An ADAS integrated brake-by-wire system, control method and automobile

Abstract

The application provides an ADAS integrated brake-by-wire system, a control method and a vehicle. The system comprises: a vehicle control unit configured to send a control command according to a brake signal; a first brake system configured to brake all wheels of the vehicle according to the control command; and a second brake system configured to brake all wheels of the vehicle according to the control command if the first brake system fails. When the ADAS function is in action, the application can respond to deceleration in time, better ensure driving safety, and after the brake system fails, the vehicle still has an auxiliary braking function, which can slow down the vehicle, protect the safety of drivers and passengers and pedestrians.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle automatic driving technology, and particularly relates to an ADAS integrated brake-by-wire system, a control method and a vehicle. BACKGROUND

[0002] The brake-by-wire system refers to a decoupled brake system, and a pedal only serves as a signal input function, which is divided into a hydraulic brake-by-wire system (EHB) and a mechanical brake-by-wire system (EMB).

[0003] The EHB electronic hydraulic brake system provides braking force through a high-pressure accumulator, and the stability is relatively high, but the disadvantage is that the hydraulic pump takes a long time to supplement the hydraulic pressure for the accumulator, and in the continuous braking working condition, the problem of insufficient pressure supply of the accumulator occurs, and the system response has a relatively large hysteresis compared with the EHB. Moreover, the EHB still needs the pipeline of the traditional hydraulic brake system, only the electronic mechanical structure is replaced by the vacuum booster, the braking action of the automobile driver is converted into an electronic signal by the sensor on the pedal, and the electronic control unit receives the signal and commands the hydraulic actuator to complete the braking action.

[0004] The EMB mechanical brake-by-wire system has a higher degree of electrification, can be better integrated with the ABS, EBD, ESP, automatic driving, and optimized energy recovery system functions, the EMB does not need a hydraulic brake pipeline, increases an electronic mechanical transmission structure to the traditional caliper, realizes direct driving of the caliper side motor by the electric signal, clamps the brake disc, and thus generates braking force to slow down the vehicle. However, the disadvantage is that there is a risk of short circuit, open circuit, and power failure in the circuit, the braking system will generate high temperature and have a failure risk when working for a long time or at high intensity, lacks necessary safety failure protection strategies, and is difficult to meet the requirements of passenger car regulations.

[0005] The ACC (Adaptive cruise control) and the AEB (Autonomous Emergency Braking) are respectively the adaptive cruise control sub-function and the automatic emergency braking sub-function in the advanced driver assistance system (ADAS), and the hydraulic brake system currently mounted on the market vehicle has a slow response when decelerating, which affects the driving experience and driving safety. In the urban traffic congestion working condition, the EHB (Electric Hydraulic Brake) accumulator will have a problem of insufficient pressure supply when frequently requesting deceleration braking.

[0006] With the development and popularization of automatic driving and pure electric vehicles, higher braking performance requirements are put forward for the brake system, and the traditional non-decoupled hydraulic brake system cannot meet the requirements of automatic driving and brake energy recovery.

[0007] Therefore, it is necessary to propose a new technical solution to solve the above problems. SUMMARY

[0008] One of the purposes of the present application is to provide a control method based on ADAS integrated brake-by-wire system, which can respond to deceleration in time when ADAS function is in action, better ensure the safety of driving and riding, and after the brake system fails, the vehicle still has auxiliary braking function, which can slow down the vehicle and protect the safety of drivers, passengers and pedestrians.

[0009] According to one aspect of the present application, the present application provides a kind of based on ADAS integrated brake-by-wire system, comprising:

[0010] Automobile control unit, it is configured to send control command according to brake signal;

[0011] First brake system, it is configured to brake all wheels of automobile according to control command;

[0012] Second brake system, it is configured to brake all wheels of automobile according to control command if the first brake system fails.

[0013] Further, the first brake system and the second brake system are independently arranged with each other;The first brake system is electronic mechanical brake-by-wire system;

[0014] The second brake system is electro-hydraulic brake-by-wire system.

[0015] Further, the automobile control unit is further configured to determine the braking force of the first brake system according to the brake signal;

[0016] The automobile control unit is further configured to judge whether the first brake system is normal, if the first brake system is normal, then control the first brake system brake all wheels of automobile according to braking force,

[0017] Wherein, the brake signal includes driver pedal stroke signal, advanced auxiliary driving system request deceleration signal and vehicle parameter signal, the advanced auxiliary driving system request deceleration signal includes adaptive cruise control system request deceleration signal and automatic emergency braking system request deceleration signal.

