Intelligent driving wire control chassis and control method thereof

Abstract

The present invention discloses an intelligent driving wire-controlled chassis and a control method thereof. In a wire-controlled steering system, a power-assisting motor is added to replace a traditional vehicle steering wheel to realize automatic driving. At the same time, a steering power-assisting pump is added to the wire-controlled steering system to assist a steering column in driving a steering gear to operate, thereby avoiding burning out of a steering fuse or a steering motor caused by single-wire-controlled steering. In a wire-controlled braking system, a plunger pump is added to replace a traditional foot-operated brake pedal. The plunger pump is connected to a brake assembly through an oil pipe. The plunger pump controls the oil pressure in the oil pipe to realize control of the brake assembly. At the same time, a pressure sensor arranged on the oil pipe can feed back the current braking pressure of the vehicle in real time. The VCU accurately controls the braking of the vehicle according to the target braking pressure and the current braking pressure of the vehicle. In an electronic parking system, a parking electronic control unit parks or starts the vehicle according to a parking command sent by the VCU, thereby ensuring the safety of the operation of the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to an intelligent driving wire-controlled chassis and a control method thereof. Background Art

[0002] The chassis of a car usually consists of a transmission system, a driving system, a steering system, a braking system, and chassis accessories. The function of the chassis is to support and install the car engine and its components and assemblies to form the overall shape of the car, and to receive the power of the engine to make the car move and ensure normal driving. With the continuous improvement of people's living standards, the requirements for the comfort and intelligence of vehicles are getting higher and higher. In recent years, the market has a large demand for buses that provide sightseeing and shuttle services in local closed specific places. Such buses are mostly used in resorts, tourist attractions, industrial parks, university campuses and other scenes. The existing wire-controlled chassis are mostly concentrated in the field of passenger cars. Due to the difference in technical routes and passenger cars, because the total mass of passenger cars is relatively low, electronic steering can be achieved without the help of a hydraulic auxiliary power system, or the motor can directly control the brake to achieve driving braking. If the steering system of a commercial vehicle adopts this solution, the steering fuse and even the motor will be overloaded and burned, and the braking force of the commercial vehicle cannot be guaranteed. In addition, the size of commercial vehicles is small, and there are currently few technologies for using wire-controlled chassis in the commercial vehicle field. In view of the overload and burnout of the steering fuse and even the motor of commercial vehicles using the wire control system, this solution has developed an electro-hydraulic composite wire control steering system based on the pure electric control steering. The hydraulic power-assist system is used to ensure that the motor output torque meets the load requirements. In order to solve the problem of insufficient braking force and excessive braking distance, a motor plunger pump and hydraulic brake combination are added to ensure that the braking force meets the large load requirements. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent driving wire-controlled chassis and a control method thereof to solve the problems in the prior art.

[0004] To achieve the above-mentioned object, the present invention provides an intelligent driving wire-controlled chassis, comprising a chassis body, a battery and a vehicle controller, and also comprising a wire-controlled steering system, a wire-controlled braking system and an electronic parking system, wherein the wire-controlled steering system comprises a power-assisted motor and a steering column, wherein the power-assisted motor is electrically connected to the battery and the vehicle controller, wherein the power-assisted motor is fixedly connected to the steering column, wherein a steering gear is provided at the lower end of the steering column, wherein a steering tie rod is provided at the lower end of the steering gear, wherein the steering gear is connected to the steering tie rod through a gear rack transmission, wherein the steering gear is fixedly connected to the chassis body, wherein the power-assisted motor replaces the steering wheel of a traditional commercial vehicle, and wherein automatic driving is realized under the control of the wire-controlled electronic control unit and the vehicle controller VCU;

[0005] The wire control brake system includes a brake pressure regulator, a plunger pump and a brake assembly, wherein the brake pressure regulator is electrically connected to a battery and a vehicle controller VCU, the brake pressure regulator is electrically connected to the plunger pump, the plunger pump is connected to a brake oil tank through an oil pipe, and the plunger pump is connected to the brake assembly through a brake hydraulic oil pipe;

[0006] The electronic parking system comprises an electronic parking actuator, which is fixedly connected to the chassis body, electrically connected to the vehicle controller VCU, and connected to the brake assembly via a parking wire.

