An electromechanical brake system

Abstract

The embodiment of the present invention discloses an electronic mechanical braking system, in which a brake pedal control module is used to generate a brake pedal travel signal according to the travel of the brake pedal; a parking handle control module is used to generate a parking handle gear position signal according to the gear position of the parking handle; a wheel speed detection module is used to generate a wheel speed signal according to the rotation speed of the wheel; a central electric control module is electrically connected to the brake pedal control module, the parking handle control module, the wheel speed detection module, and the motor brake module respectively, and the central electric control module is used to calculate the required braking force according to at least the brake pedal travel signal, the parking handle gear position signal, and the wheel speed signal, and is also used to generate a braking control instruction according to the required braking force; and the motor brake module is used to execute vehicle braking according to the received braking control instruction. A higher braking energy transmission efficiency can be achieved, the safety performance of the vehicle is effectively improved, and the development trend of electrification and intelligence of the vehicle is adapted.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of vehicle braking technology, and in particular to an electromechanical braking system. Background Art

[0002] Vehicle safety has always been one of the important indicators of the success of automobile development, and the braking system plays an important role in vehicle safety. With the continuous improvement of society's requirements for vehicle safety performance and the development trend of electrification and intelligence in the automotive industry, traditional electronic hydraulic brake systems (Electro Hydraulic Brake, EHB) and electronic pneumatic brake systems (Electronic Braking System, EBS) may not be able to meet the increasing demand.

[0003] At present, the Electro-Mechanical Braking System (EMBS) can replace the traditional EHB and EBS due to its simple structure, reliable functions, sensitive response, better braking performance, electrification, intelligence, modernization and other advantages, and is expected to be used in commercial vehicles and passenger cars. In addition, EMBS uses circuits to replace EHB and EBS to achieve the transmission of braking energy, which can achieve higher energy transfer efficiency and higher control accuracy and performance. However, most EMBS are currently in the prototype development stage or verification stage, and there is no EMBS used in batches on the market. Summary of the invention

[0004] The embodiment of the present invention provides an electronic mechanical braking system to effectively improve the safety performance of a vehicle, adapt to the development trend of electrification and intelligence of vehicles, improve the transmission efficiency of braking energy, and reduce the energy consumption of the vehicle.

[0005] An embodiment of the present invention provides an electronic mechanical braking system, including a central electronic control module, a brake pedal control module, a parking handle control module, a wheel speed detection module and a motor braking module;

[0006] The brake pedal control module is used to generate a brake pedal travel signal according to the travel of the brake pedal;

[0007] The parking handle control module is used to generate a parking handle gear position signal according to the gear position of the parking handle;

[0008] The wheel speed detection module is used to generate a wheel speed signal according to the rotation speed of the wheel;

[0009] The central electronic control module is electrically connected to the brake pedal control module, the parking handle control module, the wheel speed detection module, and the motor brake module, respectively. The central electronic control module is used to calculate the required braking force according to at least the brake pedal travel signal, the parking handle gear position signal, and the wheel speed signal, and is also used to generate a brake control instruction according to the required braking force;

[0010] The motor brake module is used to perform vehicle braking according to the received brake control instruction.

[0011] Optionally, the motor brake module includes at least two motor brake units, the brake control instruction includes at least two brake control sub-instructions, each brake control sub-instruction is the same or different, and the number of the motor brake units is the same as the number of the brake control sub-instructions, and the number of the motor brake units is the same as the number of the axles;

[0012] The central electronic control module is electrically connected to at least two of the motor brake units respectively, and is used to calculate the required braking force according to at least the brake pedal travel signal, the parking handle gear position signal, and the wheel speed signal, and is also used to generate at least two brake control sub-instructions according to the required braking force;

[0013] The motor brake unit is used to control the corresponding axle to perform vehicle braking according to the corresponding brake control sub-instruction received.

[0014] Optionally, the motor brake unit includes a motor control subunit, a first motor, a second motor, a first caliper structure and a second caliper structure;

[0015] The motor control subunit is electrically connected to the central electric control module, the first motor, and the second motor respectively, and is used to determine a first required torque corresponding to the first motor and a second required torque corresponding to the second motor according to the received corresponding braking control sub-instruction and a preset mapping relationship between required braking force and required torque;

[0016] The first motor is mechanically connected to the first caliper structure, and the first motor drives the first caliper structure to clamp the brake disc with the first required torque to perform vehicle braking;

[0017] The second motor is mechanically connected to the second caliper structure, and the second motor drives the second caliper structure to clamp the brake disc with the second required torque to perform vehicle braking.

[0018] Optionally, the wheel speed detection module includes at least two first wheel speed detection units and at least two second wheel speed detection units, the wheel speed signal includes at least two first wheel speed sub-signals and at least two second wheel speed sub-signals, each of the first wheel speed sub-signals is the same or different, each of the second wheel speed sub-signals is the same or different, and the number of the motor brake units is the same as the number of the first wheel speed detection units, the number of the second wheel speed detection units, the number of the first wheel speed sub-signals, and the number of the second wheel speed sub-signals, respectively;

[0019] The first wheel speed detection unit is electrically connected to the motor brake unit in a one-to-one correspondence, and the first wheel speed detection unit is used to generate the first wheel speed sub-signal according to the rotation speed of the first wheel in the corresponding axle;

[0020] The second wheel speed detection unit is electrically connected to the motor brake unit in a one-to-one correspondence, and the second wheel speed detection unit is used to generate the second wheel speed sub-signal according to the rotation speed of the second wheel in the corresponding axle;

[0021] The motor brake unit is electrically connected to the central electric control module, and the motor brake unit is also used to transmit the first wheel speed sub-signal and the second wheel speed sub-signal to the central electric control module;

[0022] The central electronic control module is used to calculate the required braking force based on at least the brake pedal travel signal, the parking handle gear position signal, the first wheel speed sub-signal, and the second wheel speed sub-signal, and is also used to generate at least two of the brake control sub-instructions based on the required braking force.

[0023] Optionally, a trailer parking control module is also included;

[0024] The trailer parking control module is electrically connected to the central electronic control module, and the central electronic control module is further used to generate a first trailer control instruction at least according to the brake pedal travel signal;

[0025] The trailer parking control module is used to execute trailer braking according to the received first trailer control instruction.

[0026] Optionally, a trailer parking control module is also included;

[0027] The trailer parking control module is electrically connected to the central electric control module, and the central electric control module is further used to generate a second trailer control instruction at least according to the parking handle gear position signal;

[0028] The trailer parking control module is connected to the trailer driving control module via a first air circuit, and the trailer parking control module is used to adjust the air pressure in the first air circuit according to the received second trailer control instruction;

[0029] The trailer parking control module is further used to perform trailer braking according to the air pressure in the first air circuit.