[0018] Further, while the first brake system brakes all wheels of automobile, the second brake system stores the pressure required for the deceleration generated when the first brake system brakes, and obtains storage pressure.

[0019] Further, if the automobile control unit determines that the first braking system is invalid, the automobile control unit controls the second braking system to brake all wheels of the automobile according to the braking force.

[0020] Further, the automobile control unit is further configured to determine the braking force of the first braking system according to the braking signal, specifically, when the braking signal is a driver pedal stroke signal, the automobile control unit determines the braking force of the first braking system according to the pedal stroke and the wheel speed.

[0021] Further, the automobile control unit is further configured to determine the braking force of the first braking system according to the braking signal, specifically, when the braking signal is an adaptive cruise control system requested deceleration signal, the automobile control unit determines whether the requested deceleration is less than a set deceleration and whether the interval time between adjacent two requests is less than a set time according to the requested deceleration signal.

[0022] If the requested deceleration is less than the set deceleration and the interval time between adjacent two requests is less than the set time, the automobile control unit determines the braking force of the first braking system.

[0023] Further, if the requested deceleration is greater than or equal to the set deceleration and / or the interval time between adjacent two requests is greater than or equal to the set time, the automobile control unit determines the braking force of the first braking system.

[0024] The automobile control unit determines whether the first braking system is normal, if the first braking system is normal, the automobile control unit controls the first braking system to brake all wheels of the automobile according to the braking force, and when the second braking system completes energy storage, the automobile control unit controls the second braking system to brake all wheels of the automobile according to the energy storage pressure.

[0025] Further, the automobile control unit is further configured to determine the braking force of the first braking system according to the braking signal, specifically, when the braking signal is an automatic emergency braking system requested deceleration signal, the automobile control unit determines the braking force of the first braking system according to the deceleration.

[0026] The automobile control unit determines whether the first braking system is normal, if the first braking system is normal, the automobile control unit controls the first braking system to brake all wheels of the automobile according to the braking force, and when the second braking system completes energy storage, the automobile control unit controls the second braking system to brake all wheels of the automobile according to the energy storage pressure.

[0027] According to another aspect of the present application, the present application also provides an ADAS integrated brake-by-wire control method, the method is used for braking by the system, and the method comprises the following steps.

[0028] acquiring a braking signal of the vehicle;

[0029] controlling the first braking system to brake all wheels of the vehicle according to the braking signal;

[0030] controlling the second braking system to brake all wheels of the vehicle if the first braking system fails.

[0031] According to still another aspect of the present application, the present application further provides a vehicle comprising the ADAS integrated brake-by-wire system.

[0032] Compared with the prior art, the ADAS integrated brake-by-wire system has the following advantages:

[0033] (1) The control system of the present application integrates EHB and EMB, and all wheels of the vehicle adopt the double-brake system integrating EHB and EMB, which takes advantages of both and overcomes the shortcomings of each other.

[0034] (2) In the present application, double-brake systems are arranged on all wheels. Compared with the prior art (for example, front axle EMB + rear axle EHB, or only one of the front axle or the rear axle is a double-brake system), in the present application, all wheels have two sets of brake systems, both of which can calculate braking characteristics according to vehicle parameters, and both of which can work independently, and are redundant and backup to each other. Even if one set of brake system fails, there is still a complete brake system for the system to use, so that complete braking performance can be provided and higher safety can be ensured.

[0035] (3) The EHB and EMB of the present application are independently arranged and controlled, that is, two sets of brake systems act on different brake elements. For example, drum and disc combined brakes are used at the wheel end, the EMB system uses a disc brake system (i.e. a motor driven caliper, and the caliper acts on the brake disc) to brake, and the EHB uses a drum brake system (i.e. a hydraulic system acts on the brake shoe, and the brake shoe acts on the brake drum). Compared with the prior art which adopts the same brake element that can be driven by electronic machinery and hydraulic pressure, in the present application, the EHB and EMB are independently arranged and controlled, so that even if one set has a mechanical failure, the operation of the other set of brake system will not be affected, and the system safety is improved. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor. Among them:

[0037] Figure 1 This is a block diagram of an ADAS-integrated brake-by-wire system in one embodiment of the present invention;

[0038] Figure 2 This is a block diagram of an ADAS-integrated brake-by-wire system in another embodiment of the present invention;

[0039] Figure 3 This is a block diagram of an ADAS-based integrated brake-by-wire system in another embodiment of the present invention.

