspect of this application, a braking control system is provided, including a brake pedal and a plurality of brake calipers disposed at the wheel ends, further comprising: two brake controllers, each brake controller being communicatively connected to the brake pedal and the plurality of brake calipers; two power modules being respectively connected to the two brake controllers for power supply, and each power module being connected to one of the brake calipers for power supply; and at least one power switching module disposed at a non-wheel end, each power switching module being capable of selectively activating one of the power modules, and each power switching module being respectively connected to a brake caliper not connected to the power module for power supply.

[0007] Two brake controllers provide control redundancy, allowing the other to take over in case of failure. Control of each brake caliper is achieved based on brake pedal commands, improving system reliability. Two power modules provide power redundancy, preventing single-power-supply failures from impacting system performance. The brake controllers, power modules, and power switching module are all located off-wheel, avoiding short-circuit risks caused by harsh wheel-end environments, thus enhancing system safety and reliability. Furthermore, communication connections between the brake controller and brake pedal and each brake caliper, power supply connections between the power module and the brake controller and some brake calipers, and power supply connections between the power switching module and some brake calipers simplify the power and communication lines of the brake calipers. This eliminates the need for complex waterproofing and isolation designs, ensuring the effectiveness of all brake calipers except the failed one even if the power and / or communication lines of any wheel-end brake caliper fail by a short circuit. This prevents single-point failures from affecting the overall system, maximizing braking performance of the brake control system in degraded conditions.

[0008] In some embodiments, the power switching module is located in the vehicle's electronic control unit to avoid the risk of short circuits caused by wet wheel-end environments.

[0009] In some embodiments, each power switching module includes three working contacts and one floating contact. The first and second working contacts are respectively connected to two power modules, and the third working contact is connected to a brake caliper that is not powered by any of the power modules. The third working contact can selectively activate one of the first, second, and floating contacts. The power switching module is configured as a three-position switch, which simplifies wiring harness connections and enables reliable switching.

[0010] In some embodiments, the power switching module includes two modules, each of which enables two non-coaxially arranged brake calipers to be connected to the same power module, so as to prevent two coaxially arranged brake calipers from losing braking capability simultaneously due to the failure of the same power module they are connected to.

[0011] In some embodiments, the two power switching modules are respectively connected to the left front brake caliper and the right front brake caliper, and the left rear brake caliper and the right rear brake caliper are respectively powered by the two power modules. Connecting the front brake calipers via the power switching modules ensures the effectiveness of the front brake calipers that bear a relatively large amount of braking force when a single power module fails.

[0012] In some embodiments, a first brake controller is connected to the plurality of brake calipers via at least two buses, and each bus is connected to a plurality of non-coaxially arranged brake calipers; a second brake controller is connected to the plurality of brake calipers via at least two buses, and each bus is connected to a plurality of coaxially arranged brake calipers; the first brake controller and the second brake controller are connected via a bus.

[0013] Each bus of the first brake controller connects to multiple brake calipers arranged non-coaxially, achieving cross-connection; each bus of the second brake controller connects to multiple brake calipers arranged coaxially, achieving parallel connection; by utilizing the bus connection design between the two brake controllers and the wheel-end brake calipers, fault isolation is achieved, so that a short circuit in the bus of any brake caliper only affects its directly connected bus, while the remaining buses and brake calipers can still transmit control signals, improving the communication redundancy capability of the system.

[0014] In some embodiments, the first brake controller is connected to the left front brake caliper and the right rear brake caliper via a first bus, and to the right front brake caliper and the left rear brake caliper via a second bus; the second brake controller is connected to the left front brake caliper and the right front brake caliper via a third bus, and to the left rear brake caliper and the right rear brake caliper via a fourth bus; the first brake controller and the second brake controller are connected via a fifth bus. This achieves redundant design of the communication lines for the left front brake caliper, the left rear brake caliper, the right front brake caliper, and the right rear brake caliper, ensuring that a short circuit failure of any brake caliper does not affect the other brake calipers.

[0015] In some embodiments, the brake pedal is also connected to the two brake controllers for power supply, thereby achieving dual power supply and avoiding pedal signal loss due to single power supply failure.

[0016] In some embodiments, the brake pedal is also connected to each of the brake controllers via a wake-up line. This redundant design of the wake-up line ensures that when braking is required, the brake controller is triggered to switch from sleep mode to operating mode, quickly responding to driver input and enabling zero-delay startup of the brake control system.

[0017] In some embodiments, the braking control system further includes an EPB switch connected to at least one of the brake controllers. In the event of a severe system failure, the driver can request braking via the EPB switch.

