A self-driving vehicle brake-by-wire control method and control system

Abstract

The application discloses a kind of unmanned vehicle brake-by-wire control method, comprising the following steps: step 1, acquisition brake control information, obtain electric push rod release brake position value and electric push rod maximum brake position value Initial position and record as d0 and d1;Step 2, the electric push rod position verification and calibration when whole vehicle brake release and maximum brake, record the electric push rod release brake position value calibrated as D0, the electric push rod maximum brake position value calibrated as D1;Step 3, obtain the current control signal of whole vehicle, obtain the electric push rod target value for adjusting whole vehicle brake;Step 4, the electric push rod target value obtained in step 3 is used to control whole vehicle controller for controlling whole vehicle brake, the present application can judge whether whole vehicle is in artificial brake state or in automatic brake state by detecting emergency stop switch signal and automatic driving mode switch signal, and different brake controls are executed in different brake states, and then brake control can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned vehicle braking control, in particular to an unmanned vehicle braking-by-wire control method and system. BACKGROUND

[0002] The vehicle braking system refers to a series of special devices that apply a certain force to the wheels to forcibly brake them to a certain extent.

[0003] The existing unmanned vehicle braking-by-wire system control method has the following problems:

[0004] 1. The existing braking-by-wire system realizes the braking function in automatic driving mode by pushing and pulling the brake pedal, which causes the intelligent driving control system to be unable to determine whether it is manual braking or automatic braking.

[0005] 2. The existing braking-by-wire system realizes the braking function in automatic driving mode by pushing and pulling the brake pedal, without detecting the brake valve pressure, so it cannot detect the braking state in a closed loop when the braking-by-wire device fails. SUMMARY

[0006] The present application aims to provide an unmanned vehicle braking-by-wire control method and system to solve the problems raised in the background.

[0007] To achieve the above purpose, the present application provides the following technical solutions:

[0008] An unmanned vehicle braking-by-wire control method, comprising the following steps:

[0009] Step 1: Collect braking control information, obtain the initial positions of the electric push rod release brake position value and the electric push rod maximum brake position value, and record them as d0 and d1.

[0010] Step 2: According to the braking control information obtained in step 1, verify and calibrate the electric push rod position when the vehicle is released and maximally braked, and record the calibrated electric push rod release brake position value as D0 and the calibrated electric push rod maximum brake position value as D1.

[0011] Step 3: Obtain the current control signal of the vehicle, process it according to the calibrated electric push rod position parameters in step 2 and the obtained current control signal, and obtain the electric push rod target value for adjusting the vehicle braking.

[0012] Step 4: The electric push rod target value obtained in step 3 is sent to the vehicle controller to control the vehicle braking.

[0013] As a further scheme of the present application: the brake control information includes an emergency stop switch signal, an artificial brake pedal switch signal, front and rear axle pressure sensor signals, an automatic driving mode signal, an automatic driving brake signal, an automatic driving brake instruction percentage, an electric push rod failure signal, an electric push rod motion feedback signal, an electric push rod actual position feedback, an electric push rod release brake position value, and an electric push rod maximum brake position value.

[0014] As a further scheme of the present application: the method for obtaining the electric push rod release brake position value D0 and the electric push rod maximum brake position value D1 in step 2 includes the following steps:

[0015] Step 2.1: determine whether the CAN communication between the electric push rod and the vehicle controller is successfully established, and if so, execute step 2.2;

[0016] Step 2.2: set the electric push rod motion instruction signal to True, set the oil pump motor speed to 600 rpm, make the hydraulic oil flow to the brake valve for brake assist, set the electric push rod target value to the electric push rod release brake position value d0, and if the electric push rod motion feedback signal is enabled, execute step 2.3;

[0017] Step 2.3: stop the electric push rod motion when it reaches the target value, and if the electric push rod motion feedback signal is not enabled, execute step 2.4;

[0018] Step 2.4: set the electric push rod motion instruction signal to False, set the oil pump motor speed to 0 rpm, stop the brake assist, and determine whether the absolute value of the difference between the electric push rod actual position feedback and the electric push rod release brake position value d0 is not greater than 2 mm, and if so, set the electric push rod release brake position value D0 to the current electric push rod actual position feedback value, and execute step 2.5, and if not, output a brake parameter setting failure signal and display it on the instrument display;