Detailed Implementation Methods

[0040] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] The term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the invention. The phrase "in one embodiment" appearing in different places throughout this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that excludes other embodiments. Unless otherwise specified, the terms coupling, connection, linking, and interlocking, indicating electrical connection, all refer to direct or indirect connection. For example, coupling A to B includes both a direct electrical connection between A and B and a connection between A and B via electrical components or circuits.

[0042] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0043] Please refer to Figure 1 As shown, it is a block diagram of an ADAS-based integrated brake-by-wire system in one embodiment of the present invention. Figure 1 As shown, the ADAS-based integrated brake-by-wire system of the present invention includes a vehicle control unit, a first braking system, and a second braking system. The vehicle control unit is configured to receive braking signals and issue control commands based on the braking signals; the first braking system is configured to brake all wheels of the vehicle according to the control commands; and the second braking system is configured to brake all wheels of the vehicle according to the control commands if the first braking system fails.

[0044] Specifically, the brake force of the first brake system is a clamping force or pressure applied to the brake disc of the first brake system. The first brake system is an electronic mechanical brake system (EMB), and the second brake system is an electro-hydraulic brake system (EHB). The EHB and the EMB of the present application are independently arranged and controlled, that is, the two sets of brake systems act on different brake elements. For example, the drum and disc combined brake is used at the wheel end of the automobile, the EMB system uses a disc brake system, that is, the motor drives the caliper, and the caliper acts on the brake disc to brake. Please refer to the caliper of the EMB shown in Figure 1 , Figure 1 acts on the left front, right front, left rear and right rear brake discs of the automobile, respectively. The EHB uses a drum brake system, that is, the hydraulic system acts on the brake shoe, and the brake shoe acts on the brake drum. As shown in Figure 1 , the brake drum of the EHB is installed on the left front, right front, left rear and right rear wheels of the automobile.

[0045] Specifically, the brake signal includes a driver pedal stroke signal, an advanced auxiliary driving system requested deceleration signal and a vehicle parameter signal. The advanced auxiliary driving system requested deceleration signal (ADAS requested deceleration signal) includes an adaptive cruise control system requested deceleration signal (ACC deceleration signal) and an automatic emergency braking system requested deceleration signal (AEB deceleration signal).

[0046] Please continue to refer to Figure 1 , the control process of the dual brake system of the present application will be described below in conjunction with the accompanying Figure 1 . When the brake signal is the driver pedal stroke signal, under the condition that the vehicle parameter signal is normal, the ECU control unit determines the brake force of the EMB according to the pedal stroke and the wheel speed, wherein the brake force is the clamping force or pressure to be applied to the brake disc of the EMB; the ECU control unit judges whether the EMB is normal, if the EMB is normal and available, the caliper of the EMB acts on the left front, right front, left rear and right rear brake discs of the automobile, respectively, and the automobile is braked and decelerated. Further, when the EMB brakes and decelerates all the wheels of the automobile, the EHB accumulator works to store the pressure required for the current generated deceleration. When the EMB brake system fails, the electromagnetic valve brake is opened to enter the wheel cylinder oil passage, enters the brake wheel cylinder through the hydraulic pipeline and pushes the brake shoe in the drum brake to move, contacts the rotating structure to generate a braking force, meets the vehicle braking requirement and realizes vehicle deceleration. In this embodiment, under the premise that the EMB is normal and available, the deceleration is executed and implemented by the EMB, which can quickly and accurately respond to the ADAS requested deceleration. Even in the frequent start-stop working condition, the EMB can continuously and effectively output the clamping force to ensure braking.

[0047] Further, if the EMB is normal, the EHB accumulator stores the pressure required for the current deceleration of the first brake system EMB, and then when the EMB brake system fails, the EHB brakes all the wheels of the vehicle according to the current stored pressure, and through the control of the brake drums installed on the front left, front right, rear left and rear right wheels of the vehicle to achieve vehicle deceleration.

[0048] In other embodiments, during the driving process of the vehicle, if the EMB fails to be available when it is first braked, the ECU control unit sends a control command to control the EHB to work, and the EHB brakes the vehicle according to the clamping force or pressure determined by the ECU control unit to be applied to the EMB brake disc, and through the control of the brake drums installed on the front left, front right, rear left and rear right wheels of the vehicle to achieve vehicle deceleration.