[0030] Optionally, the brake pedal control module is connected to the trailer parking control module via a second air circuit, and the trailer parking control module is further used to perform trailer braking according to the air pressure in the second air circuit.

[0031] Optionally, a steering wheel angle detection module is also included;

[0032] The steering wheel angle detection module is used to generate a steering wheel angle signal according to the rotation angle of the steering wheel;

[0033] The central electronic control module is electrically connected to the steering wheel angle detection module. The central electronic control module is used to calculate the required braking force based on the brake pedal travel signal, the parking handle gear signal, the wheel speed signal, and the steering wheel angle signal, and is also used to generate the braking control instruction based on the required braking force.

[0034] Optionally, it also includes an axle load detection module;

[0035] The axle load detection module is used to generate an axle load signal according to the load of the axle;

[0036] The central electronic control module is electrically connected to the axle load detection module. The central electronic control module is used to calculate the required braking force based on the brake pedal travel signal, the parking handle gear signal, the wheel speed signal, and the axle load signal, and is also used to generate the braking control instruction based on the required braking force.

[0037] Optionally, the brake pedal control module is electrically connected to the motor brake module, and the motor brake module is further used to perform vehicle braking according to the received brake pedal travel signal;

[0038] and / or,

[0039] The parking handle control module is electrically connected to the motor brake module, and the motor brake module is also used to perform vehicle braking according to the received parking handle gear position signal.

[0040] An embodiment of the present invention provides an electronic mechanical braking system, which includes a central electronic control module, a brake pedal control module, a parking handle control module, a wheel speed detection module and a motor brake module; the brake pedal control module is used to generate a brake pedal travel signal according to the travel of the brake pedal; the parking handle control module is used to generate a parking handle gear position signal according to the gear position of the parking handle; the wheel speed detection module is used to generate a wheel speed signal according to the rotation speed of the wheel; the central electronic control module is electrically connected to the brake pedal control module, the parking handle control module, the wheel speed detection module and the motor brake module respectively, the central electronic control module is used to calculate the required braking force according to at least the brake pedal travel signal, the parking handle gear position signal, and the wheel speed signal, and is also used to generate a braking control instruction according to the required braking force; the motor brake module is used to perform vehicle braking according to the received braking control instruction. The electronic mechanical braking system uses the central electronic control module to collect the brake pedal travel signal generated by the brake pedal control module, the parking handle gear signal generated by the parking handle control module, and the wheel speed signal generated by the wheel speed detection module, and analyzes at least these three types of signals, and generates corresponding brake control instructions to transmit to the motor brake module. The motor brake module can perform vehicle braking according to the received brake control instructions. In this way, there is no need for gas or liquid as a braking energy transmission medium, and only circuit connection is used to achieve the transmission of braking energy, which can achieve higher braking energy transmission efficiency, higher control accuracy and performance, and faster response time, effectively improving the vehicle's stable braking effect, safety performance, reliability performance, and the lateral and longitudinal dynamic control performance of the vehicle chassis, adapting to the development trend of vehicle electrification and intelligence, reducing the vehicle's energy consumption, and reducing the vehicle's comprehensive cost. It is expected to be applied in commercial vehicles and passenger cars in batches. In addition, the electronic mechanical braking system uses circuits as a braking energy transmission medium, which is cleaner and more environmentally friendly, avoids problems such as hydraulic oil leakage or exhaust noise, eliminates liquid or gas processing and control devices, and simplifies the transmission path of braking energy. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0042] Figure 1 It is a structural schematic diagram of an electronic mechanical braking system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0044] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. It should be noted that the directional words such as "upper", "lower", "left", "right" and the like described in the embodiments of the present invention are described at the angles shown in the accompanying drawings and should not be understood as limitations on the embodiments of the present invention. In addition, in the context, it is also necessary to understand that when it is mentioned that an element is formed "on" or "under" another element, it can not only be directly formed "on" or "under" another element, but also indirectly formed "on" or "under" another element through an intermediate element. The terms "first", "second", etc. are only used for descriptive purposes and do not represent any order, quantity or importance, but are only used to distinguish different components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific circumstances.

[0045] The term “including” and its variations used in the present invention are open inclusions, that is, “including but not limited to.” The term “based on” means “based at least in part on.” The term “one embodiment” means “at least one embodiment.”

[0046] It should be noted that the concepts such as "first" and "second" mentioned in the present invention are only used to distinguish the corresponding contents, and are not used to limit the order or interdependence.

[0047] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0048] Figure 1 is a schematic diagram of the structure of an electronic mechanical braking system provided by an embodiment of the present invention, such as Figure 1As shown, the electronic mechanical braking system includes a central electronic control module 10, a brake pedal control module 20, a parking handle control module 30, a wheel speed detection module 40 and a motor brake module 50; the brake pedal control module 20 is used to generate a brake pedal travel signal according to the travel of the brake pedal; the parking handle control module 30 is used to generate a parking handle gear position signal according to the gear position of the parking handle; the wheel speed detection module 40 is used to generate a wheel speed signal according to the rotation speed of the wheel; the central electronic control module 10 is electrically connected to the brake pedal control module 20, the parking handle control module 30, the wheel speed detection module 40 and the motor brake module 50 respectively, and the central electronic control module 10 is used to calculate the required braking force according to at least the brake pedal travel signal, the parking handle gear position signal, and the wheel speed signal, and is also used to generate a braking control instruction according to the required braking force; the motor brake module 50 is used to perform vehicle braking according to the received braking control instruction.

