Hybrid braking electronic and electric system and vehicle

Abstract

The invention relates to the technical field of automobile braking, and discloses a hybrid braking electronic and electric system and a vehicle, the system comprises a main controller, a backup controller and a plurality of braking execution units, and the main controller and the backup controller are respectively connected with the corresponding braking execution units; the main controller is configured to respond to the braking signal so as to control the braking execution unit to execute corresponding braking operation on each wheel of the vehicle; the backup controller is configured to respond to the braking signal under the condition that the main controller fails so as to control the braking execution unit to execute corresponding braking operation on part of wheels of the vehicle; wherein the main controller and the backup controller are configured according to the hydraulic control module and the domain controller module. Redundant backup of the braking system is achieved to meet the high-level automatic driving safety requirement, meanwhile, the relevant control functions of service braking and parking braking are integrated into an existing controller of the whole vehicle, the system architecture is effectively simplified, and the system cost is remarkably reduced.

Description

Hybrid braking electronic and electrical systems and vehicles Technical Field

[0001] This application relates to the field of automotive braking technology, and in particular to a hybrid braking electronic and electrical system and vehicle. Background Technology

[0002] In automotive electronic and electrical architecture, the braking system is typically controlled by a separate Electronic Control Unit (ECU). If this ECU malfunctions, or if there is a problem with the circuitry supplying it, braking performance can be significantly reduced or even completely lost, posing a significant single point of failure risk.

[0003] To reduce the risk of brake failure caused by the aforementioned single point of failure, redundant backup ECUs are typically used in the braking system in related technologies to achieve Level 3 and above autonomous driving. However, this leads to a significant increase in system complexity and cost. Summary of the Invention

[0004] This application provides a hybrid braking electronic and electrical system and vehicle, which solves the technical problem that the redundancy backup of the braking system significantly increases the system complexity and cost. While achieving redundancy backup of the braking system to meet the safety requirements of high-level autonomous driving, it integrates the relevant control functions of service braking and parking braking into the existing controller of the vehicle, effectively simplifying the system architecture and significantly reducing the system cost.

[0005] To achieve the above objectives, the main technical solution adopted in this application includes: Firstly, this application provides a hybrid braking electronic and electrical system, the system comprising a main controller, a backup controller, and multiple braking execution units, wherein the main controller and the backup controller are respectively connected to the corresponding braking execution units; the main controller is configured to respond to a braking signal to control the braking execution units to perform corresponding braking operations on each wheel of the vehicle; the backup controller is configured to respond to a braking signal in the event of a failure of the main controller to control the braking execution units to perform corresponding braking operations on some wheels of the vehicle; wherein the main controller and the backup controller are configured according to a hydraulic control module and a domain controller module.

[0006] The hybrid braking electronic and electrical system proposed in this application constructs a redundant backup architecture for the braking system by configuring a main controller and a backup controller. This allows the main controller to achieve comprehensive control of braking operations for all wheels of the vehicle when operating normally, while the backup controller responds to braking signals and performs braking operations on some wheels when the main controller fails, meeting the redundancy and safety requirements of high-level autonomous driving for the braking system. Simultaneously, the relevant control functions of service braking and parking braking are integrated into a hydraulic control module and a domain controller module. Based on the inherent vehicle control architecture, redundant configuration of braking control functions is achieved, improving the reliability of the braking system. Compared with related technologies, this reduces the number of controllers required, effectively simplifying the overall architecture of the braking system and significantly reducing the system's research, development, production, and maintenance costs.

[0007] Optionally, the hybrid braking electronic and electrical system further includes a braking sensor, and the main controller and the backup controller establish communication connections with the braking sensor respectively. The braking sensor is configured to send the braking signal to the main controller and the backup controller.

[0008] This application enables the main controller and backup controller to establish communication connections with the braking sensor respectively, which can ensure that the main controller and backup controller acquire consistent braking signals in real time and synchronously. At the same time, it realizes the functional redundancy setting for the system to effectively receive braking signals, providing a reliable guarantee for the transmission of braking signals in L3 and above autonomous driving scenarios.