[0007] Furthermore, the wire-controlled steering system also includes a steering oil tank and a steering power pump. The steering oil tank is connected to the steering power pump through a steering low-pressure oil pipe, and the steering power pump is connected to the steering gear through a steering high-pressure oil pipe. The steering power pump drives the steering gear through the high-pressure oil pipe to assist in steering the entire vehicle, thereby avoiding overload and burning of the steering fuse or motor.

[0008] Furthermore, in the wire control braking system, a pressure sensor is provided on the brake hydraulic oil pipe body, the pressure sensor is electrically connected to the brake pressure regulator, and the pressure sensor is electrically connected to the vehicle controller VCU. The pressure sensor can provide real-time feedback of the current brake pressure of the vehicle. The brake electronic control unit and the vehicle controller VCU combine the target brake pressure and the current vehicle brake pressure to drive the plunger pump and control the brake assembly.

[0009] Furthermore, in the wire-controlled steering system, the power-assisted motor is connected to the steering gear via a worm gear.

[0010] Furthermore, the chassis body also includes a wheel, a knuckle arm is arranged on the inner side of the wheel, and the steering tie rod is rotatably connected to the knuckle arm.

[0011] Furthermore, in the brake-by-wire system, the brake assembly includes a brake pump and a brake disc, and the brake disc is fixedly connected to the wheel.

[0012] Furthermore, in the electronic parking system, the electronic parking actuator includes a parking motor and a tension sensor, the electronic parking actuator is fixedly connected to the parking motor, and the tension sensor is connected to the brake assembly via a parking wire.

[0013] A control method for an intelligent driving by-wire chassis includes a control method for a by-wire steering system and a control method for a by-wire braking system. The control method for the by-wire steering system includes the following steps:

[0014] S1: The vehicle collects the current required steering angle and transmits the steering angle signal to the steering electronic control unit;

[0015] S2: After receiving the steering angle, the steering electronic control unit transmits data with the vehicle controller VCU through the CAN bus, adjusts the speed of the power assist motor, and outputs it to the steering gear;

[0016] S3: After receiving the rotation angle transmission from the power-assisted motor, the steering gear drives the steering tie rod through the gear rack to achieve steering;

[0017] Furthermore, the brake-by-wire system control method comprises the following steps:

[0018] A1: When the vehicle needs to be braked, the vehicle controller VCU sends a braking signal to the brake electronic control unit through the CAN bus, and the brake electronic control unit drives the plunger pump;

[0019] A2: After the plunger pump is running, it controls and adjusts the oil pressure in the brake hydraulic oil pipe, thereby driving the brake assembly to brake the vehicle;

[0020] A3: When the vehicle is braked, the pressure sensor on the brake hydraulic oil pipe feeds back the pressure of the brake system to the brake electronic control unit;

[0021] Furthermore, the brake-by-wire system control method further includes a parking control system control method, and the parking control system control method includes the following steps:

[0022] B1: The vehicle controller VCU sends a parking request to the parking electronic control unit;

[0023] B2: After receiving the parking request, the electronic parking actuator drives the motor in the electronic parking actuator to operate and control the brake assembly through the parking wire;

[0024] B3: The parking electronic control unit detects the value of the tension sensor in real time through the electronic parking actuator. When the tension reaches the control target requirement, it stops controlling the motor and the reduction mechanism is automatically locked.

[0025] Furthermore, in step S2, after receiving the steering angle, the steering electronic control unit transmits data with the vehicle controller VCU through the CAN bus, adjusts the motor speed in the power steering pump, and the power steering pump inputs the hydraulic oil in the steering oil tank to the steering gear through the high-pressure oil pipe.