[0049] Specifically, the electronic mechanical braking system includes a central electronic control module 10, a brake pedal control module 20, a parking handle control module 30, a wheel speed detection module 40 and a motor brake module 50. Among them, the brake pedal control module 20 can generate a brake pedal stroke signal according to the stroke of the brake pedal. Exemplarily, the brake pedal and the brake pedal control module 20 can be mechanically connected through a top rod structure. Exemplarily, when the vehicle is in a driving state, that is, when the driver wants to brake briefly, the driver steps on the brake pedal, and the stroke of the brake pedal changes. The brake pedal control module 20 can generate a brake pedal stroke signal in real time according to the changed brake pedal stroke, or the brake pedal control module 20 can also generate a brake pedal stroke signal in real time according to the change in the brake pedal stroke. It can be understood that the greater the change in the brake pedal stroke, the greater the driver's braking intensity requirement, and the vehicle urgently needs to brake to stop. The parking handle control module 30 can generate a parking handle gear position signal according to the gear position of the parking handle. Exemplarily, the parking handle and the parking handle control module 30 can be electrically connected through a circuit structure. Exemplarily, when the vehicle is in the parking state, that is, when the driver wants to park for a long time, the driver moves the parking handle, and the gear position of the parking handle changes. The parking handle control module 30 can generate a parking handle gear position signal in real time according to the gear position of the changed parking handle. It can be understood that different gear positions of the parking handle represent different parking intentions of the driver. Of course, there is also a situation where the driver steps on the brake pedal and moves the parking handle at the same time. In this way, the brake pedal control module 20 can generate a brake pedal travel signal accordingly, and the parking handle control module 30 can generate a parking handle gear position signal accordingly. The wheel speed detection module 40 can generate a wheel speed signal according to the rotation speed of the wheel. Exemplarily, the wheel and the wheel speed detection module 40 can be connected through a mechanical structure or a circuit structure. Exemplarily, during the driving process of the vehicle, the wheel speed detection module 40 can detect the rotation speed of the wheel in real time, and generate a wheel speed signal according to the rotation speed of the wheel. It can be understood that the wheel speed detection module 40 can detect the rotation speed of all wheels of the vehicle in real time. In addition, according to the actual application and driving requirements of the vehicle, the wheel speed detection module 40 may also only detect the rotation speed of some wheels of the vehicle in real time.

[0050] The central electronic control module 10 is electrically connected to the brake pedal control module 20, the parking handle control module 30, the wheel speed detection module 40, and the motor brake module 50, respectively. That is, the central electronic control module 10 is electrically connected to the brake pedal control module 20, and the central electronic control module 10 can receive the brake pedal travel signal generated by the brake pedal control module 20. The central electronic control module 10 is electrically connected to the parking handle control module 30, and the central electronic control module 10 can receive the parking handle gear position signal generated by the parking handle control module 30. The central electronic control module 10 is electrically connected to the wheel speed detection module 40, and the central electronic control module 10 can receive the wheel speed signal generated by the wheel speed detection module 40. After receiving these three types of signals, the central electronic control module 10 can calculate the required braking force based on at least the brake pedal travel signal, the parking handle gear position signal, and the wheel speed signal. Exemplarily, the required braking force may be the braking force corresponding to the braking of the entire vehicle, the required braking force may also be the braking force corresponding to the braking of each wheel of the vehicle, or the required braking force may also be the braking force corresponding to the braking of each axle of the vehicle. This embodiment is only an example and is not limited here. The central electronic control module 10 may also generate a braking control instruction according to the calculated required braking force. In addition, the vehicle also includes a vehicle controller area network (Controller Area Network, CAN), and the central electronic control module 10 may also receive other electronic control signals in the vehicle CAN network (exemplarily, the speed / torque of the drive motor, etc.). In this way, the central electronic control module 10 may calculate the required braking force according to the brake pedal travel signal, the parking handle gear position signal, the wheel speed signal, and other electronic control signals in the CAN network. It can be understood that the central electronic control module 10 analyzes different types of signals. The more types there are, the more the required braking force finally calculated meets the braking requirements of the vehicle, and the more stable the braking process of the vehicle.

[0051] The central electric control module 10 is electrically connected to the motor brake module 50. The central electric control module 10 can transmit the generated brake control instruction to the motor brake module 50. The motor brake module 50 can receive the brake control instruction and perform vehicle braking according to the brake control instruction to stop the vehicle. For example, the motor brake module 50 can treat a wheel as a whole and perform vehicle braking by controlling each wheel, or the motor brake module 50 can also treat a vehicle axle as a whole and perform vehicle braking by controlling each vehicle axle.

[0052] It should be noted that the electronic mechanical braking system of this embodiment can be applied to passenger cars and commercial vehicles. Compared with passenger cars, commercial vehicles have the characteristics of multiple configurations and multiple extensions. Commercial vehicles are in urgent need of applying the electronic mechanical braking system to achieve higher braking energy transfer efficiency and higher control accuracy, so as to improve the driving safety and reliability of commercial vehicles. Commercial vehicles include traction vehicles (exemplarily, traction vehicles may include motor vehicles, and motor vehicles may be equipped with trailers, and motor vehicles need to control the braking of trailers) and non-traction vehicles (exemplarily, non-traction vehicles may include trucks). For example, commercial vehicles may include public buses (drive form is 4x2), semi-trailer tractors (drive form is 6x4), etc.

[0053] According to the technical solution in the embodiment of the present invention, the electronic mechanical braking system includes a central electronic control module, a brake pedal control module, a parking handle control module, a wheel speed detection module and a motor brake module; the brake pedal control module is used to generate a brake pedal travel signal according to the travel of the brake pedal; the parking handle control module is used to generate a parking handle gear position signal according to the gear position of the parking handle; the wheel speed detection module is used to generate a wheel speed signal according to the rotation speed of the wheel; the central electronic control module is electrically connected to the brake pedal control module, the parking handle control module, the wheel speed detection module and the motor brake module respectively, the central electronic control module is used to calculate the required braking force according to at least the brake pedal travel signal, the parking handle gear position signal and the wheel speed signal, and is also used to generate a braking control instruction according to the required braking force; the motor brake module is used to perform vehicle braking according to the received braking control instruction. The electronic mechanical braking system uses the central electronic control module to collect the brake pedal travel signal generated by the brake pedal control module, the parking handle gear signal generated by the parking handle control module, and the wheel speed signal generated by the wheel speed detection module, and analyzes at least these three types of signals, and generates corresponding brake control instructions to transmit to the motor brake module. The motor brake module can perform vehicle braking according to the received brake control instructions. In this way, there is no need for gas or liquid as a braking energy transmission medium, and only circuit connection is used to achieve the transmission of braking energy, which can achieve higher braking energy transmission efficiency, higher control accuracy and performance, and faster response time, effectively improving the vehicle's stable braking effect, safety performance, reliability performance, and the lateral and longitudinal dynamic control performance of the vehicle chassis, adapting to the development trend of vehicle electrification and intelligence, reducing the vehicle's energy consumption, and reducing the vehicle's comprehensive cost. It is expected to be applied in commercial vehicles and passenger cars in batches. In addition, the electronic mechanical braking system uses circuits as a braking energy transmission medium, which is cleaner and more environmentally friendly, avoids problems such as hydraulic oil leakage or exhaust noise, eliminates liquid or gas processing and control devices, and simplifies the transmission path of braking energy.