[0009] Optionally, the domain controller module includes a left domain controller and a right domain controller; wherein, when the hydraulic control module is configured as the master controller, one of the left domain controller and the right domain controller is configured as the backup controller.

[0010] This application uses the left domain controller and the right domain controller as redundant backup options for braking control, thereby utilizing the vehicle's existing domain controller hardware resources to achieve the braking backup control function without the need for additional dedicated backup control hardware, further reducing system costs and improving the configuration flexibility of the braking system's redundant architecture.

[0011] Optionally, if the hydraulic control module is configured as the main controller, and the main controller fails, the left domain controller or the right domain controller responds to the braking signal to control the braking actuator to perform driving and parking braking operations on the rear wheels of the vehicle.

[0012] Optionally, if the left domain controller is configured as the master controller, one of the hydraulic control module and the right domain controller may be configured as the backup controller; or if the right domain controller is configured as the master controller, one of the hydraulic control module and the left domain controller may be configured as the backup controller.

[0013] This application utilizes the left domain controller or the right domain controller as the main controller, and selects the hydraulic control module or another domain controller as the backup controller, further improving the configuration flexibility of the braking system redundancy architecture, and can fully adapt to the control layout and functional requirements of different vehicle electronic and electrical architectures.

[0014] Optionally, when the left domain controller is configured as the main controller and the hydraulic control module is configured as the backup controller, if the main controller fails, the hydraulic control module responds to the braking signal to control the braking actuator to perform service braking operation on the front wheels of the vehicle, and the hydraulic control module controls the braking actuator to perform service and parking braking operation on the right rear wheels of the vehicle through the right domain controller.

[0015] Optionally, when the left domain controller is configured as the main controller and the right domain controller is configured as the backup controller, if the main controller fails, the right domain controller responds to the braking signal by controlling the braking actuator to perform service and parking braking operations on the right rear wheel of the vehicle, and the right domain controller controls the braking actuator to perform service braking operations on the front wheel of the vehicle through the hydraulic control module.

[0016] Optionally, the hybrid braking electronic system further includes a first wheel speed sensor and a second wheel speed sensor; wherein the main controller is connected to the first wheel speed sensor, the backup controller is connected to the second wheel speed sensor, and the first wheel speed sensor and the second wheel speed sensor are configured to collect wheel speed signals of each wheel of the vehicle and send them to the main controller or the backup controller, so that the main controller or the backup controller performs corresponding braking operations based on the wheel speed signals.

[0017] This application achieves redundant wheel speed sensor configuration by configuring a first wheel speed sensor for the main controller and a second wheel speed sensor for the backup controller. In the event of a failure of the main controller, the backup controller can obtain wheel speed information through the second wheel speed sensor, avoiding the problem of the controller being unable to obtain wheel speed data in a timely manner due to a single sensor failure or signal transmission interruption. This ensures the accurate execution of wheel braking operations and further improves system reliability.

[0018] Optionally, the hydraulic control module, the left domain controller, and the right domain controller are connected via a CAN bus.

[0019] Secondly, embodiments of this application provide a vehicle that includes the aforementioned hybrid braking electronic and electrical system. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 is a schematic diagram of the device connection of a hybrid braking electronic and electrical system provided in an embodiment of this application; Figure 2 is a schematic diagram of the structure of a hybrid braking electronic and electrical system provided in an embodiment of this application; Figure 3 is a schematic diagram of the structure of a hybrid braking electronic and electrical system provided in an embodiment of this application; Figure 4 is a schematic diagram of the structure of a hybrid braking electronic and electrical system provided in an embodiment of this application. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the description of this application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having," and any variations thereof, in the description, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the description, claims, or accompanying drawings of this application are used to distinguish different objects, not to describe a specific order or hierarchy.