[0018] In some embodiments, each brake caliper is also hardwired to a wheel speed sensor. The wheel speed sensor detects changes in wheel speed and provides crucial data for the anti-lock braking system (ABS).

[0019] According to another aspect of this application, an electromechanical braking system is provided, which is implemented based on the braking control system described in any of the above embodiments and can achieve the same or similar beneficial effects as the above-described braking control system.

[0020] According to another aspect of this application, a braking control method is provided, implemented based on the braking control system described in any of the above embodiments, comprising any of the following: In response to a short circuit failure of the power supply line between a power module and the wheel end, the power switching module connects to the unfailed power module, and the brake controller connected to the unfailed power module controls the operation of the remaining brake calipers except those connected to the failed power module according to the command of the brake pedal; In response to a short circuit failure of the power supply line between a power switching module and the wheel end, the failed power switching module disconnects, and the two brake controllers control the operation of the remaining brake calipers except those connected to the failed power switching module according to the command of the brake pedal; In response to a short circuit failure of the communication line between a brake controller and the wheel end, the unfailed brake controller controls the operation of the plurality of brake calipers according to the command of the brake pedal; In response to a short circuit failure of the power supply line and communication line of a brake caliper, the power switching module connected to the failed brake caliper disconnects, and the brake controller connected to the unfailed power module controls the operation of the remaining brake calipers except those of the failed brake caliper according to the command of the brake pedal.

[0021] Furthermore, in the case where the first brake controller is connected to the plurality of brake calipers via at least two buses, with each bus connecting to a plurality of non-coaxially arranged brake calipers, the second brake controller is connected to the plurality of brake calipers via at least two buses, with each bus connecting to a plurality of coaxially arranged brake calipers, and the first brake controller and the second brake controller are connected via a bus, the brake control method may further include any of the following: in response to a short circuit failure in the power supply line and communication line of a brake caliper connected to the power supply module, the brake controller connected to the unfailed power supply module controls the operation of the remaining brake calipers (excluding the failed brake caliper) via the unfailed bus according to the command of the brake pedal; in response to a short circuit failure in the power supply line and communication line of a brake caliper connected to the power switching module, the failed power switching module is disconnected, and at least one of the brake controllers controls the operation of the remaining brake calipers (excluding the failed brake caliper) via the unfailed bus according to the command of the brake pedal.

[0022] The braking control method of this application, based on two brake controllers, two power modules, at least one power switching module installed at the non-wheel end, and the communication connection between the brake controller and the brake pedal and each brake caliper, the power supply connection between the power module and the brake controller and some brake calipers, and the power supply connection between the power switching module and some brake calipers, can ensure the effectiveness of the remaining brake calipers except for the failed brake caliper in the event of a short circuit failure in the power supply line and / or communication line of any brake caliper at the wheel end, avoiding the impact of a single point failure on the whole, thereby maximizing the braking performance of the braking control system in the degraded state.

[0023] According to another aspect of this application, an electronic device is provided for implementing the braking control method as described in any of the above embodiments, and can also achieve the same or similar beneficial effects as the above embodiments.

[0024] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0025] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0026] Figure 1 A schematic diagram of the architecture of the braking control system in an embodiment of this application is shown;

[0027] Figure 2 This diagram illustrates a short-circuit failure in the power supply line between the power module and the wheel end in an embodiment of this application.

[0028] Figure 3 This diagram illustrates a scenario where, in an embodiment of this application, the communication line between the brake controller and the wheel end fails, and the corresponding power supply module and the power supply line between the wheel end short-circuit.

[0029] Figure 4 This diagram illustrates a short-circuit failure of the power supply line and communication line of the brake caliper connected to the power switching module in an embodiment of this application.

[0030] Figure 5 This diagram illustrates a short-circuit failure of the power supply line and communication line of the brake caliper connected to the power supply module in an embodiment of this application.

[0031] Figure 6 The diagram illustrates the steps of the braking control method in an embodiment of this application. Detailed Implementation

[0032] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to those described herein. Rather, these embodiments are provided to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0033] The accompanying drawings are merely illustrative of this application and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0034] Furthermore, the processes shown in the accompanying drawings are merely illustrative and do not necessarily include all steps. For example, some steps may be broken down, some steps may be combined or partially combined, and the actual execution order may change depending on the actual situation. The terms "first," "second," and similar words used in the specific description do not indicate any order, quantity, or importance, but are only used to distinguish different components. The terms "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. The term "multiple" means two or more, unless otherwise explicitly specified. Furthermore, in the description of this application, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be a connection within two elements.