[0054] Optionally, continue to refer to Figure 1The motor brake module 50 includes at least two motor brake units 51, and the brake control instruction includes at least two brake control sub-instructions. The brake control sub-instructions are the same or different, and the number of the motor brake units 51 is the same as the number of the brake control sub-instructions, and the number of the motor brake units 51 is the same as the number of the axles; the central electronic control module 10 is electrically connected to the at least two motor brake units 51 respectively, and the central electronic control module 10 is used to calculate the required braking force based on at least the brake pedal travel signal, the parking handle gear signal, and the wheel speed signal, and is also used to generate at least two brake control sub-instructions based on the required braking force; the motor brake unit 51 is used to control the corresponding axle to perform vehicle braking according to the corresponding brake control sub-instruction received.

[0055] Specifically, the motor brake module 50 includes at least two motor brake units 51, and the number of the motor brake units 51 is the same as the number of axles, that is, the motor brake module 50 can treat one axle as a whole and perform vehicle braking by controlling each axle. Exemplarily, if a commercial vehicle includes 2 axles, the motor brake module 50 correspondingly includes 2 motor brake units 51, or, if a commercial vehicle includes 3 or more axles, the motor brake module 50 correspondingly includes 3 or more motor brake units 51. As the number of axles increases, the number of motor brake units 51 also increases, thus achieving the expansion from a 2-axle vehicle to a multi-axle vehicle. Exemplarily, Figure 1 A three-axle vehicle is shown, corresponding to four motor brake units 51 .

[0056] The central electronic control module 10 can receive the brake pedal travel signal generated by the brake pedal control module 20, the parking handle gear signal generated by the parking handle control module 30, and the wheel speed signal generated by the wheel speed detection module 40. After receiving these three types of signals, the central electronic control module 10 can calculate the required braking force at least according to the brake pedal travel signal, the parking handle gear signal, and the wheel speed signal. The central electronic control module 10 can also generate at least two brake control sub-instructions corresponding to the calculated required braking force. Each brake control sub-instruction is the same or different. For example, when each brake control sub-instruction is different, each brake control sub-instruction is transmitted to a different motor brake unit 51, and each motor brake unit 51 controls a different axle to perform vehicle braking. Alternatively, when each brake control sub-instruction is the same, each brake control sub-instruction should simultaneously contain the vehicle braking information of each axle. In this way, each brake control sub-instruction is transmitted to a different motor brake unit 51, and each motor brake unit 51 can determine the vehicle braking information belonging to the corresponding axle from the brake control sub-instruction, and control the corresponding axle to perform vehicle braking.

[0057] Furthermore, the central electric control module 10 is electrically connected to at least two motor brake units 51 respectively, and the central electric control module 10 can transmit the generated at least two brake control sub-instructions to the motor brake units 51 respectively. The number of motor brake units 51 is the same as the number of brake control sub-instructions, and it can be understood that the motor brake units 51 and the brake control sub-instructions are in a one-to-one correspondence. A motor brake unit 51 can receive a corresponding brake control sub-instruction, and according to the received brake control sub-instruction, control the corresponding axle to perform vehicle braking to stop the vehicle.

[0058] Further, continue to refer to Figure 1 The motor brake unit 51 includes a motor control subunit 52, a first motor 53, a second motor 54, a first caliper structure 55 and a second caliper structure 56; the motor control subunit 52 is electrically connected to the central electronic control module 10, the first motor 53 and the second motor 54 respectively, and the motor control subunit 52 is used to determine the first required torque corresponding to the first motor 53 and the second required torque corresponding to the second motor 54 according to the corresponding brake control sub-instruction received and the preset mapping relationship between the required braking force and the required torque; the first motor 53 is mechanically connected to the first caliper structure 55, and the first motor 53 pushes the first caliper structure 55 to clamp the brake disc with the first required torque to perform vehicle braking; the second motor 54 is mechanically connected to the second caliper structure 56, and the second motor 54 pushes the second caliper structure 56 to clamp the brake disc with the second required torque to perform vehicle braking.

[0059] Specifically, it should be noted that in a vehicle axle, there are a first motor 53, a second motor 54, a first caliper structure 55, a second caliper structure 56, a first wheel, and a second wheel. The first motor 53 and the second motor 54 can be understood as symmetrical parts, the first caliper structure 55 and the second caliper structure 56 can be understood as symmetrical parts, and the first wheel and the second wheel can be understood as symmetrical parts. For example, the first motor 53, the first caliper structure 55, and the first wheel can be located on the left side of the vehicle, and the second motor 54, the second caliper structure 56, and the second wheel can be located on the right side of the vehicle. That is, for example, the first wheel can be understood as the left wheel, and the second wheel can be understood as the right wheel.

[0060] The motor brake unit 51 includes a motor control subunit 52, a first motor 53, a second motor 54, a first caliper structure 55 and a second caliper structure 56. The motor control subunit 52 is electrically connected to the central electric control module 10, the first motor 53 and the second motor 54, respectively. That is, the central electric control module 10 is electrically connected to the motor control subunit 52. The central electric control module 10 can transmit a generated braking control sub-instruction to a motor brake unit 51. The motor brake unit 51 can receive the braking control sub-instruction and determine the first required torque corresponding to the first motor 53 and the second required torque corresponding to the second motor 54 according to the braking control sub-instruction and the preset mapping relationship between the required braking force and the required torque. The motor brake unit 51 can also control the first motor 53 to output with the first required torque, and control the second motor 54 to output with the second required torque.

[0061] The required braking force may be the braking force corresponding to the braking of each wheel of the vehicle, and the central electronic control module 10 may also generate at least two braking control sub-instructions according to the calculated required braking force. The braking force and the required torque satisfy a functional relationship, so that according to the preset mapping relationship between the required braking force and the required torque, when the first motor 53 outputs with the first required torque, the first motor 53 may generate the corresponding required braking force, and the first motor 53 is mechanically connected to the first caliper structure 55, and the first motor 53 pushes the first caliper structure 55 with the first required torque, so that the first caliper structure 55 clamps the brake disc under the action of the corresponding required braking force to perform vehicle braking. When the second motor 54 outputs with the second required torque, the second motor 54 may generate the corresponding required braking force, and the second motor 54 is mechanically connected to the second caliper structure 56, and the second motor 54 pushes the second caliper structure 56 with the second required torque, so that the second caliper structure 56 clamps the brake disc under the action of the corresponding required braking force to perform vehicle braking. It is understandable that, during the vehicle braking process, the magnitude of the required braking force corresponding to the first caliper structure 55 clamping the brake disc and the magnitude of the required braking force corresponding to the second caliper structure 56 clamping the brake disc can be the same or different, and the specific numerical value depends on the vehicle braking effect and the vehicle driving condition. In addition, illustratively, taking the first motor 53 and the first caliper structure 55 as an example, during the vehicle braking process, the first motor 53 outputs with the first required torque, and the rotation of the first motor 53 drives the internal transmission mechanism of the first caliper structure 55 to move or rotate, thereby pushing the caliper to push the disc, and then pushing the brake lining to clamp the brake disc, forming the corresponding required braking force, and converting electrical energy into mechanical energy, thereby performing vehicle braking. And, when the output torque of the first motor 53 reaches the first required torque, it can be considered that the first caliper structure 55 clamps the brake disc under the action of the corresponding required braking force. At this time, the locking mechanism inside the first motor 53 can lock the motor shaft, thereby forming a purely mechanical parking brake, which can be suitable for long-term parking. Similarly, taking the second motor 54 and the second caliper structure 56 as an example, during the vehicle braking process, the second motor 54 outputs the second required torque, and the rotation of the second motor 54 drives the transmission mechanism inside the second caliper structure 56 to move or rotate, thereby pushing the caliper to push the disc, and then pushing the brake pad to clamp the brake disc, forming a corresponding required braking force, and converting electrical energy into mechanical energy, thereby performing vehicle braking. And when the output torque of the second motor 54 reaches the second required torque, it can be considered that the second caliper structure 56 clamps the brake disc under the action of the corresponding required braking force. At this time, the locking mechanism inside the second motor 54 can lock the motor shaft, thereby forming a purely mechanical parking brake, which can be used for long-term parking.