[0024] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0025] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly, for example, they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0026] In automotive electronic and electrical architecture, the braking system is typically controlled by a separate ECU. The ECU primarily processes, analyzes, and interprets various information input from engine sensors based on its stored programs, then outputs commands to control the relevant actuators, achieving rapid, accurate, and automatic engine control. However, this single-point control architecture presents a significant risk of single-point failure. If the ECU malfunctions, or if its power supply circuit experiences a short circuit, power outage, or other abnormal fault, the entire electronic braking system will fail, resulting in a substantial decrease in braking performance or even complete loss of braking, posing a fatal threat to driving safety.

[0027] Furthermore, to achieve Level 3 and above autonomous driving, some related technologies typically employ redundant backup ECUs. For example, this involves deploying two completely independent braking systems, or using Electronic Stability Control (ESC) and a One-box hydraulic brake-by-wire system as backup ECUs. ESC provides braking assistance and vehicle stability control during driving, while the One-box hydraulic brake-by-wire system integrates braking assistance and stability control into a single physical unit. While these solutions meet redundancy and safety requirements, they require two additional controllers. Both controllers need to be equipped with an Electronic Parking Brake (EPB) for parking, necessitating a significant increase in dedicated control hardware, actuators, and wiring harnesses. This not only greatly increases the system's structural complexity but also raises the overall vehicle development, production, and maintenance costs.

[0028] To address the aforementioned technical problems, this application provides a hybrid braking electronic and electrical system. The system includes a main controller 10, a backup controller 20, and multiple braking execution units 30, with the main controller 10 and backup controller 20 respectively connected to corresponding braking execution units 30. The main controller 10 is configured to respond to a braking signal to control the braking execution units 30 to perform corresponding braking operations on each wheel of the vehicle. The backup controller 20 is configured to respond to a braking signal in the event of a failure of the main controller 10 to control the braking execution units 30 to perform corresponding braking operations on some wheels of the vehicle.

[0029] The main controller 10 and the backup controller 20 are configured according to the hydraulic control module and the domain controller module.

[0030] Specifically, as shown in Figure 1, the hydraulic control module refers to the front hydraulic brake system (FHB), which drives the corresponding brake actuator 30 of the vehicle's front wheels through hydraulic lines composed of hydraulic hoses, such as hydraulic brake calipers including brake hard pipes, thereby realizing direct service braking control of the vehicle's front wheels.

[0031] A domain control module refers to a domain controller in the vehicle's electronic and electrical systems that corresponds to the chassis control domain. It is used to control the vehicle's transmission, driving, steering, and braking systems to ensure driving safety and comfort. In this embodiment, the One Driving-Park System (ODP), which includes a brushless motor and wiring harness, serves as the braking execution unit 30 corresponding to the domain control module. The domain control module drives the corresponding brushless motor to output braking torque, thereby enabling the ODP to dynamically clamp the rear wheel driving brake calipers and lock the parking brake calipers, thus achieving direct driving and parking braking control of the vehicle's rear wheels.

[0032] Furthermore, in this embodiment, the hydraulic control module and the domain control module communicate via the CAN FD bus protocol. In this way, the hydraulic control module can indirectly control the driving and parking brakes of the rear wheels of the vehicle through the domain control module and the corresponding wiring harness, and the domain control module can indirectly control the driving brakes of the front wheels of the vehicle through the hydraulic control module and the corresponding wiring harness.

[0033] In this embodiment, the main controller 10 and the backup controller 20 are flexibly configured based on the vehicle's existing front wheel hydraulic control module and domain controller module. When the main controller 10 is active, braking control of the vehicle's front and rear wheels can be achieved through the coordinated action of the hydraulic control module and the domain control module. When the main controller 10 fails, the braking control function of the backup controller 20 is activated, and the braking control function of the hydraulic control module and the domain control module is maintained to achieve braking control of some wheels of the vehicle.