[0035] It should be noted that, unless otherwise specified, the embodiments of this application and the features in different embodiments can be combined with each other.

[0036] Figure 1 The diagram illustrates the architecture of the braking control system, with reference to... Figure 1 As shown, the braking control system provided in this application embodiment includes:

[0037] Brake pedal 100 and multiple brake calipers (210, 220, 230, 240) disposed at the wheel ends;

[0038] Two brake controllers (310, 320), each brake controller being communicatively connected to brake pedal 100 and multiple brake calipers (210, 220, 230, 240);

[0039] Two power modules (410, 420) are connected to two brake controllers (310, 320) respectively, and each power module is connected to a brake caliper.

[0040] At least one power switching module (510, 520) is provided on the non-wheel end. Each power switching module can selectively connect to one power module, and each power switching module (510, 520) is connected to each brake caliper that is not connected to the power module (410, 420) for power supply.

[0041] Two brake controllers (310, 320) provide control redundancy, allowing the other to take over if one fails. Control of each brake caliper (210, 220, 230, 240) is achieved based on commands from the brake pedal 100, improving system reliability. Two power modules (410, 420) provide power redundancy, preventing single-power-supply failures from impacting system performance. The brake controllers (310, 320), power modules (410, 420), and power switching modules (510, 520) are all located at the non-wheel end, avoiding short-circuit risks caused by harsh wheel-end environments and enhancing system safety and reliability. Furthermore, by establishing communication connections between the brake controller (310, 320) and the brake pedal 100 and each brake caliper (210, 220, 230, 240), power supply connections between the power modules (410, 420) and the brake controller (310, 320) and some brake calipers, and power supply connections between the power switching modules (510, 520) and some brake calipers, the power supply and communication lines of the brake calipers (210, 220, 230, 240) are simplified. This eliminates the need for complex waterproofing and isolation designs, ensuring the effectiveness of all brake calipers except the failed one even if the power supply and / or communication lines of any brake caliper at the wheel end fail due to a short circuit. This avoids single-point failures affecting the overall system and maximizes the braking performance of the brake control system under degraded conditions.

[0042] Multiple brake calipers (210, 220, 230, 240) typically include a left front brake caliper 210, a right front brake caliper 220, a left rear brake caliper 230, and a right rear brake caliper 240, but are not limited to this; the number of brake calipers can be adjusted accordingly when the number of wheels is adjusted. At least two brake controllers (310, 320) and power modules (410, 420) are each provided, and three or more can be provided depending on different operating conditions. In a specific example, four brake calipers (210, 220, 230, 240) are provided: left front brake caliper 210, right front brake caliper 220, left rear brake caliper 230, and right rear brake caliper 240; two brake controllers (310, 320) are provided: a first brake controller 310 and a second brake controller 320; two power modules (410, 420) are provided: a first power module 410 and a second power module 420; and two power switching modules (510, 520) are provided: a first power switching module 510 and a second power switching module 520. The first brake controller 310 can be designed as the main brake controller, and the second brake controller 320 can be designed as the auxiliary brake controller.

[0043] Under normal circumstances, the brake pedal 100 collects the driver's input through sensors and transmits the commands to the two brake controllers (310, 320) through communication lines. Multiple communication lines can be set between the brake pedal 100 and each brake controller to ensure effective transmission of control signals. The two brake controllers (310, 320) send corresponding commands to each brake caliper (210, 220, 230, 240) according to the configured control logic. Each brake caliper (210, 220, 230, 240) arbitrates and executes braking according to the received commands. When any power module fails to short-circuit with the power supply line to the wheel end, the brake controller and brake caliper connected to the failed power module are de-energized. At this time, the power switching modules (510, 520) connect the unfailed power modules, enabling the unfailed power modules to supply power to the remaining brake calipers except for the failed brake caliper connected to the failed power module. The brake controller connected to the unfailed power modules controls the operation of the remaining brake calipers according to the command of the brake pedal 100. As a result, the failed brake caliper (210, 220, 230, 240) that is only connected to the unfailed power module cannot participate in braking, thus maximizing the braking performance of the brake control system in the degraded state. When any power switching module fails to short-circuit with the power supply line to the wheel end, the failed power switching module disconnects. The two brake controllers (310, 320) then control the operation of the remaining brake calipers (excluding the failed caliper connected to the failed power switching module) according to the command from the brake pedal 100. Thus, the failed brake caliper (210, 220, 230, 240) connected only to the failed power switching module cannot participate in braking, maximizing the braking performance of the brake control system in the degraded state. When any brake controller fails to short-circuit with the communication line to the wheel end, the non-failed brake controllers can control the operation of multiple brake calipers (210, 220, 230, 240) according to the command from the brake pedal 100, without affecting the braking performance of the brake control system. When the power supply and communication lines of any brake caliper fail due to a short circuit, the power module / power switching module and brake controller connected to the failed brake caliper become ineffective. At this time, the brake controller connected to the power supply of the non-failed power module can control the action of the other brake calipers except the failed brake caliper according to the command of the brake pedal 100. As a result, only the failed brake caliper among the brake calipers (210, 220, 230, 240) cannot participate in braking, thus maximizing the braking performance of the brake control system under degraded conditions.