[0062] In addition, exemplarily, the motor control subunit 52 includes an energy storage capacitor, and the motor control subunit 52 is electrically connected to the first motor 53 and the second motor 54, respectively. The motor control subunit 52 can also provide short-term, high-energy electrical energy output to the first motor 53 and the second motor 54, respectively, to meet the normal operating requirements of the first motor 53 and the second motor 54.

[0063] Optionally, continue to refer to Figure 1 The wheel speed detection module 40 includes at least two first wheel speed detection units 41 and at least two second wheel speed detection units 42, the wheel speed signal includes at least two first wheel speed sub-signals and at least two second wheel speed sub-signals, each first wheel speed sub-signal is the same or different, each second wheel speed sub-signal is the same or different, and the number of the motor brake units 51 is respectively the same as the number of the first wheel speed detection units 41, the number of the second wheel speed detection units 42, the number of the first wheel speed sub-signals, and the number of the second wheel speed sub-signals; the first wheel speed detection unit 41 is electrically connected to the motor brake unit 51 in a one-to-one correspondence, and the first wheel speed detection unit 41 is used to detect the rotation speed of the first wheel in the corresponding axle according to the rotation speed of the first wheel speed, generating a first wheel speed sub-signal; the second wheel speed detection unit 42 is electrically connected to the motor brake unit 51 in a one-to-one correspondence, and the second wheel speed detection unit 42 is used to generate a second wheel speed sub-signal according to the rotational speed of the second wheel in the corresponding axle; the motor brake unit 51 is electrically connected to the central electronic control module 10, and the motor brake unit 51 is also used to transmit the first wheel speed sub-signal and the second wheel speed sub-signal to the central electronic control module 10; the central electronic control module 10 is used to calculate the required braking force based on at least the brake pedal travel signal, the parking handle gear position signal, the first wheel speed sub-signal, and the second wheel speed sub-signal, and is also used to generate at least two brake control sub-instructions based on the required braking force.

[0064] Specifically, it should be noted that in a vehicle axle, there is a motor brake unit 51, a first wheel speed detection unit 41, a second wheel speed detection unit 42, a first wheel, and a second wheel. The first wheel speed detection unit 41 and the second wheel speed detection unit 42 can be understood as symmetrical parts, and the first wheel and the second wheel can be understood as symmetrical parts. For example, the first wheel speed detection unit 41 and the first wheel can be located on the left side of the vehicle, and the second wheel speed detection unit 42 and the second wheel can be located on the right side of the vehicle. That is, for example, the first wheel can be understood as the left wheel, and the second wheel can be understood as the right wheel.

[0065] The wheel speed detection module 40 includes at least two first wheel speed detection units 41 and at least two second wheel speed detection units 42. In any axle, the first wheel speed detection unit 41 is electrically connected to the motor brake unit 51 in a one-to-one correspondence, and the first wheel speed detection unit 41 can generate a first wheel speed sub-signal according to the rotation speed of the first wheel in the corresponding axle, and transmit the first wheel speed sub-signal to the motor brake unit 51. And the second wheel speed detection unit 42 is electrically connected to the motor brake unit 51 in a one-to-one correspondence, and the second wheel speed detection unit 42 can generate a second wheel speed sub-signal according to the rotation speed of the second wheel in the corresponding axle, and transmit the second wheel speed sub-signal to the motor brake unit 51. Exemplarily, the first wheel speed detection unit 41 can be a wheel speed sensor, and the second wheel speed detection unit 42 can be a wheel speed sensor.

[0066] The motor brake unit 51 is electrically connected to the central electronic control module 10, and the motor brake unit 51 can also transmit the received first wheel speed sub-signal and second wheel speed sub-signal to the central electronic control module 10. The central electronic control module 10 can also receive a brake pedal travel signal and a parking handle gear position signal. After receiving these four types of signals, the central electronic control module 10 can calculate the required braking force at least according to the brake pedal travel signal, the parking handle gear position signal, the first wheel speed sub-signal, and the second wheel speed sub-signal. The central electronic control module 10 can also generate at least two braking control sub-instructions according to the calculated required braking force. Exemplarily, the required braking force can be the braking force corresponding to the braking of each wheel of the vehicle, that is, in any axle, according to a corresponding braking control sub-instruction, the first wheel can realize vehicle braking under the action of the corresponding required braking force, and the second wheel can realize vehicle braking under the action of the corresponding required braking force. It can be understood that the magnitude of the required braking force corresponding to the first wheel can be the same as or different from the magnitude of the required braking force corresponding to the second wheel.

[0067] In addition, it should be noted that the wheel speed detection module 40 includes at least two first wheel speed detection units 41 and at least two second wheel speed detection units 42. Each first wheel speed detection unit 41 corresponds to detecting the rotation speed of the first wheel in different axles, and generates a plurality of first wheel speed sub-signals accordingly. Since the running rotation speeds of the first wheels in different axles are different, the generated first wheel speed sub-signals may be the same or different. Similarly, each second wheel speed detection unit 42 corresponds to detecting the rotation speed of the second wheel in different axles, and generates a plurality of second wheel speed sub-signals accordingly. Since the running rotation speeds of the second wheels in different axles are different, the generated second wheel speed sub-signals may be the same or different.