[0034] The hybrid braking electronic and electrical system provided in this application constructs a redundant backup architecture for the braking system by configuring a main controller 10 and a backup controller 20. When the main controller 10 is working normally, it can realize comprehensive control of the braking operation of all wheels of the vehicle. When the main controller 10 fails, the backup controller 20 responds to the braking signal and completes the braking operation of some wheels, meeting the redundancy and safety requirements of high-level autonomous driving for the braking system. At the same time, the relevant control functions of service braking and parking braking are integrated into the hydraulic control module and domain controller module. Based on the inherent vehicle control architecture, the redundant configuration of braking control functions is realized, which improves the reliability of the braking system. Compared with related technologies, it reduces the number of controllers that need to be set up, effectively simplifies the overall architecture of the braking system, and significantly reduces the research, development, production and maintenance costs of the system.

[0035] In some embodiments of this application, the hybrid braking electronic and electrical system further includes a braking sensor 40, and the main controller 10 and the backup controller 20 establish communication connections with the braking sensor 40 respectively. The braking sensor 40 is configured to send braking signals to the main controller 10 and the backup controller 20.

[0036] Specifically, in this embodiment, the main controller 10 and the backup controller 20 are respectively connected to the drive-by-wire pedal, and the drive-by-wire pedal has a built-in brake sensor. During vehicle operation, when the driver presses or releases the drive-by-wire pedal, the drive-by-wire pedal generates a pedal displacement corresponding to the braking intention. The brake sensor senses this pedal displacement and converts it into a corresponding braking signal, which is then synchronously sent to the main controller 10 and the backup controller 20 via the SENT protocol.

[0037] In this embodiment, the main controller 10 and the backup controller 20 establish communication connections with the brake sensor 40, which ensures that the main controller 10 and the backup controller 20 acquire consistent brake signals in real time and synchronously. At the same time, it realizes the functional redundancy setting for the system to effectively receive brake signals, providing a reliable guarantee for the transmission of brake signals in L3 and above autonomous driving scenarios.

[0038] Furthermore, in some embodiments of this application, the domain controller module includes a left domain controller and a right domain controller.

[0039] It is understood that in the embodiments of this application, the hydraulic control module, the left domain controller and the right domain controller are connected via a CAN bus to achieve communication based on the CAN FD bus protocol.

[0040] Specifically, in some embodiments of this application, the left domain controller is connected to the left domain ODP to realize driving and parking control of the vehicle's left rear wheel. The left domain ODP includes a service brake caliper and a parking brake caliper that apply braking force to the left rear wheel. The right domain controller is connected to the right domain ODP to realize driving and parking control of the vehicle's right rear wheel. The right domain ODP includes a service brake caliper and a parking brake caliper that apply braking force to the right rear wheel.

[0041] In some embodiments of this application, when the hydraulic control module is configured as the master controller 10, one of the left domain controller and the right domain controller is configured as the backup controller 20.

[0042] Furthermore, when the hydraulic control module is configured as the main controller 10, if the main controller 10 fails, the left domain controller or the right domain controller responds to the braking signal to control the braking actuator to perform driving and parking braking operations on the rear wheels of the vehicle.

[0043] Specifically, Figure 2 shows a schematic diagram of the above-mentioned hybrid braking electronic and electrical system in one embodiment of this application. As shown in Figure 2, the hydraulic control module is configured as the main controller 10, and the left domain controller is configured as the backup controller 20. The hydraulic control module and the left domain controller are respectively connected to the drive-by-wire pedal. The braking actuator connected to the hydraulic control module includes a left front wheel hydraulic brake caliper and a right front wheel hydraulic brake caliper. The braking actuator connected to the left domain controller includes a left domain ODP 31, and the braking actuator connected to the right domain controller includes a right domain ODP 32.