[0026] Furthermore, in step S3, the steering tie rod drives the knuckle arm in the wheel to achieve steering.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. In the wire control steering system of the present invention, a power-assisted electric motor is added to replace the traditional vehicle steering wheel, thereby realizing automatic driving. At the same time, a power steering pump is added to the wire control steering system. The power steering pump inputs high-pressure oil into the steering gear through the steering high-pressure oil pipe to assist the steering column in driving the steering gear to operate, thereby avoiding the burning of the steering fuse or the steering motor caused by the single-wire control steering;

[0029] 2. In the wire-controlled brake system of the present invention, a plunger pump is added to replace the traditional foot brake pedal. The plunger pump is connected to the brake assembly through an oil pipe. The plunger pump controls the oil pressure in the oil pipe to achieve control of the brake assembly. At the same time, the pressure sensor arranged on the oil pipe can feedback the current brake pressure of the whole vehicle in real time. The brake electronic control unit and the vehicle controller VCU can accurately control the braking of the whole vehicle according to the target brake pressure and the current brake pressure of the whole vehicle;

[0030] 3. In the electronic parking system of the present invention, the electronic parking system is under the control of the parking electronic control unit and the vehicle controller VCU. When the vehicle starts or stops, the parking electronic control unit parks or starts the vehicle according to the parking command sent by the vehicle controller VCU, thereby further ensuring the safety of the vehicle operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of the structure of a wire-controlled steering system for an intelligent driving wire-controlled chassis;

[0032] Figure 2 A schematic diagram of a brake-by-wire system structure of an intelligent driving-by-wire chassis;

[0033] Figure 3 It is an enlarged schematic diagram of a plunger pump of a wire-controlled brake system of an intelligent driving wire-controlled chassis;

[0034] Figure 4 A schematic diagram of the assembly of a steer-by-wire system and wheels of an intelligent driving-by-wire chassis;

[0035] Figure 5 A schematic diagram of the chassis body structure of an intelligent driving wire-controlled chassis;

[0036] Figure 6 A schematic diagram of the three-dimensional structure of a chassis body of an intelligent driving wire-controlled chassis;

[0037] Figure 7 It is a structural schematic diagram of an electronic parking system of an intelligent driving wire-controlled chassis;

[0038] Figure 8 A block diagram of a control method for a wire-controlled steering system of a control method for a smart driving wire-controlled chassis;

[0039] Fig. 9A block diagram of a control method of a wire-controlled brake system for a control method of an intelligent driving wire-controlled chassis;

[0040] Fig.10 The present invention is a block diagram of an electronic parking system control method for a control method of an intelligent driving wire-controlled chassis.

[0041] In the figure: 1, steering low-pressure oil pipe, 2, steering oil tank, 3, steering power pump, 4, power motor, 5, angle sensor, 6, steering column, 7, steering high-pressure oil pipe, 8, steering gear, 9, steering tie rod, 10, brake assembly, 11, vacuum barrel, 12, brake oil tank, 13, vacuum booster, 14, electric vacuum booster pump, 15, pressure sensor, 17, brake hydraulic oil pipe, 18, brake pressure regulator, 19, plunger pump, 20, articulated arm, 21, chassis body, 22, battery, 23, wheel, 24, drive motor, 25, brake disc, 26, brake pump, 27, parking wire drawing, 28, electronic parking actuator. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be described clearly and completely below. If the specific conditions are not specified in the embodiments, they are carried out according to conventional conditions or conditions recommended by the manufacturer. If the manufacturer of the reagents or instruments is not specified, they are all conventional products that can be purchased commercially.

[0043] Example: Figure 5 As shown, an intelligent driving wire-controlled chassis includes a chassis body 21, a battery 22 and a vehicle controller VCU, and also includes a wire-controlled steering system, a wire-controlled braking system and an electronic parking system, such as Figure 1 As shown, the wire control steering system includes a steering column 6 and a power-assisted motor 4. The steering column 6 is fixedly connected to the chassis body 21. The power-assisted motor 4 is fixedly connected to the steering column 6. The power-assisted motor 4 is electrically connected to the battery 22 and the vehicle controller VCU. A steering gear 8 is provided at the lower end of the steering column 6. The power-assisted motor 4 is connected to the steering gear 8. A steering tie rod 9 is provided at the lower end of the steering gear 8. The steering gear 8 is connected to the steering tie rod 9 through a gear rack transmission. After the power-assisted motor 4 is connected to the battery 22, under the control of the vehicle controller VCU, the steering column 7 is driven to drive the steering gear 8 to operate;