[0068] Optionally, continue to refer to Figure 1The electronic mechanical braking system also includes a steering wheel angle detection module 71; the steering wheel angle detection module 71 is used to generate a steering wheel angle signal according to the rotation angle of the steering wheel; the central electronic control module 10 is electrically connected to the steering wheel angle detection module 71, and the central electronic control module 10 is used to calculate the required braking force according to the brake pedal travel signal, the parking handle gear signal, the wheel speed signal, and the steering wheel angle signal, and is also used to generate a braking control instruction according to the required braking force.

[0069] Specifically, the steering wheel angle detection module 71 can generate a steering wheel angle signal according to the rotation angle of the steering wheel. Exemplarily, the steering wheel and the steering wheel angle detection module 71 can be connected by a mechanical structure or a circuit structure. Exemplarily, during the driving process of the vehicle, the rotation angle of the steering wheel changes, and the steering wheel angle detection module 71 can generate a steering wheel angle signal in real time according to the rotation angle of the steering wheel after the change, or the steering wheel angle detection module 71 can also generate a steering wheel angle signal in real time according to the change amount of the rotation angle of the steering wheel. Exemplarily, the steering wheel angle detection module 71 can be a steering wheel angle sensor. In addition, the steering wheel angle detection module 71 can also generate a steering wheel speed signal in real time according to the rotation speed of the steering wheel. The relevant content is not discussed again. Exemplarily, the steering wheel angle detection module 71 can also be a steering wheel speed sensor.

[0070] The central electronic control module 10 is electrically connected to the steering wheel angle detection module 71, and the central electronic control module 10 can receive the steering wheel angle signal generated by the steering wheel angle detection module 71. The central electronic control module 10 can also receive the brake pedal travel signal, the parking handle gear signal, and the wheel speed signal. After receiving these four types of signals, the central electronic control module 10 can calculate the required braking force according to the brake pedal travel signal, the parking handle gear signal, the wheel speed signal, and the steering wheel angle signal. The central electronic control module 10 can also generate a corresponding braking control instruction based on the calculated required braking force. It can be understood that the central electronic control module 10 analyzes different types of signals. The more types there are, the more the required braking force finally calculated will meet the braking requirements of the vehicle, and the more stable the braking process of the vehicle will be.

[0071] Optionally, continue to refer to Figure 1 The electronic mechanical braking system also includes an axle load detection module 72; the axle load detection module 72 is used to generate an axle load signal according to the load of the axle; the central electronic control module 10 is electrically connected to the axle load detection module 72, and the central electronic control module 10 is used to calculate the required braking force according to the brake pedal travel signal, the parking handle gear signal, the wheel speed signal, and the axle load signal, and is also used to generate a braking control instruction according to the required braking force.

[0072] Specifically, the axle load detection module 72 can generate an axle load signal according to the load of the axle. Exemplarily, the axle and the axle load detection module 72 can be connected by a mechanical structure or a circuit structure. Exemplarily, during the driving process of the vehicle, the axle load detection module 72 can detect the load of the axle in real time, and generate an axle load signal accordingly according to the load of the axle. It can be understood that the axle load detection module 72 can detect the load of all axles of the vehicle in real time. In addition, according to the actual application and driving requirements of the vehicle, the axle load detection module 72 can also only detect the load of some axles of the vehicle in real time. Exemplarily, the axle load detection module 72 can detect the load of up to two axles of the vehicle in real time. Exemplarily, the axle load detection module 72 can be an axle load sensor.

[0073] The central electronic control module 10 is also electrically connected to the axle load detection module 72, and the central electronic control module 10 can receive the axle load signal generated by the axle load detection module 72. The central electronic control module 10 can also receive the brake pedal travel signal, the parking handle gear position signal, and the wheel speed signal. After receiving these four types of signals, the central electronic control module 10 can calculate the required braking force according to the brake pedal travel signal, the parking handle gear position signal, the wheel speed signal, and the axle load signal. The central electronic control module 10 can also generate a corresponding braking control instruction based on the calculated required braking force. It can be understood that the central electronic control module 10 analyzes different types of signals. The more types there are, the more the required braking force finally calculated will meet the braking requirements of the vehicle, and the more stable the braking process of the vehicle will be.

[0074] Optionally, continue to refer to Figure 1 The brake pedal control module 20 is electrically connected to the motor brake module 50, and the motor brake module 50 is also used to perform vehicle braking according to the received brake pedal travel signal; and / or, the parking handle control module 30 is electrically connected to the motor brake module 50, and the motor brake module 50 is also used to perform vehicle braking according to the received parking handle gear signal.

[0075] Specifically, this embodiment is mainly aimed at the situation that the central electric control module 10 cannot work, the central electric control module 10 fails, the electrical connection line between the central electric control module 10 and the brake pedal control module 20 fails due to a circuit break, and the electrical connection line between the central electric control module 10 and the parking handle control module 30 fails due to a circuit break. That is, at this time, the central electric control module 10 cannot calculate the required braking force according to at least the brake pedal travel signal, the parking handle gear signal, and the wheel speed signal, and cannot generate a braking control instruction according to the required braking force. In this way, the brake pedal control module 20 is additionally provided to be electrically connected to the motor brake module 50, and the brake pedal control module 20 can generate a brake pedal travel signal according to the travel of the brake pedal and transmit it to the motor brake module 50. The motor brake module 50 can directly perform vehicle braking according to the brake pedal travel signal. And / or, the parking handle control module 30 is additionally provided to be electrically connected to the motor brake module 50, and the parking handle control module 30 can generate a parking handle gear signal according to the gear of the parking handle and transmit it to the motor brake module 50. The motor brake module 50 can directly perform vehicle braking according to the parking handle gear position signal. Further, the brake pedal control module 20 can be electrically connected to the motor brake unit 51 corresponding to each axle, so that each motor brake unit 51 can directly perform vehicle braking according to the brake pedal travel signal. And / or, the parking handle control module 30 can be electrically connected to the motor brake unit 51 corresponding to each axle, so that each motor brake unit 51 can directly perform vehicle braking according to the parking handle gear position signal. It can be understood that the required braking force corresponding to the execution of vehicle braking by the motor brake unit 51 corresponding to each axle is determined according to the actual operation of the vehicle and the braking demand of the driver.

[0076] Optionally, continue to refer to Figure 1 The electronic mechanical braking system also includes a trailer parking control module 61; the trailer parking control module 61 is electrically connected to the central electronic control module 10, and the central electronic control module 10 is also used to generate a first trailer control instruction based on at least the brake pedal travel signal; the trailer parking control module 61 is used to execute trailer braking according to the received first trailer control instruction.