[0044] When the hydraulic control module is active, if it receives a braking signal from the drive-by-wire pedal via the SENT protocol, it will cause the hydraulic brake calipers to clamp through the hydraulic lines, directly controlling the service brakes of the left and right front wheels. Furthermore, the hydraulic control module sends this braking signal to the left and right domain controllers via the CAN FD bus, thereby indirectly controlling the left domain ODP31 and right domain ODP32 to apply the service and parking brakes to the left and right rear wheels.

[0045] In the event of a hydraulic control module failure, the left domain controller, acting as a backup controller 20, receives the braking signal generated by the drive-by-wire pedal via the SENT protocol. Since the left and right front wheels cannot establish the necessary hydraulic pressure for braking due to the hydraulic control module failure, the left domain controller can only directly control the left domain ODP31 to apply the driving and parking brakes to the left rear wheel. It then sends this braking signal to the right domain controller via the CAN FD bus, thereby indirectly controlling the right domain ODP32 to apply the driving and parking brakes to the right rear wheel. In other words, the left domain controller serves as a backup for the driving and parking brakes of the rear wheels.

[0046] It should be noted that Figure 2 illustrates an embodiment of this application by configuring the left domain controller as backup controller 20, and is not intended to limit this application. In other examples, the right domain controller can also be selected as backup controller 20. For details, please refer to the braking control description of the left domain controller above, which will not be repeated here.

[0047] In this embodiment, the left domain controller and the right domain controller are selected as redundant backups for braking control. This allows the use of the vehicle's existing domain controller hardware resources to achieve backup braking control without the need for additional dedicated backup control hardware. This further reduces system costs and improves the configuration flexibility of the braking system's redundant architecture.

[0048] In some embodiments of this application, when the left domain controller is configured as the master controller 10, one of the hydraulic control module and the right domain controller is configured as the backup controller 20; or when the right domain controller is configured as the master controller 10, one of the hydraulic control module and the left domain controller is configured as the backup controller 20.

[0049] Furthermore, when the left domain controller is configured as the main controller 10 and the hydraulic control module is configured as the backup controller 20, if the main controller 10 fails, the hydraulic control module responds to the braking signal to control the braking actuator to perform service braking operation on the front wheels of the vehicle, and the hydraulic control module controls the braking actuator to perform service and parking braking operation on the right rear wheels of the vehicle through the right domain controller.

[0050] Specifically, Figure 3 shows a schematic diagram of the structure of the above-mentioned hybrid braking electronic and electrical system in another embodiment of this application. As shown in Figure 3, the left domain controller is configured as the main controller 10, and the hydraulic control module is configured as the backup controller 20. The other connection structures of the system are the same as those shown in Figure 2. For details, please refer to the above description.

[0051] When the left domain controller is active, if the left domain controller receives the braking signal generated by the drive-by-wire pedal via the SENT protocol, the left domain controller directly controls the left domain ODP31 to perform driving and parking braking on the left rear wheel, and sends the braking signal to the hydraulic control module and the right domain controller via the CAN FD bus. Thus, the hydraulic control module indirectly controls the driving braking of the left and right front wheels, and the right domain controller indirectly controls the right domain ODP32 to perform driving and parking braking on the right rear wheel.

[0052] In the event of a left-side controller failure, the hydraulic control module, acting as backup controller 20, receives the braking signal generated by the drive-by-wire pedal via the SENT protocol. Since the left rear wheel cannot perform driving and parking braking due to the left-side controller failure, the hydraulic control module can only directly control the driving brakes of the left and right front wheels. It then sends this braking signal to the right-side controller via the CAN FD bus, thereby indirectly controlling the right-side ODP32 to perform driving and parking braking of the right rear wheel. In other words, the hydraulic control module serves as a backup for the driving and parking braking of the right rear wheel.

[0053] When the left domain controller is configured as the main controller 10 and the right domain controller is configured as the backup controller 20, if the main controller 10 fails, the right domain controller responds to the braking signal to control the braking actuator to perform driving and parking braking operations on the right rear wheel of the vehicle, and the right domain controller controls the braking actuator to perform driving braking operations on the front wheel of the vehicle through the hydraulic control module.

