Drive-by-wire electro-mechanical brake system, redundant brake system and use method, pedal feeling simulator comprising brake system and vehicle

Abstract

The invention discloses a drive-by-wire electronic mechanical braking system, a redundant braking system and a using method, the drive-by-wire electronic mechanical braking system comprises a pedal feeling simulator of the braking system and a vehicle, when electronic mechanical braking fails, an electronic control unit observes the braking failure condition, then an electromagnetic valve in a hydraulic braking actuator is opened through a braking line, and the braking failure condition is simulated; the brake fluid in the brake master cylinder is injected into the hydraulic pipeline under the action of pedal force and then enters the hydraulic brake actuator for redundant brake. The brake system has a stable brake redundancy function, the defect that a traditional drive-by-wire electronic mechanical brake system is insufficient in redundant brake is overcome, meanwhile, complicated hydraulic pipelines of an electronic hydraulic system are reduced, and the brake system has wide application prospects.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle braking systems, and in particular to a wire-controlled electronic mechanical braking system, a redundant braking system and a use method thereof, a pedal feeling simulator including the braking system, and a vehicle. Background Art

[0002] Among the existing vehicles, most are electronic hydraulic brakes, while the electronic mechanical brake system directly transmits energy through electronic circuits and transmits signals through electronic data exchange. The simple structure and efficient performance of the electronic mechanical brake greatly improve the braking safety of the car. The advantages of the electronic mechanical brake system are: less mechanical connections, simple structure and small size; stable load transmission and stable braking performance; mechanical and electrical connections, rapid signal transmission and sensitive response; high transmission efficiency and energy saving; modular structure is easy to assemble and maintain. At the same time, there is a lack of effective redundant control of the electronic mechanical brake system at this stage, so there is a problem that it cannot be widely used. Summary of the invention

[0003] The object of the present invention is to provide a wire-controlled electronic mechanical brake system, a redundant brake system and a method of use, including a pedal feel simulator of the brake system and a vehicle, so as to solve the problem of insufficient redundant braking of the wire-controlled electronic mechanical brake system.

[0004] In order to solve the above technical problems, the present invention provides a wire-controlled electromechanical brake system for braking control of four wheels, comprising: A vehicle information collection unit is used to collect the vehicle's driving information and determine whether the electronic mechanical braking system fails; An electronic control unit, a motor and a hydraulic brake actuator, which obtain a target brake pressure required by a brake circuit based on vehicle driving information, control the hydraulic brake actuator to adjust the brake pressure when the brake pressure in the brake circuit is less than the target brake pressure, and control the hydraulic brake actuator to close when the brake pressure in the brake circuit is equal to the target brake pressure; The number of electronic brake actuators is the same as the number of vehicle wheels, and the electronic brake actuators are arranged in a one-to-one correspondence with the wheels of the vehicle; and the electronic brake actuators are all connected to the motor and the brake circuit, so that the current signal in the brake circuit triggers the motor to operate and brake each wheel of the vehicle.

[0005] Preferably, the wheels of the vehicle include a left front wheel, a right front wheel, a left rear wheel and a right rear wheel; similarly, the electronic brake actuator includes a left front electronic brake actuator, a right front electronic brake actuator, a left rear electronic brake actuator and a right rear electronic brake actuator; and the hydraulic brake actuator includes a left front hydraulic brake actuator and a right front hydraulic brake actuator; Among them, the left front electronic brake actuator and the left front hydraulic brake actuator are located on one side of the left front wheel, the right front electronic brake actuator and the right front hydraulic brake actuator are located on one side of the right front wheel, the left rear electronic brake actuator is located on one side of the left rear wheel, and the right rear electronic brake actuator is located on one side of the right rear wheel.

[0006] Preferably, the vehicle information collection unit includes: a pedal displacement sensor, a vehicle speed sensor, a pedal force sensor, and a longitudinal acceleration sensor; the brake pressure sensor is arranged in a one-to-one correspondence with the wheel, and is arranged on the wheel and the electronic brake actuator.