[0019] Step 2.5: set the electric push rod motion instruction signal to True, set the oil pump motor speed to 600 rpm, make the hydraulic oil flow to the brake valve for brake assist, set the electric push rod target value to the electric push rod maximum brake position value d1, and if the electric push rod motion feedback signal is enabled, execute step 2.6;

[0020] Step 2.6: stop the electric push rod motion when it reaches the target value, and if the electric push rod motion feedback signal is not enabled, execute step 2.7;

[0021] Step 2.7, the electric push rod motion instruction signal is False, the oil pump motor speed is set to 0 rpm, the brake assist is stopped, it is judged whether the absolute value of the difference between the electric push rod actual position feedback and the electric push rod maximum brake position value d1 is not greater than 2 mm, if yes, the electric push rod maximum brake position value D1 is equal to the current electric push rod actual position feedback value, if not, the brake parameter setting fault signal is output and displayed in the instrument display.

[0022] As a further scheme of the present application: in step 3, when the whole vehicle control signal is the emergency stop switch signal, the automatic driving brake signal and the automatic driving brake instruction percentage, the brake control in step 3 includes the following steps:

[0023] Step 3.1, the electric push rod motion instruction signal is True, the oil pump motor speed is set to 600 rpm, the hydraulic oil flows to the brake valve for brake assist, the electric push rod target value is equal to the calibrated electric push rod release brake position value D0, if the electric push rod motion feedback signal is enabled, step 3.2 is executed;

[0024] Step 3.2, the electric push rod motion stops at the target value, if the electric push rod motion feedback signal is not enabled, step 3.3 is executed;

[0025] Step 3.3, it is judged whether there is an emergency stop switch rising edge signal or an automatic driving mode signal, if there is an emergency stop switch rising edge signal, step 3.4 is executed, if there is an automatic driving mode signal, step 3.5 is executed;

[0026] Step 3.4, the emergency stop control is started;

[0027] Step 3.5, the automatic driving control is started.

[0028] As a further scheme of the present application: the emergency stop control includes the following steps:

[0029] Step 3.41, the electric push rod motion instruction signal is True, the oil pump motor speed is set to 600 rpm, the hydraulic oil flows to the brake valve for brake assist, the electric push rod target value is equal to the electric push rod maximum brake position value D1, if the electric push rod motion feedback signal is enabled, step 3.42 is executed;

[0030] Step 3.42, the electric push rod motion stops at the target value D1, if the electric push rod motion feedback signal is not enabled, step 3.43 is executed;

[0031] Step 3.43, the electric push rod motion instruction signal is False, the oil pump motor speed is set to 0 rpm, the brake assist is stopped, it is judged whether the absolute value of the difference between the electric push rod actual position feedback and the electric push rod maximum brake position value D1 is not greater than 2 mm, if yes, step 3.44 is executed, if not, a brake fault signal is output;

[0032] Step 3.44, it is judged whether the brake pressure conforms to the brake strength value through the front and rear axle pressure sensor signal, if yes, step 3.1 is executed after 2 s, if not, a brake fault signal is output.

[0033] As a further scheme of the application, the automatic driving control comprises the following steps:

[0034] Step 3.51, it is judged whether there is an automatic driving brake signal, if yes, step 3.52 is executed;

[0035] Step 3.52, the electric push rod motion instruction signal is True, the oil pump motor speed is set to 600 rpm, the hydraulic oil flows to the brake valve to perform brake assist, the electric push rod target value is equal to L, L = θ × (D1-D0) ÷ 100 + D0, if the electric push rod motion instruction signal is False, the electric push rod target value is equal to D0, it is judged in real time whether the brake pressure conforms to the brake strength value through the front and rear axle pressure sensor signal, if it is detected that it does not conform, a brake fault signal is output.

[0036] In the control process, if there is an emergency stop switch rising edge signal, step 3.41 is executed, if there is no automatic driving brake signal or there is a manual brake pedal switch signal, step 3.1 is executed.

[0037] As a further scheme of the application, the vehicle control unit sends the electric push rod motion instruction signal, the oil pump motor speed control signal according to the electric push rod target value in step 3, and establishes a CAN sending channel to send the electric push rod motion instruction signal, the electric push rod target value and the oil pump motor speed control signal to the bus in real time, and the electric push rod and the oil pump motor acquire the electric push rod motion instruction signal and the oil pump motor speed control signal through the CAN bus, and perform electric push rod and oil pump motor action control.