[0049] In other embodiments, during the driving process of the vehicle, in any case, if it is detected that either of the EMB or EHB systems fails, the other party immediately takes over the action it is performing.

[0050] Figure 2 In another embodiment of the present application, the ADAS integrated brake-by-wire system block diagram is based on. The following describes the control process of the dual brake system of the present application. Figure 1 And Figure 2 The control process of the dual brake system of the present application is described. When the brake signal is the ACC request deceleration signal of the advanced auxiliary driving system, under the condition that the vehicle parameter signal is normal, the ECU control unit determines whether the requested deceleration is less than the set deceleration and the interval time between adjacent two requests is less than the set time according to the ACC request deceleration signal. If the requested deceleration is less than the set deceleration and the interval time between adjacent two requests is less than the set time, the ECU control unit determines the braking force of the EMB according to the judgment result, wherein the first braking force of the EMB is the clamping force or pressure to be applied to the brake disc of the EMB; then the ECU control unit determines whether the EMB is normal, if the EMB is normal and available, the ECU control unit controls the calipers of the first brake system EMB to act on the brake discs of the front left, front right, rear left and rear right of the vehicle respectively. In this embodiment, under the premise that the EMB is normal and available, the deceleration is implemented by the EMB, which can quickly and accurately respond to the ADAS request deceleration, even in the frequent start-stop working condition, the EMB can continuously and effectively output the clamping force to ensure braking (such as Figure 1Further, when the EMB brakes all wheels of the vehicle to decelerate, the EHB accumulator works to store the pressure required for the deceleration generated by the current braking of the first braking system EMB. Further, if the requested deceleration is greater than or equal to the set deceleration, and / or the interval time between two adjacent requests is greater than or equal to the set time, the ECU control unit determines whether the EMB is normal, and if the EMB is normal, the ECU control unit controls the EMB to brake all wheels of the vehicle according to the braking force, and the EHB accumulator works to store the pressure required for the deceleration generated by the current braking of the EMB. When the EHB completes the energy storage, the EHB brakes all wheels of the vehicle according to the stored energy pressure, and the vehicle is decelerated by controlling the brake drums installed on the front left, front right, rear left and rear right wheels of the vehicle.

[0051] Further, if the EMB works normally and the EHB accumulator works to store the pressure required for the deceleration generated by the current braking of the first braking system EMB, when the EMB braking system fails thereafter, the EHB brakes all wheels of the vehicle according to the current stored pressure, and the vehicle is decelerated by controlling the brake drums installed on the front left, front right, rear left and rear right wheels of the vehicle.

[0052] In other embodiments, if the EMB fails to be used when it is first braked during the driving of the vehicle, the ECU control unit sends a control command to control the EHB to work, and the EHB decelerates the vehicle by controlling the brake drums installed on the front left, front right, rear left and rear right wheels of the vehicle according to the clamping force or pressure determined by the ECU control unit to be applied to the EMB brake disc.

[0053] In other embodiments, during the driving of the vehicle, if it is detected that either of the EMB or EHB systems fails, the other system immediately takes over the action it is performing.

[0054] Figure 3 In still another embodiment of the present application, the ADAS integrated brake-by-wire system block diagram is as follows. Figure 1 and Figure 3As shown, when the brake signal is an AEB request deceleration signal of the advanced auxiliary driving system, under the condition that the whole vehicle parameter signal is normal, the ECU control unit determines the brake force of the EMB according to the deceleration, wherein the brake force is the clamping force or pressure to be applied on the brake disc of the EMB; then the ECU control unit judges whether the first brake system EMB is normal, if the first brake system EMB is normal and available, the ECU control unit controls the calipers of the first brake system EMB to act on the left front, right front, left rear and right rear brake discs of the vehicle respectively to brake all wheels of the vehicle. Further, when the EMB brakes all wheels of the vehicle to decelerate, the EHB accumulator works to store the pressure required by the deceleration generated by the first brake system EMB at the moment. When the second brake system EHB completes energy storage, the second brake system EHB is controlled to start braking according to the stored energy pressure, at this time the braking of the EMB ends, and the EHB brakes all wheels of the vehicle through the brake drums installed on the left front, right front, left rear and right rear wheels of the vehicle.