[0077] Specifically, it should be noted that the brake pedal control module 20, the parking handle control module 30, the wheel speed detection module 40 and the motor brake module 50 mentioned in the above embodiment can be mainly applied to non-traction vehicles or motor vehicles of traction vehicles. For the trailer of the traction vehicle, it can be understood that the trailer of the traction vehicle still uses pneumatic brakes at present, and the technical solution of this embodiment realizes the use of electronic mechanical brakes in non-traction vehicles or motor vehicles of traction vehicles. In this way, the combination of pneumatic brakes for the trailer of the traction vehicle and electronic mechanical brakes for the motor vehicle of the traction vehicle is realized, which has strong practical significance. In addition, it can be understood that the braking method of the trailer of the traction vehicle is pneumatic brakes, but the control of the trailer by the electronic mechanical brake system of the traction vehicle still belongs to the category of electronic mechanical brakes.

[0078] If a tractor-type vehicle is equipped with a trailer, a trailer parking control module 61 corresponds to any trailer. It can be understood that the setting of the trailer parking control module 61 can achieve compatibility with the trailer of the tractor-type vehicle using pneumatic brakes and the motor vehicle of the tractor-type vehicle using electronic mechanical brakes. The trailer parking control module 61 is electrically connected to the central electronic control module 10, and the central electronic control module 10 is also electrically connected to the brake pedal control module 20. Exemplarily, when the vehicle is in a driving state, that is, when the driver wants to brake briefly, the driver steps on the brake pedal, and the stroke of the brake pedal changes. The brake pedal control module 20 can generate a brake pedal stroke signal according to the stroke of the brake pedal and transmit it to the central electronic control module 10. The central electronic control module 10 can also generate a first trailer control instruction at least according to the brake pedal stroke signal. The trailer parking control module 61 can receive the first trailer control instruction and execute trailer braking according to the first trailer control instruction. For example, the trailer parking control module 61 can change the opening of the solenoid valve in the trailer parking control module 61 itself according to the first trailer control instruction, so that the size of the air pressure output of the trailer parking control module 61 is more in line with the vehicle braking requirements, and the motor vehicle and the trailer of the tractor-type vehicle can achieve stable braking and parking in a nearly synchronous manner. In addition, the central electronic control module 10 can also generate the first trailer control instruction according to the brake pedal travel signal, the parking handle gear position signal, and the wheel speed signal, which is conducive to improving the stability and safety of the trailer braking.

[0079] Further, continue to refer to Figure 1The electronic mechanical braking system also includes a trailer parking control module 62; the trailer parking control module 62 is electrically connected to the central electronic control module 10, and the central electronic control module 10 is also used to generate a second trailer control instruction at least according to the parking handle gear position signal; the trailer parking control module 62 is connected to the trailer parking control module 61 through a first air path 63, and the trailer parking control module 62 is used to adjust the air pressure in the first air path 63 according to the received second trailer control instruction; the trailer parking control module 61 is also used to perform trailer braking according to the air pressure in the first air path 63.

[0080] Specifically, if a tractor-type vehicle is equipped with a trailer, for any trailer, there is a corresponding trailer parking control module 61 and a corresponding trailer parking control module 62. The setting of the trailer parking control module 62 can also achieve compatibility with the trailer of the tractor-type vehicle using pneumatic brakes and the motor vehicle of the tractor-type vehicle using electronic mechanical brakes. The trailer parking control module 62 is electrically connected to the central electronic control module 10, and the central electronic control module 10 is also electrically connected to the parking handle control module 30. Exemplarily, when the vehicle is in a parking state, that is, when the driver wants to park for a long time, the driver moves the parking handle, and the gear position of the parking handle changes. The parking handle control module 30 can generate a parking handle gear position signal according to the gear position of the parking handle, and transmit it to the central electronic control module 10. The central electronic control module 10 can also generate a second trailer control instruction at least according to the parking handle gear position signal. The trailer parking control module 62 can receive the second trailer control instruction. The trailer parking control module 62 is connected to the trailer parking control module 61 through the first air circuit 63, so that the trailer parking control module 62 can also adjust the air pressure in the first air circuit 63 according to the received second trailer control instruction. Exemplarily, the trailer parking control module 62 can change the opening of the solenoid valve in the trailer parking control module 62 itself according to the second trailer control instruction to change the air pressure in the first air circuit 63. The trailer parking control module 61 can also perform trailer braking according to the air pressure in the first air circuit 63. It should be noted that the smaller the air pressure in the first air circuit 63, the greater the air pressure output of the trailer parking control module 61 to control the trailer braking, and the trailer parking control module 61 can make the air pressure output of the trailer parking control module 61 more in line with the vehicle braking requirements according to the air pressure in the first air circuit 63, and make the motor vehicle and the trailer of the traction type vehicle achieve stable braking parking in a nearly synchronous manner. In a specific embodiment, there is no air pressure in the first air path 63, and the trailer parking control module 61 can maintain a constant air pressure output, so that the trailer can be braked. In addition, the central electronic control module 10 can also generate a second trailer control instruction according to the brake pedal travel signal, the parking handle gear position signal, and the wheel speed signal, which is conducive to improving the stability and safety of trailer braking.

[0081] Optionally, continue to refer to Figure 1 The brake pedal control module 20 is connected to the trailer parking control module 61 through a second air path 64 . The trailer parking control module 61 is also used to perform trailer braking according to the air pressure in the second air path 64 .

[0082] Specifically, this embodiment is mainly aimed at the situation that the central electric control module 10 cannot work, the central electric control module 10 fails, the electrical connection line between the central electric control module 10 and the trailer parking control module 61 is broken and failed, and the electrical connection line between the central electric control module 10 and the trailer parking control module 62 is broken and failed. That is, at this time, the central electric control module 10 cannot generate the first trailer control instruction at least according to the brake pedal travel signal, and / or the central electric control module 10 cannot generate the second trailer control instruction at least according to the parking handle gear signal. In this way, the brake pedal control module 20 is additionally provided to be connected with the trailer parking control module 61 through the second air circuit 64, and the brake pedal control module 20 and the brake pedal can be mechanically connected through the push rod structure. When the vehicle is in the driving state, that is, when the driver wants to brake briefly, the driver presses the brake pedal, the travel of the brake pedal changes, and the air pressure in the second air circuit 64 also changes. The trailer parking control module 61 can also perform trailer braking according to the air pressure in the second air circuit 64. It should be noted that the greater the air pressure in the second air circuit 64, the greater the air pressure output for controlling the trailer brake. The trailer parking control module 61 can make the air pressure output of the trailer parking control module 61 more in line with the vehicle braking requirements according to the air pressure in the second air circuit 64.