[0038] An unmanned vehicle brake-by-wire control system, comprising a brake system, the brake system comprising an oil pump, a brake valve and a wheel brake in sequence, the brake valve being connected with an electric push rod, the oil pump being connected with an oil pump motor, the oil pump motor being connected with an oil pump motor controller, the electric push rod and the oil pump motor controller being in communication with a vehicle control unit, and the vehicle control unit being connected with a signal acquisition part.

[0039] As a further scheme of the present application: the signal acquisition part comprises a rear axle pressure sensor, a front axle pressure sensor, a foot brake pedal switch and an emergency stop switch, the wheel brake comprises a front wheel brake group and a rear wheel brake group, the front axle pressure sensor is communicated with a brake pipeline of the front wheel brake group, and the rear axle pressure sensor is communicated with a brake pipeline of the rear wheel brake group.

[0040] As a further scheme of the present application: the whole vehicle controller is communicated with an electric push rod and an oil pump motor controller signal through a CAN bus, and the whole vehicle controller is connected with an instrument display through the CAN bus.

[0041] Compared with the prior art, the present application has the beneficial effects that:

[0042] 1. The present application can judge whether the whole vehicle is in a manual braking state or an automatic braking state by detecting an emergency stop switch signal and an automatic driving mode switch signal, and different braking controls are executed in different braking states, thereby improving the braking control.

[0043] 2. The present application adopts a man-machine co-driving brake-by-wire control mode, realizes closed-loop detection on the braking state when the brake-by-wire device fails, thereby avoiding a series of safety problems caused by the whole vehicle running with braking due to braking failure or no feedback due to braking failure. BRIEF DESCRIPTION OF DRAWINGS

[0044] Fig. 1 It is a line control system for the service brake of an unmanned vehicle.

[0045] Fig. 2 It is a control flow chart of the line control system for the service brake of an unmanned vehicle. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0047] Please refer to Figs. 1-2The embodiment of the application discloses an unmanned vehicle brake-by-wire control system, which comprises a brake system, wherein the brake system comprises an oil pump, a brake valve and a wheel brake in sequence, the brake valve is connected with an electric push rod, the oil pump is connected with an oil pump motor, the oil pump motor is connected with an oil pump motor controller, the electric push rod and the oil pump motor controller are in communication with a vehicle controller, the vehicle controller is connected with a signal acquisition part, the signal acquisition part comprises a rear axle pressure sensor, a front axle pressure sensor, a foot brake pedal switch and an emergency stop switch, the wheel brake comprises a front wheel brake group and a rear wheel brake group, the front axle pressure sensor is in communication with a brake pipeline of the front wheel brake group, the rear axle pressure sensor is in communication with a brake pipeline of the rear wheel brake group, the vehicle controller is in signal communication with the electric push rod and the oil pump motor controller through a CAN bus, the vehicle controller is connected with an instrument display through the CAN bus, in addition, the vehicle controller is also connected with a lithium battery pack, the lithium battery pack is in communication with the front of the pump motor control cabinet, and then power is provided for the pump motor.

[0048] An unmanned vehicle brake-by-wire control method comprises the following steps.

[0049] Step 1, collecting brake control information, obtaining the initial position of the electric push rod release brake position value and the electric push rod maximum brake position value and recording them as d0 and d1, wherein the brake control information comprises an emergency stop switch signal, a manual brake pedal switch signal, a front and rear axle pressure sensor signal, an automatic driving mode signal, an automatic driving brake signal, an automatic driving brake instruction percentage, an electric push rod fault signal, an electric push rod motion feedback signal, an electric push rod actual position feedback, an electric push rod release brake position value and an electric push rod maximum brake position value.

[0050] Step 2, checking and calibrating the electric push rod position when the vehicle brake is released and maximally braked according to the brake control information obtained in step 1, and recording the calibrated electric push rod release brake position value as D0 and the calibrated electric push rod maximum brake position value as D1; the obtaining method of the electric push rod release brake position value D0 and the electric push rod maximum brake position value D1 in step 2 comprises the following steps.

[0051] Step 2.1, judging whether the CAN communication between the electric push rod and the vehicle controller is successfully established, and if yes, executing step 2.2;

[0052] Step 2.2, setting the electric push rod motion instruction signal True, setting the oil pump motor speed as 600 rpm, making the hydraulic oil flow to the brake valve to provide brake assistance, setting the electric push rod target value as the electric push rod release brake position value d0, and if the electric push rod motion feedback signal is enabled, executing step 2.3;

[0053] Step 2.3, stopping the movement of the electric push rod to the target value, and if the electric push rod motion feedback signal is not enabled, executing step 2.4.