[0044] like Figure 2 and Figure 3As shown, the wire control brake system includes a brake pressure regulator 18, a plunger pump 19 and a brake assembly 10, the brake pressure regulator 18 is electrically connected to a battery 22 and a vehicle controller VCU, the brake pressure regulator 18 is electrically connected to a plunger pump 19, the plunger pump 19 is connected to a brake oil tank 12 through an oil pipe, and the plunger pump 19 is connected to the brake assembly 10 through a brake hydraulic oil pipe 17. After the brake pressure regulator 18 is connected to the battery 22, under the control of the vehicle controller VCU, the brake motor is driven, thereby driving the plunger pump 19, controlling the oil pressure in the brake hydraulic oil pipe 17, thereby controlling the brake assembly 10;

[0045] like Figure 7 As shown, the electronic parking system includes an electronic parking actuator 28, such as Figure 6 As shown, the electronic parking actuator 28 is fixedly connected to the chassis body 21, the electronic parking actuator 28 is electrically connected to the vehicle controller VCU, and the electronic parking actuator 28 is connected to the brake assembly 10 through the parking wire 27. After the electronic parking actuator 28 obtains the braking command from the vehicle controller VCU, it drives the parking motor, and the parking motor controls the brake assembly 10 through the parking wire 27.

[0046] The wire-controlled steering system also includes a steering oil tank 2 and a steering power pump 3. The steering oil tank 2 is connected to the steering power pump 3 through a steering low-pressure oil pipe 1, and the steering power pump 3 is connected to a steering gear 8 through a steering high-pressure oil pipe 7. The steering power pump 3 sucks the low-pressure oil in the steering oil tank 2 through the low-pressure oil pipe 1, and uses the motor in the steering power pump 3 to drive the internal steering vane pump to control the valve body, so that the low-pressure oil is converted into high-pressure oil. The high-pressure oil enters the rotary valve in the steering gear 8 through the high-pressure oil pipe 7.

[0047] In the wire control brake system, a pressure sensor 15 is provided on the brake hydraulic oil pipe 17, and the pressure sensor 15 is electrically connected to the brake pressure regulator 18, and the pressure sensor 15 is electrically connected to the vehicle controller VCU.

[0048] In the steer-by-wire system, the power-assisting motor 4 is connected to the steering gear 8 via a worm gear.

[0049] like Figure 4 As shown, the chassis body 21 further includes a wheel 23 , a knuckle arm 20 is arranged inside the wheel 23 , and the steering tie rod 9 is rotatably connected to the knuckle arm 20 .

[0050] In the brake-by-wire system, the brake assembly 10 includes a brake pump 26 and a brake disc 25 , and the brake disc 25 is fixedly connected to the wheel 23 .

[0051] In the electronic parking system, the electronic parking actuator 28 includes a parking motor and a tension sensor. The electronic parking actuator 28 is fixedly connected to the parking motor, and the tension sensor is connected to the brake assembly 10 through a parking wire 27 .

[0052] A control method for an intelligent driving wire-controlled chassis, including a wire-controlled steering system control method and a wire-controlled braking system control method, such as Figure 8 As shown, the control method of the wire control steering system includes the following steps:

[0053] S1: The vehicle collects the current required steering angle and transmits the steering angle signal to the steering electronic control unit;

[0054] S2: After receiving the steering angle, the steering electronic control unit transmits data with the vehicle controller VCU via the CAN bus, adjusts the speed of the power assist motor 4, and outputs it to the steering gear 8;

[0055] S3: After receiving the rotation angle transmission from the power-assisted motor 4, the steering gear 8 drives the steering tie rod 9 through the gear rack to achieve steering;

[0056] In step S1, the vehicle-mounted radar camera collects the turning angle data, filters and de-noises the data, and transmits the turning angle signal to the steering electronic control unit. The sensor is electrically connected to the steering gear 8 to collect the current turning angle information of the vehicle;

[0057] In step S2, the steering electronic control unit compares the collected steering angle signal with the steering angle information fed back by the current wire-controlled steering system sensor, and calculates the control current of the steering motor according to the steering control algorithm in the vehicle controller VCU, thereby driving the power-assisted motor 4, which drives the steering column 7 and drives the steering gear 8 to operate;

[0058] In step S2, after receiving the steering angle, the steering electronic control unit transmits data with the vehicle controller VCU through the CAN bus, adjusts the motor speed in the steering power pump 9, and the steering power pump 9 inputs the hydraulic oil in the steering oil tank 2 to the steering gear 8 through the high-pressure oil pipe 7. The steering gear 8 drives the steering tie rod 9 through the gear rack to achieve the corresponding angular movement of the wheel, thereby assisting the wire-controlled steering system. When the angle data reaches the target angle instruction, the steering electronic control unit stops controlling the steering motor, the rotary valve in the steering gear 8 returns to its position, and the output of hydraulic pressure stops.