[0007] The present invention also provides a redundant braking system for backup braking of a wire-controlled electronic mechanical braking system, comprising: A fluid storage tank connected to the hydraulic pipeline and the brake master cylinder; A hydraulic brake actuator connected to the hydraulic line; A brake master cylinder has one end connected to the fluid storage tank and the other end connected to the hydraulic brake actuator. A push rod in the brake master cylinder pushes the brake fluid in the brake master cylinder into the hydraulic pipeline for redundant braking.

[0008] Preferably, the redundant brake system further comprises a pedal feel simulator control valve, wherein the pedal feel simulator control valve is connected to the brake master cylinder via a hydraulic pipeline, and is then connected to a pedal feel simulator piston having an external seal; A pedal feel simulator return valve, the pedal feel simulator return valve is connected to the brake master cylinder in parallel with the pedal feel simulator control valve, and is also connected to the pedal brake feel simulator piston with an external seal; A pedal feeling simulator piston with an outer seal, wherein the pedal feeling simulator with an outer seal includes a spring and a sealed mass block on the left to control the driver's feeling simulation function; Redundant brake first and second circuit control valves, the redundant brake first and second circuit control valves are controlled by an electronic control unit. When the braking force is insufficient, the electronic control unit issues a command, the redundant brake first and second circuit control valves are opened, and the brake fluid flows from the brake master cylinder and flows out to the left front wheel cylinder and the right front wheel cylinder booster valve; Left front wheel cylinder and right front wheel cylinder pressure reducing valves, which return the brake fluid in the left front wheel cylinder and the right front wheel cylinder to the fluid storage tank through the hydraulic pipeline after redundant braking is implemented; The left front wheel cylinder and the right front wheel cylinder pressure-boosting valves are used to brake the wheel cylinders by the inflow of brake fluid.

[0009] The present invention also provides a method for using a wire-controlled electronic mechanical brake system and a redundant brake system, comprising the following steps: Step A: The vehicle information collection unit collects the information of the vehicle during driving and the brake pressure applied by the wire-controlled electronic mechanical brake system; Step B: When the electronic control unit obtains the target braking pressure required by the electronic brake actuator based on the vehicle driving information and the braking pressure applied by the electronic brake actuator is less than the target braking pressure, the solenoid valve in the hydraulic brake actuator is controlled to open, so that the brake fluid flows from the brake master cylinder through the hydraulic pipeline into the hydraulic brake actuator to adjust the braking pressure in the brake pipeline to achieve the purpose of redundant braking; when the braking pressure in the electronic brake actuator is equal to the target braking pressure, the solenoid valve in the hydraulic brake actuator is controlled to close.

[0010] The present invention also provides a pedal feel simulator, which is directly connected to the brake master cylinder. When the brake pedal is pressed, the pedal feel simulator feeds back specific resistance to the driver. Since the front end of the pedal feel simulator is connected to the brake master cylinder of redundant braking, the brake master cylinder contains a push rod, which pushes the internal brake fluid to flow to the hydraulic pipeline and finally to the hydraulic brake actuator to achieve redundant braking.

[0011] The present invention also provides a vehicle, comprising the above-mentioned wire-controlled electronic mechanical braking system, redundant braking system and pedal feeling simulator.

[0012] Compared with the prior art, the present invention has the following beneficial effects: In view of the situation that the redundant braking in the electronic mechanical braking system is insufficient, that is, on a vehicle equipped with a wire-controlled electronic mechanical braking system, there may be a situation where the electronic mechanical braking fails during emergency braking. The present invention can greatly reduce the danger of driving through a hydraulic emergency braking method. And after calculation, the braking force applied to the front two wheels of the vehicle can meet the national standard for the minimum braking force that a vehicle can have when the brakes fail. Therefore, it is only necessary to add a redundant braking system of the electronic hydraulic braking system to the vehicle equipped with a wire-controlled electronic mechanical braking system, and control whether the redundant braking system is operating through an electronic control unit, so as to greatly improve the safety of the vehicle during driving, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a schematic structural diagram of a wire-controlled brake system provided by the present invention; Figure 2 It is a structural schematic diagram of the redundant braking system provided by the present invention.