[0055] Further, if the EMB works normally and the EHB accumulator stores the pressure required by the deceleration generated by the first brake system EMB at the moment, when the EMB brake system fails, the EHB brakes all wheels of the vehicle according to the current stored pressure, and the vehicle is decelerated by controlling the brake drums installed on the left front, right front, left rear and right rear wheels of the vehicle.

[0056] In other embodiments, if the EMB fails when the vehicle is running and the first brake system EMB is not available, the ECU control unit sends a control command to control the EHB to work, and the EHB decelerates the vehicle by controlling the brake drums installed on the left front, right front, left rear and right rear wheels of the vehicle according to the clamping force or pressure to be applied on the brake disc of the EMB determined by the ECU control unit.

[0057] In other embodiments, during the running of the vehicle, if it is detected that any of the EMB or EHB systems fails, the other system immediately takes over the action it is performing.

[0058] In this embodiment, the ECU control unit first controls the EMB to brake and decelerate (for example, the EMB brakes the left front, right front, left rear and right rear wheels of the vehicle to decelerate the vehicle) Figure 3As shown in FIG. 1, the EMB system is directly driven by the motor, and the response time of the motor is shorter than the hydraulic system. Therefore, the EMB system is used to brake first to quickly eliminate the working gap of the system, and the energy storage time of the EHB accumulator is also eliminated, so as to realize the fast response of the system. In addition, considering that the hydraulic system cannot be in the energy storage state all the time, if the system is in the energy storage state all the time, the durability and reliability of the parts will be greatly challenged, and the energy storage state all the time will reduce the gap between the braking system and the driving system, and increase the rolling resistance of the wheels, which is not conducive to driving. Therefore, the EHB system starts to store energy when the EMB system is decelerating, and the EHB system completes the deceleration braking after the energy storage is completed. Figure 3 As shown in FIG. 1, the EMB system is directly driven by the motor, and the response time of the motor is shorter than the hydraulic system. Therefore, the EMB system is used to brake first to quickly eliminate the working gap of the system, and the energy storage time of the EHB accumulator is also eliminated, so as to realize the fast response of the system. In addition, considering that the hydraulic system cannot be in the energy storage state all the time, if the system is in the energy storage state all the time, the durability and reliability of the parts will be greatly challenged, and the energy storage state all the time will reduce the gap between the braking system and the driving system, and increase the rolling resistance of the wheels, which is not conducive to driving. Therefore, the EHB system starts to store energy when the EMB system is decelerating, and the EHB system completes the deceleration braking after the energy storage is completed.

[0059] It should be noted that the deceleration of the present application is set to 0.3g, and the interval between two adjacent requests is 2s. In other embodiments, the deceleration and request time interval can be set according to the actual situation of the vehicle.

[0060] In another embodiment, compared with the same braking element in the prior art, which can be driven by both electronic machinery and hydraulic pressure, the EHB and the EMB in the present application are independently arranged and controlled. Even if one set fails due to mechanical failure, it will not interfere with the operation of the other brake system, thereby improving the safety of the system.

[0061] In another embodiment, the present application also provides an ADAS integrated brake-by-wire control method, which brakes through the above-mentioned system. The method comprises:

[0062] obtaining a brake signal of the vehicle;

[0063] controlling the first braking system to brake all wheels of the vehicle according to the brake signal;

[0064] if the first braking system fails, controlling the second braking system to brake all wheels of the vehicle.

[0065] In another embodiment, the present invention also provides a vehicle including an ADAS-based integrated brake-by-wire system.

[0066] In summary, the control method of the ADAS integrated brake-by-wire system of the present invention has the following advantages:

[0067] (1) The system and control method of the present invention integrate EHB and EMB, and all wheels of the vehicle adopt a dual braking system integrating EHB and EMB, which takes into account the advantages of both and overcomes their respective disadvantages.

[0068] (2) By arranging dual braking systems on all wheels, this invention provides two sets of braking systems for all wheels. Compared with existing dual braking systems (such as front axle EMB + rear axle EHB, or only one of the front or rear axles is a dual braking system), both can calculate braking characteristics independently based on the vehicle parameters. Both can work independently, are redundant and serve as backups for each other. Even if one set of braking systems fails, all wheels still have a complete set of braking systems available for the system to use, thereby providing complete braking performance and higher safety assurance.