[0054] Specifically, Figure 4 shows a schematic diagram of the structure of the above-mentioned hybrid braking electronic and electrical system in another embodiment of this application. As shown in Figure 4, the left domain controller is configured as the main controller 10, and the right domain controller is configured as the backup controller 20. The left domain controller and the right domain controller are respectively connected to the drive-by-wire pedal. The other connection structures of the system are the same as those shown in the embodiment in Figure 2. For details, please refer to the above description.

[0055] When the left domain controller is active, the relevant braking control of the vehicle's front and rear wheels is the same as in the embodiments shown in Figures 2 and 3, as detailed in the above description.

[0056] In the event of a left domain controller failure, the right domain controller, acting as backup controller 20, receives the braking signal generated by the drive-by-wire pedal via the SENT protocol. Similarly, since the left rear wheel cannot perform service and parking braking due to the failure of the left domain controller, the right domain controller can only directly control the right domain ODP32 to perform service and parking braking on the right rear wheel. It then sends this braking signal to the hydraulic control module via the CAN FD bus, thereby indirectly controlling the service braking of the front wheel through the hydraulic control module. In other words, the right domain controller serves as a backup for the service braking of the front wheel and the service and parking braking of the right rear wheel.

[0057] It should be noted that Figures 3 and 4, which illustrate the left domain controller being configured as the master controller 10, are provided as exemplary embodiments of this application and are not intended to limit this application.

[0058] In this embodiment, the left domain controller or the right domain controller is used as the main controller 10, and the hydraulic control module or another domain controller is selected as the backup controller 20. This further enhances the configuration flexibility of the redundant architecture of the braking system and can fully adapt to the control layout and functional requirements of different vehicle electronic and electrical architectures.

[0059] As shown in Figures 2 to 4, in some embodiments of this application, the hybrid braking electronic and electrical system further includes a first wheel speed sensor 51 and a second wheel speed sensor 52. The main controller 10 is connected to the first wheel speed sensor 51, and the backup controller 20 is connected to the second wheel speed sensor 52. The first wheel speed sensor 51 and the second wheel speed sensor 52 are configured to collect wheel speed signals from each wheel of the vehicle and send them to the main controller 10 or the backup controller 20, so that the main controller 10 or the backup controller 20 can perform corresponding braking operations based on the wheel speed signals.

[0060] Specifically, both the first wheel speed sensor 51 and the second wheel speed sensor 52 refer to wheel speed sensors (WSS), with the second wheel speed sensor 52 serving as a redundancy for the first wheel speed sensor 51. During normal operation, the first wheel speed sensor 51 continuously collects wheel speed signals from each wheel and sends them to the main controller 10, providing data support for the main controller 10 to regulate the four-wheel braking force. When the main controller 10 fails, the second wheel speed sensor 52 can immediately take over the task of collecting wheel speed signals, synchronously sending the wheel speed signals to the backup controller 20 to ensure that the backup controller 20 accurately regulates the four-wheel braking force.

[0061] This embodiment of the application achieves redundant wheel speed sensor configuration by configuring a first wheel speed sensor 51 for the main controller and a second wheel speed sensor 52 for the backup controller 20. In this way, when the main controller 10 fails, the backup controller 20 can obtain wheel speed information through the second wheel speed sensor 52, avoiding the problem that the controller cannot obtain wheel speed data in time due to a single sensor failure or signal transmission interruption, ensuring the accurate execution of wheel braking operation and further improving system reliability.

[0062] Accordingly, this application also provides a vehicle, wherein the vehicle includes the hybrid braking electronic and electrical system as described in the above embodiments.