[0044] As can be seen from the above analysis, this application utilizes two brake controllers (310, 320), two power modules (410, 420), and at least one power switching module (510, 520) located at the non-wheel end. It also establishes communication connections between the brake controllers (310, 320) and the brake pedal 100 and each brake caliper (210, 220, 230, 240), power supply connections between the power modules (410, 420) and the brake controllers (310, 320) and some brake calipers, and power supply connections between the power switching module (510, 520) and some brake calipers. This eliminates the need for complex waterproofing and effectively simplifies the power supply and communication lines of the brake calipers (210, 220, 230, 240). Furthermore, it ensures the effectiveness of the remaining brake calipers (excluding the failed caliper) even if the power supply and / or communication lines of any brake caliper at the wheel end fail due to a short circuit, preventing single-point failures from affecting the overall system and thus maximizing the braking performance of the brake control system in a degraded state.

[0045] In some embodiments, the power switching modules (510, 520) are located within the vehicle's electronic control unit (ECU) to avoid the risk of short circuits caused by wet wheel-end environments. In other embodiments, in addition to the ECU, the power switching modules (510, 520) may also be located in other suitable vehicle body components.

[0046] In some embodiments, each power switching module includes three working contacts and one floating contact. The first and second working contacts are respectively connected to two power modules (410, 420), and the third working contact is connected to a brake caliper that is not powered by any power module (410, 420). The third working contact can selectively connect one of the first, second, and floating contacts. The power switching modules (510, 520) are configured as three-position switches, which simplifies wiring harness connections and enables reliable switching. When the third working contact connects to the first or second working contact, the corresponding power module is powered by the corresponding brake caliper; when the third working contact connects to the floating contact, the power switching modules (510, 520) are disconnected.

[0047] In some embodiments, the power switching modules (510, 520) include two modules, each enabling two non-coaxially arranged brake calipers to connect to the same power module, thus preventing two coaxially arranged brake calipers from simultaneously losing braking capability due to the failure of the same connected power module. Here, two coaxially arranged brake calipers refer to brake calipers located on wheels connected to the same axle (vehicle axle). Specifically, enabling two non-coaxially arranged brake calipers to connect to the same power module means that one power module is connected to one brake caliper for power supply; when a power switching module switches to be connected to that power module, the brake caliper connected to that power switching module and the brake caliper connected to that power module are arranged non-coaxially.

[0048] In some embodiments, two power switching modules (510, 520) are connected to the left front brake caliper 210 and the right front brake caliper 220, respectively, and the left rear brake caliper 230 and the right rear brake caliper 240 are powered by the two power modules (410, 420). Connecting the front brake calipers (210, 220) via the power switching modules (510, 520) ensures the effectiveness of the front brake calipers (210, 220) in bearing a relatively large braking force when a single power module fails. In other embodiments, depending on different design requirements, the power switching modules (510, 520) can also be connected to the rear brake calipers (230, 240), and the power modules (410, 420) can be powered by the front brake calipers (210, 220).

[0049] In some embodiments, the first brake controller 310 is connected to multiple brake calipers (210, 220, 230, 240) via at least two buses (CAN1, CAN2), and each bus connects to multiple brake calipers arranged non-coaxially; the second brake controller 320 is connected to multiple brake calipers (210, 220, 230, 240) via at least two buses (CAN3, CAN4), and each bus connects to multiple brake calipers arranged coaxially; the first brake controller 310 and the second brake controller 320 are connected via a bus.

[0050] The bus specifically refers to the CAN (Controller Area Network) bus in the vehicle. Each bus of the first brake controller 310 connects to multiple brake calipers arranged non-coaxially, achieving cross-connection; each bus of the second brake controller 320 connects to multiple brake calipers arranged coaxially, achieving parallel connection. Utilizing the bus connection design between the two brake controllers (310, 320) and the wheel-end brake calipers (210, 220, 230, 240), fault isolation is achieved. A short circuit in the bus of any brake caliper only affects its directly connected bus, while the remaining buses and brake calipers can still transmit control signals, improving the system's communication redundancy.