[0014] In the figure: 1. Electronic control unit; 2. Pedal displacement sensor; 3. Vehicle speed sensor; 4. Pedal force sensor; 5. Longitudinal acceleration sensor; 6. Motor; 7. Electronic brake actuator; 8. Wheel; 9. Brake pressure sensor; 10. Hydraulic brake actuator; 11. Fluid reservoir; 12. Brake master cylinder; 13. Pedal feel simulator; 14. Brake pedal; 10-1. Redundant brake first and second circuit control valves; 10-2. Left front wheel cylinder, right front wheel cylinder pressure reducing valve; 10-3. Left front wheel cylinder, right front wheel cylinder pressure increasing valve; 13-1. Pedal feel simulator control valve; 13-2. Pedal feel simulator return valve; 13-3. Pedal feel simulator piston with external seal. DETAILED DESCRIPTION

[0015] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description and claims. It should be noted that the drawings are in very simplified form and in non-precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0016] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0017] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0018] In addition, the features, operations, and characteristics described in the specification can be combined in any appropriate manner to form various embodiments. Similarly, the steps or actions described in the method can also be adjusted in order in a manner that can be easily seen by those skilled in the art. Therefore, the various sequences in the specification and drawings are only for the purpose of describing a certain embodiment, and are not necessarily such sequences, unless otherwise stated that a certain sequence must be followed.

[0019] Embodiment 1 See also Figure 1 The present invention provides a wire-controlled electronic mechanical brake system for braking control of four wheels 8, comprising: a vehicle information collection unit for collecting vehicle driving information and determining whether the electronic mechanical brake system fails; an electronic control unit 1, a motor 6 and a hydraulic brake actuator 10, which obtain a target brake pressure required by a brake circuit based on vehicle driving information, and when the brake pressure in the brake circuit is less than the target brake pressure, control the hydraulic brake actuator 10 to adjust the brake pressure, and when the brake pressure in the brake circuit is equal to the target brake pressure, control the hydraulic brake actuator 10 to close; and electronic brake actuators 7 having the same number as the number of vehicle wheels, wherein the electronic brake actuators 7 are arranged in a one-to-one correspondence with the wheels 8 of the vehicle; and the electronic brake actuators 7 are all connected to the motor 6 and the brake circuit, so that the current signal in the brake circuit triggers the motor 6 to operate to brake each wheel 8 of the vehicle.

[0020] In view of the situation that the redundant braking in the electronic mechanical brake system is insufficient, that is, on a vehicle equipped with a wire-controlled electronic mechanical brake system, there may be a situation where the electronic mechanical brake fails during emergency braking. The present invention can greatly reduce the danger of driving through the hydraulic emergency braking method. And after calculation, the braking force applied to the front two wheels of the vehicle can meet the national standard for the minimum braking force that a vehicle can have when the brakes fail. Therefore, it is only necessary to add a redundant braking system of the electronic hydraulic brake system to the vehicle equipped with a wire-controlled electronic mechanical brake system, and control whether the redundant braking system is operating through the electronic control unit, so as to greatly improve the safety of the vehicle during driving.

[0021] Specifically, the wheels 8 of the vehicle include a left front wheel, a right front wheel, a left rear wheel and a right rear wheel; similarly, the electronic brake actuator 7 includes a left front electronic brake actuator, a right front electronic brake actuator, a left rear electronic brake actuator and a right rear electronic brake actuator; and the hydraulic brake actuator 10 includes a left front hydraulic brake actuator and a right front hydraulic brake actuator.

[0022] Among them, the left front electronic brake actuator and the left front hydraulic brake actuator are located on one side of the left front wheel, the right front electronic brake actuator and the right front hydraulic brake actuator are located on one side of the right front wheel, the left rear electronic brake actuator is located on one side of the left rear wheel, and the right rear electronic brake actuator is located on one side of the right rear wheel.