[0054] Step 2.4, the electric push rod motion instruction signal is False, the oil pump motor speed is set to 0 rpm, the brake assist is stopped, it is judged whether the absolute value of the difference between the electric push rod actual position feedback and the electric push rod brake release position value d0 is not greater than 2 mm, if yes, the electric push rod brake release position value D0 is equal to the current electric push rod actual position feedback value, and step 2.5 is executed, if not, the brake parameter setting fault signal is output and displayed in the instrument display;

[0055] Step 2.5, the electric push rod motion instruction signal is True, the oil pump motor speed is set to 600 rpm, the hydraulic oil flows to the brake valve for brake assist, the electric push rod target value is equal to the electric push rod maximum brake position value d1, if the electric push rod motion feedback signal is enabled, step 2.6 is executed;

[0056] Step 2.6, the electric push rod moves to the target value and stops moving, if the electric push rod motion feedback signal is not enabled, step 2.7 is executed;

[0057] Step 2.7, the electric push rod motion instruction signal is False, the oil pump motor speed is set to 0 rpm, the brake assist is stopped, it is judged whether the absolute value of the difference between the electric push rod actual position feedback and the electric push rod maximum brake position value d1 is not greater than 2 mm, if yes, the electric push rod maximum brake position value D1 is equal to the current electric push rod actual position feedback value, if not, the brake parameter setting fault signal is output and displayed in the instrument display.

[0058] Step 3, the current control signal of the whole vehicle is obtained, the electric push rod target value for adjusting the brake of the whole vehicle is obtained by processing the electric push rod position parameters calibrated in step 2 and the current control signal obtained, when the whole vehicle control signal is the emergency stop switch signal, the automatic driving brake signal and the automatic driving brake instruction percentage in step 3, the brake control in step 3 includes the following steps:

[0059] Step 3.1, the electric push rod motion instruction signal is True, the oil pump motor speed is set to 600 rpm, the hydraulic oil flows to the brake valve for brake assist, the electric push rod target value is equal to the calibrated electric push rod brake release position value D0, if the electric push rod motion feedback signal is enabled, step 3.2 is executed;

[0060] Step 3.2, the electric push rod moves to the target value and stops moving, if the electric push rod motion feedback signal is not enabled, step 3.3 is executed;

[0061] Step 3.3, it is judged whether there is an emergency stop switch rising edge signal or an automatic driving mode signal, if there is an emergency stop switch rising edge signal, step 3.4 is executed, if there is an automatic driving mode signal, step 3.5 is executed;

[0062] Step 3.4, start emergency stop control, which includes the following steps:

[0063] Step 3.41, make the electric push rod movement instruction signal True, set the oil pump motor speed to 600 rpm, make the hydraulic oil flow to the brake valve for brake assist, the electric push rod target value is equal to the maximum brake position value D1 of the electric push rod, if the electric push rod movement feedback signal is enabled, execute step 3.42;

[0064] Step 3.42, stop the electric push rod movement to the target value D1, if the electric push rod movement feedback signal is not enabled, execute step 3.43;

[0065] Step 3.43, make the electric push rod movement instruction signal False, set the oil pump motor speed to 0 rpm, stop the brake assist, judge whether the absolute value of the difference between the actual position feedback of the electric push rod and the maximum brake position value D1 is not greater than 2 mm, if yes, execute step 3.44, if not, output a brake fault signal;

[0066] Step 3.44, judge whether the brake pressure conforms to the brake intensity value through the front and rear axle pressure sensor signals, if yes, execute step 3.1 after 2s, if not, output a brake fault signal

[0067] Step 3.5, start automatic driving control, which includes the following steps:

[0068] Step 3.51, judge whether there is an automatic driving brake signal, if yes, execute step 3.52;

[0069] Step 3.52, make the electric push rod movement instruction signal True, set the oil pump motor speed to 600 rpm, make the hydraulic oil flow to the brake valve for brake assist, the electric push rod target value is equal to L, L = θ × (D1-D0) ÷ 100 + D0, if the electric push rod movement instruction signal is False, the electric push rod target value is equal to D0, judge whether the brake pressure conforms to the brake intensity value in real time through the front and rear axle pressure sensor signals, if not detected, output a brake fault signal;

[0070] In the control process, if there is an emergency stop switch rising edge signal, execute step 3.41; if there is no automatic driving brake signal or manual brake pedal switch signal, execute step 3.1.