[0069] (3) In this invention, the EHB and EMB are independently set up and controlled, meaning that the two braking systems act on different braking elements. For example, the wheel end uses a combination of drum and disc brakes. The EMB system uses a disc braking system (i.e., the motor drives the caliper, and the caliper acts on the brake disc) for braking, while the EHB uses a drum braking system (i.e., the hydraulic system acts on the brake shoes, and the brake shoes act on the brake drum). Compared to the prior art where the same braking element can be driven by both electromechanical and hydraulic means, in this invention, the EHB and EMB are independently set up and controlled. Even if one system experiences a mechanical failure, it will not interfere with the operation of the other braking system, thus improving system safety.

[0070] It should be noted that any modifications made by those skilled in the art to the specific embodiments of the present invention do not depart from the scope of the claims. Accordingly, the scope of the claims is not limited to the foregoing specific embodiments.

Claims

1. An ADAS-based integrated brake-by-wire system, characterized by, The system comprises: a vehicle control unit configured to issue a control command according to a brake signal; a first brake system configured to brake all wheels of the vehicle according to the control command; a second brake system configured to brake all wheels of the vehicle according to the control command if the first brake system fails, the second brake system obtains a storage pressure required to store the deceleration generated when the first brake system brakes, while the first brake system brakes all wheels of the vehicle.

2. The ADAS integrated brake-by-wire system according to claim 1, wherein: the first brake system and the second brake system are independently arranged from each other; the first brake system is an electronic mechanical brake-by-wire system; the second brake system is an electro-hydraulic brake-by-wire system.

3. The ADAS integrated brake-by-wire system according to claim 2, wherein, the vehicle control unit is further configured to determine the braking force of the first brake system according to the brake signal; the vehicle control unit is further configured to determine whether the first brake system is normal, and control the first brake system to brake all wheels of the vehicle according to the braking force if the first brake system is normal, wherein the brake signal comprises a driver pedal stroke signal, an ADAS requested deceleration signal, and a vehicle parameter signal, the ADAS requested deceleration signal comprising an adaptive cruise control system requested deceleration signal and an automatic emergency braking system requested deceleration signal.

4. The ADAS integrated brake-by-wire system according to claim 3, wherein: if the vehicle control unit determines that the first brake system fails, the vehicle control unit controls the second brake system to brake all wheels of the vehicle according to the braking force.

5. The ADAS integrated brake-by-wire system according to claim 1, wherein the vehicle control unit is further configured to determine the braking force of the first brake system according to the brake signal, specifically, when the brake signal is the driver pedal stroke signal, the vehicle control unit determines the braking force of the first brake system according to the pedal stroke and the wheel speed.

6. The ADAS integrated brake-by-wire system according to claim 1, wherein: the vehicle control unit is further configured to determine the braking force of the first brake system according to the brake signal, specifically, when the brake signal is the adaptive cruise control system requested deceleration signal, the vehicle control unit determines whether the requested deceleration is less than a set deceleration and whether the interval time between adjacent two requests is less than a set time according to the requested deceleration signal; if the requested deceleration is less than the set deceleration and the interval time between adjacent two requests is less than the set time, the vehicle control unit determines the braking force of the first brake system.

7. The ADAS integrated brake-by-wire system according to claim 6, wherein: if the requested deceleration is greater than or equal to the set deceleration and / or the interval time between adjacent two requests is greater than or equal to the set time, the vehicle control unit determines the braking force of the first brake system. The automobile control unit judges whether the first brake system is normal, if the first brake system is normal, the automobile control unit controls the first brake system to brake all wheels of the automobile according to brake force, and when the second brake system completes energy storage, controls the second brake system to brake all wheels of the automobile according to energy storage pressure.

8. The ADAS integrated brake-by-wire system according to claim 1, wherein, The automobile control unit is further configured to determine brake force of the first brake system according to the brake signal, specifically, when the brake signal is an automatic emergency brake system requested deceleration signal, the automobile control unit determines brake force of the first brake system according to deceleration size, The automobile control unit judges whether the first brake system is normal, if the first brake system is normal, the automobile control unit controls the first brake system to brake all wheels of the automobile according to brake force, and when the second brake system completes energy storage, controls the second brake system to brake all wheels of the automobile according to energy storage pressure.

9. An ADAS integrated brake-by- brake control method, characterized by: The method brakes through the system of any one of claims 1-8, the method comprising: Obtaining a brake signal of the automobile; Controlling the first brake system to brake all wheels of the automobile according to the brake signal; If the first brake system fails, controlling the second brake system to brake all wheels of the automobile.

10. An automobile characterized by comprising: The automobile comprises the ADAS integrated brake-by-wire system of any one of claims 1-8.

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