[0063] The specific configurations and further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0064] The vehicle proposed in this embodiment provides a redundant backup architecture for the braking system through the aforementioned hybrid braking electronic and electrical system, meeting the redundancy and safety requirements of high-level autonomous driving for the braking system. Simultaneously, the relevant control functions of the service brake and parking brake are integrated into a hydraulic control module and a domain controller module. Based on the inherent vehicle control architecture, redundant configuration of the braking control functions is achieved, improving the reliability of the braking system. Compared with related technologies, this reduces the number of controllers required, effectively simplifying the overall architecture of the braking system and significantly reducing the system's research, development, production, and maintenance costs.

[0065] For ease of description, the above devices are described separately by function as various units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.

[0066] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0067] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0068] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the scope of the claims of this application.

[0069] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A hybrid braking electronic and electrical system, characterized in that, The system includes a main controller, a backup controller, and multiple braking actuators, with the main controller and the backup controller each connected to a corresponding braking actuator. The main controller is configured to respond to a braking signal to control the braking actuators to perform corresponding braking operations on each wheel of the vehicle. The backup controller is configured to respond to a braking signal in the event of a failure of the main controller to control the braking actuators to perform corresponding braking operations on some wheels of the vehicle. The main controller and the backup controller are configured based on a hydraulic control module and a domain controller module.

2. The hybrid braking electronic and electrical system according to claim 1, characterized in that, The hybrid braking electronic and electrical system also includes a braking sensor. The main controller and the backup controller establish communication connections with the braking sensor, and the braking sensor is configured to send the braking signal to the main controller and the backup controller.

3. The hybrid braking electronic and electrical system according to claim 1, characterized in that, The domain controller module includes a left domain controller and a right domain controller; wherein, when the hydraulic control module is configured as the master controller, one of the left domain controller and the right domain controller is configured as the backup controller.

4. The hybrid braking electronic and electrical system according to claim 3, characterized in that, When the hydraulic control module is configured as the main controller, if the main controller fails, the left domain controller or the right domain controller responds to the braking signal to control the braking actuator to perform driving and parking braking operations on the rear wheels of the vehicle.

5. The hybrid braking electronic and electrical system according to claim 3, characterized in that, When the left domain controller is configured as the master controller, one of the hydraulic control module and the right domain controller is configured as the backup controller; or when the right domain controller is configured as the master controller, one of the hydraulic control module and the left domain controller is configured as the backup controller.

6. The hybrid braking electronic and electrical system according to claim 5, characterized in that, When the left domain controller is configured as the main controller and the hydraulic control module is configured as the backup controller, if the main controller fails, the hydraulic control module responds to the braking signal to control the braking actuator to perform service braking operation on the front wheels of the vehicle, and the hydraulic control module controls the braking actuator to perform service and parking braking operation on the right rear wheels of the vehicle through the right domain controller.

7. The hybrid braking electronic and electrical system according to claim 5, characterized in that, When the left domain controller is configured as the main controller and the right domain controller is configured as the backup controller, if the main controller fails, the right domain controller responds to the braking signal by controlling the braking actuator to perform service and parking braking operations on the right rear wheel of the vehicle, and the right domain controller controls the braking actuator to perform service braking operations on the front wheel of the vehicle through the hydraulic control module.

8. The hybrid braking electronic and electrical system according to claim 1, characterized in that, The hybrid braking electronic and electrical system further includes a first wheel speed sensor and a second wheel speed sensor; wherein, the main controller is connected to the first wheel speed sensor, and the backup controller is connected to the second wheel speed sensor, and the first wheel speed sensor and the second wheel speed sensor are configured to collect wheel speed signals of each wheel of the vehicle and send them to the main controller or the backup controller, so that the main controller or the backup controller performs corresponding braking operations based on the wheel speed signals.

9. The hybrid braking electronic and electrical system according to claim 3, characterized in that, The hydraulic control module, the left domain controller, and the right domain controller are connected via a CAN bus.

10. A vehicle, characterized in that, The vehicle includes a hybrid braking electronic and electrical system as described in any one of claims 1 to 9.

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