[0051] Specifically, when the power supply line and communication line of a brake caliper connected to the power supply module (410, 420) fail due to a short circuit, the power supply module fails, the brake caliper and brake controller connected to the power supply module are de-energized, and the two buses connected to the brake caliper for communication fail. At this time, the brake controller connected to the power supply module that has not failed can control the operation of the other brake calipers except the failed brake caliper according to the command of the brake pedal 100 through the unfailed buses (including the two buses of the two brake controllers (310, 320) that are not connected to the failed brake caliper). Thus, only the failed brake caliper among the brake calipers (210, 220, 230, 240) cannot participate in braking, thus maximizing the braking performance of the brake control system in the degraded state. When the power supply line and communication line of a brake caliper connected to the power switching module (510, 520) fail due to a short circuit, the failed power switching module disconnects, de-energizing the brake caliper and causing the two buses communicating with the brake caliper to fail. At this time, the two brake controllers (310, 320) control the actions of the remaining brake calipers (excluding the failed brake caliper) according to the command of the brake pedal 100 via the unfailed buses (including the two buses of the two brake controllers (310, 320) that are not connected to the failed brake caliper and the bus between the two brake controllers (310, 320)). Thus, only the failed brake caliper among the brake calipers (210, 220, 230, 240) is unable to participate in braking, maximizing the braking performance of the brake control system in the degraded state.

[0052] In some embodiments, the first brake controller 310 is connected to the left front brake caliper 210 and the right rear brake caliper 240 via a first bus CAN1, and to the right front brake caliper 220 and the left rear brake caliper 230 via a second bus CAN2; the second brake controller 320 is connected to the left front brake caliper 210 and the right front brake caliper 220 via a third bus CAN3, and to the left rear brake caliper 230 and the right rear brake caliper 240 via a fourth bus CAN4; the first brake controller 310 and the second brake controller 320 are connected via a fifth bus CAN5. This achieves redundant design of the communication lines for the left front brake caliper 210, the left rear brake caliper 230, the right front brake caliper 220, and the right rear brake caliper 240, ensuring that a short circuit failure of any brake caliper does not affect the other brake calipers.

[0053] Based on the descriptions of the above embodiments, in actual application conditions, the typical situations of wheel-end line short-circuit failure mainly include the following. Figure 2 This diagram illustrates a short circuit failure in the power supply line between the power module and the wheel end. An "×" indicates a failure, and bold lines indicate the power / communication connection. (Refer to...) Figure 2 As shown: If the first power module 410 fails due to a short circuit, the first brake controller 310 and the right rear brake caliper 240 are de-energized. The first power switching module 510 can then connect the second power module 420 to the left front brake caliper 210. At this time, the second brake controller 320 can receive commands from the brake pedal 100 and control the other three wheel-end brake calipers (210, 220, 230) to decelerate. Similarly, if the second power module fails due to a short circuit, the second brake controller and the left rear brake caliper are de-energized. The second power switching module can then connect the first power module to the right front electronic caliper. At this time, the first brake controller can receive commands from the brake pedal and control the other three wheel-end brake calipers to decelerate.

[0054] Figure 3 This diagram illustrates a scenario where the communication line between the brake controller and the wheel end fails, and the corresponding power supply module and the power supply line between the wheel end are short-circuited. "×" indicates a failure, and bold lines indicate the power supply / communication connection. (Refer to...) Figure 3 As shown: If the first bus CAN1 and the second bus CAN2 of the first brake controller 310 are short-circuited and the first power module 410 is short-circuited, the second brake controller 320 can control the three wheel-end brake calipers of the left front brake caliper 210, the right front brake caliper 220 and the left rear brake caliper 230 to perform deceleration through the third bus CAN3 and the fourth bus CAN4. Figure 3 The remaining lines are connected to Figure 2Similarly, if the third and fourth buses of the second brake controller fail due to a short circuit and the second power module fails due to a short circuit, the first brake controller can control the three wheel-end brake calipers (left front brake caliper, right front brake caliper, and right rear brake caliper) to perform deceleration via the first and second buses.