[0071] Step 4, the electric push rod target value obtained in step 3 is sent to the vehicle controller for controlling the vehicle braking, that is, the vehicle controller sends the electric push rod movement instruction signal, the oil pump motor speed control signal according to the electric push rod target value in step 3, and establishes a CAN sending channel to send the electric push rod movement instruction signal, the electric push rod target value and the oil pump motor speed control signal to the bus in real time, and the electric push rod and the oil pump motor obtain the electric push rod movement instruction signal and the oil pump motor speed control signal through the CAN bus, and perform electric push rod and oil pump motor action control.

[0072] It will be obvious to a person skilled in the art that, without departing from the spirit or essential characteristics of the application, the present application can be implemented in other specific forms. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the specification as a whole, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims should not be construed as limiting the claims concerned.

[0073] Furthermore, it should be understood that although the present specification describes only a few embodiments, each of which contains only one independent technical solution, the specification is merely for clarity and a person skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be combined appropriately to form other embodiments that can be understood by a person skilled in the art.

Claims

1. A brake-by-wire control method for an unmanned vehicle, characterized in that: The following steps are involved: Step 1: Collect brake control information, obtain the initial position of the electric push rod's brake release position value and the electric push rod's maximum brake position value and record them as d0 and d1; Step 2: Verify and calibrate the electric push rod position when the vehicle brake is released and at maximum braking according to the brake control information obtained in step 1, and record the calibrated electric push rod release brake position value D0 and the calibrated electric push rod maximum brake position value D1; The method for obtaining the release brake position value D0 of the electric push rod and the maximum brake position value D1 of the electric push rod in step 2 includes the following steps: Step 2.1: Determine whether the CAN communication between the electric linear actuator and the vehicle controller is established successfully. If so, proceed to step 2.

2. Step 2.2: Set the electric push rod motion command signal to True, set the oil pump motor speed to 600 rpm, and allow the hydraulic oil to flow to the brake valve for brake assist. The electric push rod target value is equal to the electric push rod release brake position value d0. If the electric push rod motion feedback signal is enabled, proceed to step 2.

3. Step 2.3: The electric push rod moves to the target value and stops moving. If there is no feedback signal from the electric push rod movement, execute step 2.

4. Step 2.4: Set the electric push rod motion command signal to False, set the oil pump motor speed to 0 rpm, stop the brake assist, and determine whether the absolute value of the difference between the actual position feedback of the electric push rod and the electric push rod brake release position value d0 is no more than 2 mm. If so, the electric push rod brake release position value D0 is equal to the current electric push rod actual position feedback value, and execute step 2.

5. If not, output a brake parameter setting fault signal and display it on the instrument display; Step 2.5: Set the electric push rod motion command signal to True, set the oil pump motor speed to 600 rpm, and allow the hydraulic oil to flow to the brake valve for brake assist. The electric push rod target value is equal to the electric push rod maximum braking position value d1. If the electric push rod motion feedback signal is enabled, proceed to step 2.

6. Step 2.6: The electric push rod moves to the target value and stops moving. If there is no feedback signal from the electric push rod movement, then go to step 2.

7. Step 2.7: Set the electric push rod motion command signal to False, set the oil pump motor speed to 0 rpm, stop the brake assist, and determine whether the absolute value of the difference between the actual position feedback of the electric push rod and the maximum braking position value d1 of the electric push rod is no more than 2 mm. If so, the maximum braking position value D1 of the electric push rod is equal to the current actual position feedback value of the electric push rod. If not, output a brake parameter setting fault signal and display it on the instrument display; Step 3: Obtain the current control signal of the vehicle, process it according to the electric push rod position parameters calibrated in step 2 and the current control signal obtained, and obtain the electric push rod target value for adjusting the vehicle braking; In step 3, when the vehicle control signal is an emergency stop switch signal, an automatic driving brake signal, and an automatic driving brake instruction percentage, the braking control in step 3 includes the following steps: Step 3.1: Set the electric push rod motion command signal to True, set the oil pump motor speed to 600 rpm, and allow the hydraulic oil to flow to the brake valve for brake assist. The electric push rod target value is equal to the calibrated electric push rod release brake position value D0. If the electric push rod motion feedback signal is enabled, proceed to step 3.

2. Step 3.2: The electric push rod moves to the target value and stops moving. If there is no feedback signal from the electric push rod movement, execute step 3.