[0023] Furthermore, the vehicle information collection unit is a component of the vehicle used to collect driving data and brake pressure, etc., including: The pedal displacement sensor 2 is located inside the pedal, measures the pedal travel when the driver steps on the brake pedal, and transmits it back to the electronic control unit 1, which controls and issues a braking command; The vehicle speed sensor 3 measures the vehicle speed by satellite positioning or by a wheel speed sensor, and transmits the speed back to the electronic control unit 1 to obtain the vehicle speed, and controls the braking speed according to the vehicle speed and the intention of the driver when stepping on the brake pedal; The pedal force sensor 4 is connected to the brake pedal to detect the size of the pedal force to control the braking method; The longitudinal acceleration sensor 5 is located inside the vehicle and detects the vehicle acceleration during braking to prevent the brakes from locking, excessive speed, and loss of control of the vehicle during braking; A motor 6, wherein the motor 6 is connected to a brake circuit, and four motors 6 are respectively arranged next to four tires 8 of the vehicle and operate based on a signal of the brake circuit; The electronic brake actuator 7 is powered by the torque of the motor. The function of the electronic brake actuator 7 is to convert the torque of the motor 6 into a horizontal force. The four electronic brake actuators 7 correspond to the four wheels 8 respectively. Wheels 8, which are necessary components of a vehicle. Generally, a vehicle has four tires, namely, a left front wheel, a right front wheel, a left rear wheel, and a right rear wheel. The wheels play the role of bearing torque and supporting the vehicle as a whole; The brake pressure sensor 9 is arranged in one-to-one correspondence with the wheel 8 and is arranged on the wheel 8 and the electronic brake actuator 7 to detect the braking force actually implemented by the electronic brake actuator 7 and return this information to the electronic control unit 1.

[0024] Embodiment 2 See also Figure 1 The present invention also provides a redundant braking system for backup braking of a wire-controlled electronic mechanical braking system. It includes a fluid storage tank 11 connected to a hydraulic pipeline and a brake master cylinder 12, and recovers brake fluid from a hydraulic brake actuator 10; a hydraulic brake actuator 10 connected to a hydraulic pipeline; a brake master cylinder 12, one end of which is connected to the fluid storage tank 11 and the other end is connected to the hydraulic brake actuator 10, and a push rod in the brake master cylinder 12 pushes the brake fluid in the brake master cylinder into the hydraulic pipeline for redundant braking.

[0025] The working process of the redundant braking system is as follows: When the electronic brake actuator 7 fails, the brake pressure sensor 9 detects that the braking force is far less than the expected braking force issued by the electronic control unit 1, and the electronic control unit 1 receives the signal from the brake pressure sensor 9, and the electronic control unit 1 issues a command to the solenoid valve in the hydraulic brake actuator 10. The solenoid valve opens, and the brake fluid flows from the brake master cylinder through the hydraulic pipeline to the hydraulic brake actuator 10 under the driver's manpower, and acts on the two front wheels of the vehicle, achieving the effect of redundant braking.

[0026] Embodiment 3 The present invention also provides a method for using a wire-controlled electronic mechanical brake system and a redundant brake system. The vehicle information collection unit collects information about the vehicle during driving and the brake pressure applied by the wire-controlled electronic mechanical brake system; the electronic control unit 1 obtains the target brake pressure required by the electronic brake actuator 7 based on the vehicle driving information, and when the brake pressure applied by the electronic brake actuator 7 is less than the target brake pressure, the solenoid valve in the hydraulic brake actuator 10 is controlled to open, so that the brake fluid flows from the brake master cylinder through the hydraulic pipeline into the hydraulic brake actuator 10 to adjust the brake pressure in the brake pipeline to achieve the purpose of redundant braking; when the brake pressure in the electronic brake actuator 7 is equal to the target brake pressure, the solenoid valve in the hydraulic brake actuator 10 is controlled to close.

[0027] The present invention also provides a pedal feel simulator 13, which is directly connected to the brake master cylinder 12. When the brake pedal 14 is depressed, the pedal feel simulator 13 feeds back specific resistance to the driver. Since the front end of the pedal feel simulator 13 is connected to the redundant brake master cylinder 12, the brake master cylinder contains a push rod, which pushes the internal brake fluid to flow to the hydraulic pipeline and finally to the hydraulic brake actuator 10 to achieve redundant braking.