[0055] Figure 4 This diagram illustrates a short circuit failure in the power and communication lines of the wheel-end brake caliper. An "×" indicates a failure, and bold lines indicate the power / communication connections. (Refer to...) Figure 4 As shown: If the first bus CAN1 and the third bus CAN3 connected to the left front brake caliper 210 short-circuit, and the connection between the left front brake caliper 210 and the first power switching module 510 short-circuit, the first power switching module 510 can disconnect the short circuit. At this time, the first brake controller 310 can control the right front brake caliper 220 and the left rear brake caliper 230 through the second bus CAN2, and transmit the control signal through the left rear brake caliper 230 to the right rear brake caliper 240 via the fourth bus CAN4, so that the three wheel-end brake calipers (220, 230, 240) can perform braking, maximizing the braking performance of the vehicle in the degraded state. Figure 4 In the illustrated scenario, braking control can also be achieved through other connected power and communication lines. For example, the second brake controller 320 can control the right rear brake caliper 240 and the left rear brake caliper 230 via the fourth bus CAN4, and transmit the control signal from the left rear brake caliper 230 to the right front brake caliper 220 via the second bus CAN2. If the second and third buses connected to the right front brake caliper short-circuit and the connection between the right front brake caliper and the second power switching module short-circuit, similarly, a possible braking control method is as follows: the second power switching module will disconnect the short circuit, the first brake controller will control the left front brake caliper and the right rear brake caliper via the first bus, and transmit the control signal to the left rear brake caliper via the fifth bus through the second brake controller and the fourth bus, so that the three wheel-end brake calipers can perform braking, maximizing the braking performance of the vehicle in the degraded state.

[0056] Figure 5 This illustration shows a short-circuit failure in the power supply and communication lines of the brake caliper connected to the power module in an embodiment of this application. "×" indicates a failure, and bold lines indicate the power supply / communication connection. (Refer to...) Figure 5As shown: If the second bus CAN2 and the fourth bus CAN4 connected to the left rear brake caliper 230 are short-circuited and fail, and the power supply line between the left rear brake caliper 230 and the second power module 420 is short-circuited and fails, the second brake controller 320 will be de-energized. The first brake controller 310 can control the left front brake caliper 210 and the right rear brake caliper 240 through the first bus CAN1, and transmit the control signal through the left front brake caliper 210 to the right front brake caliper 220 via the third bus CAN3, so that the three wheel-end brake calipers (210, 220, 240) can perform braking, thus maximizing the braking performance of the vehicle in the degraded state. If the first and fourth bus lines connected to the right rear brake caliper short-circuit and fail, and the power supply line between the right rear brake caliper and the first power module short-circuit and fail, then the first brake controller will be de-energized. The second brake controller can then control the left and right front brake calipers via the third bus, and transmit the control signal from the right front brake caliper to the left rear brake caliper via the second bus, thereby enabling the three wheel-end brake calipers to perform braking and maximizing the braking performance of the vehicle in the degraded state.

[0057] Furthermore, continue to refer to Figure 1 As shown, in some embodiments, the brake pedal 100 is also connected to two brake controllers (310, 320) for power supply respectively, so as to realize dual power supply, avoid the loss of pedal signal due to the failure of single power supply, improve the reliability of pedal signal acquisition, and ensure the accurate transmission of driver intention.

[0058] In some embodiments, the brake pedal 100 is also hardwired to each brake controller (310, 320) via a wake-up line. This redundant design of the wake-up line ensures that when braking is required, the brake controllers (310, 320) are triggered to switch from sleep mode to operating mode, providing a rapid response to driver input and enabling zero-delay startup of the brake control system.

[0059] In some embodiments, the braking control system further includes an EPB switch connected to at least one brake controller. In the event of a severe system failure, the driver can request braking via the EPB switch. Specifically, the EPB (Electronic Parking Brake) switch can be hardwired to two brake controllers (310, 320), or the EPB switch can be connected to one brake controller (e.g., the first brake controller 310) and ensure, through a separate path, that the EPB signal can be captured by the other brake controller in the event of a failure of one brake controller; even, the EPB switch can be directly connected to the wheel-end brake calipers, wherein the brake controllers (310, 320) have a higher priority in responding to the EPB signal than the wheel-end brake calipers (210, 220, 230, 240). In an emergency, the driver can request the braking control system to perform emergency braking via the EPB switch.

[0060] In some embodiments, each brake caliper (210, 220, 230, 240) is also hardwired to a wheel speed sensor (the left front wheel speed sensor, right front wheel speed sensor, left rear wheel speed sensor, and right rear wheel speed sensor, respectively). The wheel speed sensors detect changes in wheel speed and provide crucial data for the anti-lock braking system (ABS).