[0059] In step S3, the steering tie rod 9 drives the knuckle arm 20 in the wheel 23 to achieve steering.

[0060] It is inevitable that a car will encounter complex working conditions such as side winds and low-adhesion roads during driving. The car is prone to instability during steering. The electronic control unit and the vehicle controller VCU collect the status of other aspects of the vehicle. When there is a trend of instability, the power-assisted motor 4 is controlled to compensate for the reasonable front wheel steering angle to restore the vehicle to a stable state.

[0061] like Fig. 9 As shown, the brake-by-wire system control method comprises the following steps:

[0062] A1: When the vehicle needs to be braked, the vehicle controller VCU sends a braking signal to the brake electronic control unit through the CAN bus, and the brake electronic control unit drives the plunger pump 19;

[0063] A2: After the plunger pump 19 is running, it controls and adjusts the oil pressure in the brake hydraulic oil pipe 17, thereby driving the brake assembly 10 to brake the entire vehicle;

[0064] A3: When the vehicle is braked, the pressure sensor 15 on the brake hydraulic oil pipe 17 feeds back the pressure of the tracking brake system to the brake electronic control unit;

[0065] In step A1, the brake electronic control unit collects the current brake pressure of the vehicle, filters and de-noises the data through the vehicle controller VCU, compares the difference between the target brake pressure and the current brake pressure, and calculates the control pressure of the plunger pump 19;

[0066] In step A2, the brake electronic control unit drives the brake motor of the plunger pump 19, adjusts the output torque of the brake motor, drives the plunger pump 19 to control and adjust the oil pressure in the brake hydraulic oil pipe 17, and realizes the control of the brake pressure of the brake assembly 10;

[0067] The brake-by-wire system control method also includes a parking control system control method, such as Fig.10 As shown, the parking control system control method includes the following steps:

[0068] B1: The vehicle controller VCU sends a parking request to the parking electronic control unit;

[0069] B2: After receiving the parking request, the electronic parking actuator 28 drives the parking motor in the electronic parking actuator 28 to operate, and controls the brake assembly 10 through the parking wire 27;

[0070] B3: The parking electronic control unit detects the value of the tension sensor in real time through the electronic parking actuator 28. When the tension reaches the control target requirement, it stops controlling the motor and the reduction mechanism is automatically locked.

[0071] In step B2 , the parking motor drives the speed reduction mechanism to drive and control the parking wire 27 , thereby controlling the brake assembly 10 .

[0072] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit and essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-limiting from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any reference numerals in the claims should not be regarded as limiting the claims involved.

[0073] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An intelligent driving by-wire chassis, comprising a chassis body (21), a battery (22) and a vehicle controller, characterized in that: The vehicle also comprises a wire-controlled steering system, a wire-controlled braking system and an electronic parking system, wherein the wire-controlled steering system comprises a power-assisted motor (4) and a steering column (6), wherein the power-assisted motor (4) is electrically connected to a battery (22) and a vehicle controller, wherein the power-assisted motor (4) is fixedly connected to the steering column (6), wherein a steering gear (8) is disposed at the lower end of the steering column (6), wherein a steering tie rod (9) is disposed at the lower end of the steering gear (8), wherein the steering gear (8) and the steering tie rod (9) are connected via a gear rack transmission, and wherein the steering gear (8) is fixedly connected to a chassis body (21); The wire-controlled steering system further comprises a steering oil tank (2) and a steering power pump (3), wherein the steering oil tank (2) is connected to the steering power pump (3) via a steering low-pressure oil pipe (1), and the steering power pump (3) is connected to a steering gear (8) via a steering high-pressure oil pipe (7); The wire control brake system comprises a brake pressure regulator (18), a plunger pump (19) and a brake assembly (10), wherein the brake pressure regulator (18) is electrically connected to a battery (22) and a vehicle controller, the brake pressure regulator (18) is electrically connected to the plunger pump (19), the plunger pump (19) is connected to a brake oil tank (12) via an oil pipe, and the plunger pump (19) is connected to the brake assembly (10) via a brake hydraulic oil pipe (17); The electronic parking system comprises an electronic parking actuator (28), the electronic parking actuator (28) being fixedly connected to a chassis body (21), the electronic parking actuator (28) being electrically connected to a vehicle controller, and the electronic parking actuator (28) being connected to a brake assembly (10) via a parking wire (27).