[0028] See also Figure 2 , the redundant braking system connected to the pedal feel simulator also includes: A pedal feel simulator control valve 13-1, wherein the pedal feel simulator control valve 13-1 is connected to the brake master cylinder 12 through a hydraulic pipeline, and then connected to a pedal feel simulator piston 13-3 with an external seal; A pedal feel simulator return valve 13-2, wherein the pedal feel simulator return valve 13-2 is connected to the brake master cylinder 12 in parallel with the pedal feel simulator control valve 13-1, and is also connected to a pedal brake feel simulator piston 13-3 including an external seal; A pedal feeling simulator piston 13-3 with an outer seal, wherein the pedal feeling simulator 13-3 with an outer seal includes a spring and a sealed mass block on the left to control the driver's feeling simulation function; Redundant brake first and second circuit control valves 10-1, the redundant brake first and second circuit control valves 10-1 are controlled by the electronic control unit 1. When the braking force is insufficient, the electronic control unit 1 issues a command, the redundant brake first and second circuit control valves 10-1 are opened, and the brake fluid flows from the brake master cylinder 12 and flows out to the left front wheel cylinder and the right front wheel cylinder booster valve 10-3; Left front wheel cylinder and right front wheel cylinder pressure reducing valves 10-2, which return the brake fluid in the left front wheel cylinder and the right front wheel cylinder to the fluid storage tank 11 through the hydraulic pipeline after redundant braking is implemented; The left front wheel cylinder and the right front wheel cylinder pressure-boosting valve 10 - 3 perform braking via the inflow of brake fluid into the wheel cylinder.

[0029] The redundant braking system of the present invention is implemented based on the wire-controlled electromechanical braking system in the first embodiment. The redundant braking system can avoid inevitable vehicle accidents caused by failure of the wire-controlled electromechanical braking system, does not require a complex architecture, has high safety, and has broad application prospects.

[0030] Embodiment 4 The present invention further provides a vehicle, comprising the wire-controlled electronic mechanical braking system in the first embodiment, the redundant braking system in the second embodiment, and the pedal feel simulator in the third embodiment.

[0031] The above description is only a description of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. Any changes or modifications made by a person skilled in the art in the field of the present invention based on the above disclosure shall fall within the scope of protection of the claims.

Claims

1. A wire-controlled electromechanical brake system for braking four wheels (8), characterized in that: include: A vehicle information collection unit is used to collect the vehicle's driving information and determine whether the electronic mechanical braking system fails; An electronic control unit (1), a motor (6) and a hydraulic brake actuator (10) are configured to obtain a target brake pressure required by a brake circuit based on vehicle driving information, and to control the hydraulic brake actuator (10) to adjust the brake pressure when the brake pressure in the brake circuit is less than the target brake pressure, and to control the hydraulic brake actuator (10) to be closed when the brake pressure in the brake circuit is equal to the target brake pressure; The number of electronic brake actuators (7) is the same as the number of vehicle wheels, and the electronic brake actuators (7) are arranged in a one-to-one correspondence with the wheels (8) of the vehicle; and the electronic brake actuators (7) are all connected to the motor (6) and the brake circuit, so that the current signal in the brake circuit triggers the motor (6) to operate and brake each wheel (8) of the vehicle.

2. A wire-controlled electromechanical brake system as claimed in claim 1, characterized in that: The wheels (8) of the vehicle include a left front wheel, a right front wheel, a left rear wheel and a right rear wheel; similarly, the electronic brake actuator (7) includes a left front electronic brake actuator, a right front electronic brake actuator, a left rear electronic brake actuator and a right rear electronic brake actuator; and the hydraulic brake actuator (10) includes a left front hydraulic brake actuator and a right front hydraulic brake actuator; Among them, the left front electronic brake actuator and the left front hydraulic brake actuator are located on one side of the left front wheel, the right front electronic brake actuator and the right front hydraulic brake actuator are located on one side of the right front wheel, the left rear electronic brake actuator is located on one side of the left rear wheel, and the right rear electronic brake actuator is located on one side of the right rear wheel.