[0083] In addition, it should be noted that the central electric control module 10 and the motor brake module 50 are respectively electrically connected to the vehicle power supply to ensure the normal operation of the central electric control module 10 and the motor brake module 50. The brake pedal control module 20, the trailer parking control module 61, and the trailer parking control module 62 are respectively connected to the vehicle air source gas circuit to ensure the normal operation of the brake pedal control module 20, the trailer parking control module 61, and the trailer parking control module 62. The trailer parking control module 61 can also supply air to the air tank of the trailer through the gas circuit to ensure the normal operation of the trailer.

[0084] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, combinations and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. An electromechanical braking system, characterized in that: It includes central electronic control module, brake pedal control module, parking handle control module, wheel speed detection module and motor brake module; The brake pedal control module is used to generate a brake pedal travel signal according to the travel of the brake pedal; The parking handle control module is used to generate a parking handle gear position signal according to the gear position of the parking handle; The wheel speed detection module is used to generate a wheel speed signal according to the rotation speed of the wheel; The central electronic control module is electrically connected to the brake pedal control module, the parking handle control module, the wheel speed detection module, and the motor brake module, respectively. The central electronic control module is used to calculate the required braking force according to at least the brake pedal travel signal, the parking handle gear position signal, and the wheel speed signal, and is also used to generate a brake control instruction according to the required braking force; The motor brake module is used to perform vehicle braking according to the received brake control instruction; The brake pedal control module is electrically connected to the motor brake module, and the motor brake module is further used to perform vehicle braking according to the received brake pedal stroke signal when the central electronic control module is unable to calculate the required braking force and generate a brake control instruction according to at least the brake pedal stroke signal, the parking handle gear position signal, and the wheel speed signal; and / or, The parking handle control module is electrically connected to the motor brake module, and the motor brake module is further used to perform vehicle braking according to the received parking handle gear position signal when the central electronic control module is unable to calculate the required braking force and generate a braking control instruction according to at least the brake pedal travel signal, the parking handle gear position signal, and the wheel speed signal; The motor brake module includes at least two motor brake units, the brake control instruction includes at least two brake control sub-instructions, each of the brake control sub-instructions is the same or different, and the number of the motor brake units is the same as the number of the brake control sub-instructions, and the number of the motor brake units is the same as the number of the axles; The central electronic control module is electrically connected to at least two of the motor brake units respectively, and is used to calculate the required braking force according to at least the brake pedal travel signal, the parking handle gear position signal, and the wheel speed signal, and is also used to generate at least two brake control sub-instructions according to the required braking force; The motor brake unit is used to control the corresponding axle to perform vehicle braking according to the corresponding brake control sub-instruction received; The motor brake unit comprises a motor control subunit, a first motor, a second motor, a first caliper structure and a second caliper structure; The motor control subunit is electrically connected to the central electric control module, the first motor, and the second motor respectively, and is used to determine a first required torque corresponding to the first motor and a second required torque corresponding to the second motor according to the received corresponding braking control sub-instruction and a preset mapping relationship between required braking force and required torque; The first motor is mechanically connected to the first caliper structure, and the first motor drives the first caliper structure to clamp the brake disc with the first required torque to perform vehicle braking; The second motor is mechanically connected to the second caliper structure, and the second motor drives the second caliper structure to clamp the brake disc with the second required torque to perform vehicle braking.

2. The electromechanical brake system according to claim 1, characterized in that: The wheel speed detection module includes at least two first wheel speed detection units and at least two second wheel speed detection units, the wheel speed signal includes at least two first wheel speed sub-signals and at least two second wheel speed sub-signals, each of the first wheel speed sub-signals is the same or different, each of the second wheel speed sub-signals is the same or different, and the number of the motor brake units is the same as the number of the first wheel speed detection units, the number of the second wheel speed detection units, the number of the first wheel speed sub-signals, and the number of the second wheel speed sub-signals respectively; The first wheel speed detection unit is electrically connected to the motor brake unit in a one-to-one correspondence, and the first wheel speed detection unit is used to generate the first wheel speed sub-signal according to the rotation speed of the first wheel in the corresponding axle; The second wheel speed detection unit is electrically connected to the motor brake unit in a one-to-one correspondence, and the second wheel speed detection unit is used to generate the second wheel speed sub-signal according to the rotation speed of the second wheel in the corresponding axle; The motor brake unit is electrically connected to the central electric control module, and the motor brake unit is also used to transmit the first wheel speed sub-signal and the second wheel speed sub-signal to the central electric control module; The central electronic control module is used to calculate the required braking force based on at least the brake pedal travel signal, the parking handle gear position signal, the first wheel speed sub-signal, and the second wheel speed sub-signal, and is also used to generate at least two of the brake control sub-instructions based on the required braking force.

3. The electromechanical brake system according to claim 1, characterized in that: It also includes a trailer parking control module; The trailer parking control module is electrically connected to the central electronic control module, and the central electronic control module is further used to generate a first trailer control instruction at least according to the brake pedal travel signal; The trailer parking control module is used to execute trailer braking according to the received first trailer control instruction.

4. The electromechanical brake system according to claim 3, characterized in that: Also included is a trailer parking control module; The trailer parking control module is electrically connected to the central electric control module, and the central electric control module is further used to generate a second trailer control instruction at least according to the parking handle gear position signal; The trailer parking control module is connected to the trailer driving control module via a first air circuit, and the trailer parking control module is used to adjust the air pressure in the first air circuit according to the received second trailer control instruction; The trailer parking control module is further used to perform trailer braking according to the air pressure in the first air circuit.

5. The electromechanical brake system according to claim 3, characterized in that: The brake pedal control module is connected to the trailer parking control module via a second air circuit, and the trailer parking control module is further used to perform trailer braking according to the air pressure in the second air circuit.

6. The electromechanical brake system according to claim 1, characterized in that: Also included is a steering wheel angle detection module; The steering wheel angle detection module is used to generate a steering wheel angle signal according to the rotation angle of the steering wheel; The central electronic control module is electrically connected to the steering wheel angle detection module. The central electronic control module is used to calculate the required braking force based on the brake pedal travel signal, the parking handle gear signal, the wheel speed signal, and the steering wheel angle signal, and is also used to generate the braking control instruction based on the required braking force.

7. The electromechanical brake system according to claim 1, characterized in that: Also included is an axle load detection module; The axle load detection module is used to generate an axle load signal according to the load of the axle; The central electronic control module is electrically connected to the axle load detection module. The central electronic control module is used to calculate the required braking force based on the brake pedal travel signal, the parking handle gear signal, the wheel speed signal, and the axle load signal, and is also used to generate the braking control instruction based on the required braking force.

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