2. The intelligent driving by-wire chassis according to claim 1, characterized in that: In the brake-by-wire system, a pressure sensor (15) is provided on the body of the brake hydraulic oil pipe (17), the pressure sensor (15) is electrically connected to a brake pressure regulator (18), and the pressure sensor (15) is electrically connected to a vehicle controller.

3. The intelligent driving by-wire chassis according to claim 1, characterized in that: In the wire-controlled steering system, the power-assisting motor (4) is connected to the steering gear (8) via a worm gear.

4. The intelligent driving by-wire chassis according to claim 1, characterized in that: The chassis body (21) further comprises a wheel (23), a knuckle arm (20) is arranged inside the wheel (23), and the steering tie rod (9) is rotatably connected to the knuckle arm (20).

5. The intelligent driving by-wire chassis according to claim 1, characterized in that: In the brake-by-wire system, the brake assembly (10) comprises a brake pump (26) and a brake disc (25), and the brake disc (25) is fixedly connected to the wheel (23).

6. The intelligent driving by-wire chassis according to claim 1, characterized in that: In the electronic parking system, the electronic parking actuator (28) comprises a parking motor and a tension sensor, the electronic parking actuator (28) is fixedly connected to the parking motor, and the tension sensor is connected to the brake assembly (10) via a parking wire (27).

7. A control method for an intelligent driving by-wire chassis, characterized in that: The invention comprises a control method of a wire-controlled steering system and a control method of a wire-controlled braking system, wherein the control method of the wire-controlled steering system comprises the following steps: S1: The vehicle collects the current required steering angle and transmits the steering angle signal to the steering electronic control unit; S2: After receiving the steering angle, the steering electronic control unit transmits data with the vehicle controller via the CAN bus, adjusts the speed of the power assist motor (4), and outputs it to the steering gear (8); After receiving the steering angle, the steering electronic control unit performs data transmission with the vehicle controller via the CAN bus, adjusts the speed of the motor in the steering power pump (9), and the steering power pump (9) inputs the hydraulic oil in the steering oil tank (2) into the steering gear (8) via the high-pressure oil pipe (7); S3: After receiving the rotation angle transmission from the power-assisted motor (4), the steering gear (8) drives the steering tie rod (9) through the gear rack to achieve steering; The steering tie rod (9) drives the knuckle arm (20) in the wheel (23) to achieve steering; The brake-by-wire system control method comprises the following steps: A1: When the vehicle needs to be braked, the vehicle controller sends a brake signal to the brake electronic control unit through the CAN bus, and the brake electronic control unit drives the plunger pump (19); A2: After the plunger pump (19) is running, it controls and adjusts the oil pressure in the brake hydraulic oil pipe (17), thereby driving the brake assembly (10) to brake the entire vehicle; A3: When the vehicle is braked, the pressure sensor (15) on the brake hydraulic oil pipe (17) feeds back the pressure of the tracking brake system to the brake electronic control unit; The brake-by-wire system control method further includes a parking control system control method, and the parking control system control method includes the following steps: B1: The vehicle controller sends a parking request to the parking electronic control unit; B2: After receiving the parking request, the electronic parking actuator (28) drives the motor in the electronic parking actuator (28) to operate, and controls the brake assembly (10) through the parking wire (27); B3: The parking electronic control unit detects the value of the tension sensor in real time through the electronic parking actuator (28). When the tension reaches the control target requirement, the control of the motor is stopped and the reduction mechanism is automatically locked.

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