[0061] This application also provides an electromechanical braking system, implemented based on the braking control system described in any of the above embodiments, capable of achieving the same or similar beneficial effects as the above-described braking control system, including: utilizing two brake controllers (310, 320) disposed at the non-wheel end, two power modules (410, 420), at least one power switching module (510, 520), and communication connections between the brake controllers (310, 320) and the brake pedal 100 and each brake caliper (210, 220, 230, 240), and the power modules (410, 420, 510, 520). 0) The power supply connection between the brake controller (310, 320) and some brake calipers, and the power switching module (510, 520) and some brake calipers, does not require complex waterproof isolation, effectively simplifying the power supply and communication lines of the brake calipers (210, 220, 230, 240). At the same time, in the event of a short circuit failure in the power supply line and / or communication line of any brake caliper at the wheel end, the effectiveness of the remaining brake calipers except for the failed brake caliper is guaranteed, avoiding the impact of a single point failure on the whole, thereby maximizing the braking performance of the brake control system in the degraded state.

[0062] In addition to electromechanical braking systems, the braking control system of this application can also be applied to other types of braking systems to achieve a simplified and reliable redundant design.

[0063] This application also provides a braking control method, which is implemented based on the braking control system described in any of the above embodiments. Figure 6 The main steps of the braking control method are illustrated. (Refer to...) Figure 6 As shown, the braking control method provided in this application includes any of the following:

[0064] S610, in response to a short circuit failure of the power supply line between a power module and the wheel end, the power switching module connects to the unfailed power module, and the brake controller connected to the unfailed power module controls the action of the other brake calipers except the brake calipers connected to the unfailed power module according to the command of the brake pedal.

[0065] S620, in response to a short circuit failure of a power switching module and the power supply line to the wheel end, the failed power switching module is disconnected, and the two brake controllers control the operation of the remaining brake calipers except those connected to the brake caliper powered by the failed power switching module according to the command of the brake pedal.

[0066] S630, in response to a short circuit failure in the communication line between a brake controller and the wheel end, the unfailed brake controller controls the action of multiple brake calipers according to the command of the brake pedal;

[0067] S640, in response to a short circuit failure in the power supply and communication lines of a brake caliper, disconnects the power switching module connected to the power supply of the failed brake caliper, and controls the action of the remaining brake calipers except the failed brake caliper according to the command of the brake pedal.

[0068] S650, in response to a short circuit failure in the power supply line and communication line of a brake caliper connected to the power supply module, the brake controller connected to the power supply module that is not failed controls the operation of the other brake calipers except the failed brake caliper through the unfailed circuit bus according to the command of the brake pedal.

[0069] S660, in response to a short circuit failure in the power supply line and communication line of a brake caliper connected to the power switching module, the failed power switching module is disconnected, and at least one brake controller controls the operation of the remaining brake calipers except the failed brake caliper via the non-failed circuit bus according to the brake pedal command.

[0070] The braking control method of this application, based on two brake controllers, two power modules, at least one power switching module installed at the non-wheel end, and the communication connection between the brake controller and the brake pedal and each brake caliper, the power supply connection between the power module and the brake controller and some brake calipers, and the power supply connection between the power switching module and some brake calipers, can ensure the effectiveness of the remaining brake calipers except for the failed brake caliper in the event of a short circuit failure in the power supply line and / or communication line of any brake caliper at the wheel end, avoiding the impact of a single point failure on the whole, thereby maximizing the braking performance of the braking control system in the degraded state.

[0071] For the various situations of short-circuit failure of the wheel end line, please refer to the descriptions of the above embodiments, and will not be repeated here.

[0072] This application also provides electronic devices for implementing the braking control methods described in any of the above embodiments. The electronic devices can be fully deployed in the vehicle, or partially deployed in the vehicle and partially deployed in the cloud. When the electronic devices execute the braking control method, they can achieve the same or similar beneficial effects as the above embodiments, including: ensuring the effectiveness of the remaining brake calipers (excluding the failed caliper) in the event of a short circuit failure in the power supply and / or communication lines of any brake caliper at the wheel end, avoiding the impact of a single-point failure on the overall system, thereby maximizing the braking performance of the braking control system in a degraded state.

[0073] Electronic devices can take the form of virtual devices, general-purpose computing devices, computer-readable storage media, computer program products, etc.

[0074] The virtual device may include functional modules for implementing the various steps of the braking control method.

[0075] The components of a general-purpose computing device may include: at least one processing unit, at least one storage unit, and a bus connecting different platform components (including the storage unit and the processing unit). The storage unit stores program code that can be executed by the processing unit, causing the processing unit to perform the braking control method described in any of the above embodiments.

[0076] A computer-readable storage medium is used to store a program that, when executed, implements the braking control method described in any of the above embodiments.

[0077] The computer program product includes a computer program that, when executed by a processor, implements the braking control method described in any of the above embodiments.