3. Step 3.3: Wait to determine whether there is an emergency stop switch rising edge signal or an automatic driving mode signal. If there is an emergency stop switch rising edge signal, execute step 3.4; if there is an automatic driving mode signal, execute step 3.5; Step 3.4, turn on the emergency stop control; The emergency stop control comprises the following steps: Step 3.41: Set the electric push rod motion command signal to True, set the oil pump motor speed to 600 rpm, and allow hydraulic oil to flow to the brake valve for brake assist. The electric push rod target value is equal to the electric push rod maximum brake position value D1. If the electric push rod motion feedback signal is enabled, proceed to step 3.

42. Step 3.42: The electric push rod moves to the target value D1 and stops moving. If there is no feedback signal from the electric push rod movement, execute step 3.

43. Step 3.43: Set the electric push rod motion command signal to False, set the oil pump motor speed to 0 rpm, stop the brake assist, and determine whether the absolute value of the difference between the actual position feedback of the electric push rod and the maximum braking position value D1 of the electric push rod is less than 2 mm. If so, execute step 3.44; if not, output a brake fault signal. Step 3.44: Use the front and rear axle pressure sensor signals to determine whether the brake pressure meets the brake intensity value. If so, execute step 3.1 after 2 seconds. If not, output a brake fault signal. Step 3.5: Enable automatic driving control. The automatic driving control comprises the following steps: Step 3.51: Determine whether there is an automatic driving braking signal. If so, proceed to step 3.

52. Step 3.52: Set the electric push rod motion command signal to True, set the oil pump motor speed to 600 rpm, and allow the hydraulic oil to flow to the brake valve for brake assist. The electric push rod target value is equal to L. , θ ÷100 is the percentage of the actual stroke of the electric push rod to the total stroke. If the electric push rod movement command signal is False, the electric push rod target value is equal to D0. The front and rear axle pressure sensor signals are used to determine in real time whether the brake pressure meets the brake intensity value. If it is detected that it does not meet the requirements, a brake fault signal is output. During the control process, if there is a rising edge signal of the emergency stop switch, execute step 3.41; if there is no automatic driving brake signal or there is a manual brake pedal switch signal, execute step 3.1; Step 4: The electric push rod target value obtained in step 3 is sent to the vehicle controller for controlling the vehicle braking.

2. The brake-by-wire control method for an unmanned vehicle according to claim 1, characterized in that: The braking control information includes emergency stop switch signal, manual brake pedal switch signal, front and rear axle pressure sensor signals, automatic driving mode signal, automatic driving braking signal, automatic driving braking instruction percentage, electric push rod fault signal, electric push rod motion feedback signal, electric push rod actual position feedback, electric push rod release brake position value, and electric push rod maximum brake position value.

3. A brake-by-wire control system for an unmanned vehicle using the control method according to any one of claims 1 to 2, comprising a brake system, characterized in that: The braking system includes an oil pump, a brake valve, and a wheel-side brake connected in sequence. The brake valve is connected to an electric push rod, the oil pump is connected to an oil pump motor, and the oil pump motor is connected to an oil pump motor controller. The electric push rod and the oil pump motor controller are both connected to the vehicle controller, and the vehicle controller is connected to a signal acquisition unit.

4. The brake-by-wire control system for an unmanned vehicle according to claim 3, characterized in that: The signal acquisition unit includes a rear axle pressure sensor, a front axle pressure sensor, a foot brake pedal switch, and an emergency stop switch. The wheel-side brakes include a front wheel brake group and a rear wheel brake group. The front axle pressure sensor is connected to the brake pipe of the front wheel brake group, and the rear axle pressure sensor is connected to the brake pipe of the rear wheel brake group.

5. The brake-by-wire control system for an unmanned vehicle according to claim 3, characterized in that: The vehicle controller is in signal communication with the electric push rod and the oil pump motor controller via the CAN bus, and the vehicle controller is connected to an instrument display via the CAN bus.

6. The brake-by-wire control system for an unmanned vehicle according to claim 3, characterized in that: The vehicle controller sends an electric push rod motion command signal and an oil pump motor speed control signal according to the electric push rod target value in step 3, and establishes a CAN sending channel to send the electric push rod motion command signal, the electric push rod target value and the oil pump motor speed control signal to the bus in real time. The electric push rod and the oil pump motor obtain the electric push rod motion command signal and the oil pump motor speed control signal through the CAN bus, and control the actions of the electric push rod and the oil pump motor.

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