3. A wire-controlled electromechanical brake system as claimed in claim 1, characterized in that: The vehicle information collection unit comprises: a pedal displacement sensor (2), a vehicle speed sensor (3), a pedal force sensor (4), a longitudinal acceleration sensor (5) and a brake pressure sensor (9); the brake pressure sensor (9) is arranged in a one-to-one correspondence with the wheel (8), and is arranged on the wheel (8) and the electronic brake actuator (7).

4. A redundant braking system for backup braking of a wire-controlled electromechanical braking system, characterized in that: include: A fluid storage tank (11) connected to a hydraulic pipeline and a brake master cylinder (12); A hydraulic brake actuator (10) connected to the hydraulic pipeline; A brake master cylinder (12) has one end connected to the fluid storage tank (11) and the other end connected to the hydraulic brake actuator (10); a push rod in the brake master cylinder (12) pushes the brake fluid in the brake master cylinder into the hydraulic pipeline to perform redundant braking.

5. A redundant braking system as claimed in claim 4, characterized in that: Also includes: A pedal feeling simulator control valve (13-1), wherein the pedal feeling simulator control valve (13-1) is connected to a brake master cylinder (12) via a hydraulic pipeline and is then connected to a pedal feeling simulator piston (13-3) having an external seal; A pedal feeling simulator liquid return valve (13-2), wherein the pedal feeling simulator liquid return valve (13-2) is connected to the brake master cylinder (12) in parallel with the pedal feeling simulator control valve (13-1), and is also connected to a pedal brake feeling simulator piston (13-3) including an external seal; A pedal feeling simulator piston (13-3) with an outer seal, wherein the pedal feeling simulator (13-3) with an outer seal includes a spring and a sealed mass block on the left side to control a driver's feeling simulation function; Redundant brake first and second circuit control valves (10-1), the redundant brake first and second circuit control valves (10-1) are controlled to open and close by an electronic control unit (1); when the braking force is insufficient, the electronic control unit (1) issues a command, the redundant brake first and second circuit control valves (10-1) are opened, and brake fluid flows from the brake master cylinder (12) and flows out to the left front wheel cylinder and the right front wheel cylinder booster valve (10-3); Left front wheel cylinder and right front wheel cylinder pressure reducing valves (10-2), which, after redundant braking is implemented, return the brake fluid in the left front wheel cylinder and the right front wheel cylinder to the fluid storage tank (11) through the hydraulic pipeline; The left front wheel cylinder and the right front wheel cylinder pressure boosting valve (10-3) are used for braking by the inflow of brake fluid into the wheel cylinder.

6. A method for using the wire-controlled electronic mechanical brake system and the redundant brake system as claimed in claim 1 or 4, characterized in that: The steps include: Step A: The vehicle information collection unit collects the information of the vehicle during driving and the brake pressure applied by the wire-controlled electronic mechanical brake system; Step B: The electronic control unit (1) obtains the target braking pressure required by the electronic brake actuator (7) based on the vehicle driving information, and when the braking pressure applied by the electronic brake actuator (7) is less than the target braking pressure, the electronic control unit (1) controls the solenoid valve in the hydraulic brake actuator (10) to open, so that the brake fluid flows from the brake master cylinder through the hydraulic pipeline into the hydraulic brake actuator (10), so as to adjust the brake pressure in the brake pipeline, thereby achieving the purpose of redundant braking; When the brake pressure in the electronic brake actuator (7) is equal to the target brake pressure, the solenoid valve in the hydraulic brake actuator (10) is controlled to close.

7. A pedal feel simulator (13), characterized in that: It is directly connected to the brake master cylinder (12). When the brake pedal (14) is depressed, the pedal feeling simulator (13) feeds back specific resistance to the driver. Since the front end of the pedal feeling simulator (13) is connected to the brake master cylinder (12) of redundant braking, the brake master cylinder contains a push rod, which pushes the internal brake fluid to flow to the hydraulic pipeline and finally to the hydraulic brake actuator (10), thereby realizing redundant braking.

8. A vehicle, characterized in that: It comprises the wire-controlled electronic mechanical braking system as claimed in claim 1, the redundant braking system as claimed in claim 4 and the pedal feel simulator as claimed in claim 7.

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