[0078] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of this application and should not be construed as limiting the specific implementation of this application to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of this application, and all such modifications or substitutions should be considered within the scope of protection of this application.

Claims

1. A braking control system, comprising a brake pedal and a plurality of brake calipers disposed at the wheel ends, characterized in that, Also includes: Two brake controllers, each of which is communicatively connected to the brake pedal and the plurality of brake calipers; Two power modules are respectively connected to the two brake controllers for power supply, and each power module is connected to one of the brake calipers for power supply. At least one power switching module is disposed at the non-wheel end, each power switching module can selectively connect to one power module, and each power switching module is respectively connected to each brake caliper that is not connected to the power module for power supply.

2. The braking control system as described in claim 1, characterized in that, The power switching module is located in the vehicle's electronic control unit.

3. The braking control system as described in claim 1, characterized in that, Each of the power switching modules includes three working contacts and one floating contact, wherein the first working contact and the second working contact are respectively connected to two power modules, and the third working contact is connected to a brake caliper that is not connected to the power modules for power supply. The third working contact can selectively connect one of the first working contact, the second working contact and the floating contact.

4. The braking control system as described in claim 1, characterized in that, The power switching module includes two modules, each of which enables two non-coaxially arranged brake calipers to be connected to the same power module.

5. The braking control system as described in claim 4, characterized in that, The two power switching modules are respectively connected to the left front brake caliper and the right front brake caliper, and the left rear brake caliper and the right rear brake caliper are respectively connected to the two power modules for power supply.

6. The braking control system as described in claim 1, characterized in that, The first brake controller is connected to the plurality of brake calipers via at least two buses, and each bus is connected to a plurality of brake calipers that are not arranged coaxially. The second brake controller is connected to the plurality of brake calipers via at least two buses, and each bus is connected to the plurality of brake calipers arranged coaxially. The first brake controller and the second brake controller are connected via a bus.

7. The braking control system as described in claim 6, characterized in that, The first brake controller is connected to the left front brake caliper and the right rear brake caliper via a first bus, and to the right front brake caliper and the left rear brake caliper via a second bus. The second brake controller is connected to the left front brake caliper and the right front brake caliper via a third bus, and to the left rear brake caliper and the right rear brake caliper via a fourth bus.

8. The braking control system as described in claim 1, characterized in that, The brake pedal is also connected to the power supply of the two brake controllers respectively.

9. The braking control system as described in claim 1, characterized in that, The brake pedal is also connected to each of the brake controllers via a wake-up line.

10. The braking control system as described in claim 1, characterized in that, Also includes: An EPB switch is connected to at least one of the brake controllers.

11. The braking control system according to any one of claims 1 to 10, characterized in that, Each of the brake calipers is also hardwired to a wheel speed sensor.

12. An electromechanical braking system, characterized in that, The electromechanical braking system is implemented based on the braking control system as described in any one of claims 1 to 11.

13. A braking control method, characterized in that, The braking control system based on any one of claims 1 to 11 includes any of the following: In response to a short circuit failure of the power supply line between a power module and the wheel end, the power switching module connects to the unfailed power module, and the brake controller connected to the unfailed power module controls the operation of the remaining brake calipers except those connected to the failed power module according to the command of the brake pedal. In response to a short circuit failure of a power switching module and the power supply line at the wheel end, the failed power switching module is disconnected, and the two brake controllers control the operation of the remaining brake calipers except those connected to the brake caliper powered by the failed power switching module, according to the command of the brake pedal. In response to a short circuit failure in the communication line between a brake controller and the wheel end, the unfailed brake controller controls the action of the plurality of brake calipers according to the command of the brake pedal; In response to a short circuit failure in the power supply and communication lines of a brake caliper, the power switching module connected to the power supply of the failed brake caliper is disconnected, and the brake controller connected to the power supply of the unfailed power module controls the operation of the remaining brake calipers according to the command of the brake pedal.

14. A braking control method, characterized in that, Based on the braking control system as described in claim 6, it includes any of the following: In response to a short circuit failure in the power supply line and communication line of a brake caliper connected to the power supply module, the brake controller connected to the unfailed power supply module controls the operation of the remaining brake calipers except the failed brake caliper via the unfailed bus according to the command of the brake pedal. In response to a short circuit failure in the power supply line and communication line of a brake caliper connected to the power switching module, the failed power switching module is disconnected. The two brake controllers, according to the instructions of the brake pedal, control the operation of the remaining brake calipers except for the failed brake caliper via the non-failed bus.

15. An electronic device, characterized in that, Used to implement the braking control method as described in claim 13 or 14.

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