Electronic mechanical braking system and method

Abstract

The invention provides an electronic mechanical braking system and method, and relates to the technical field of vehicles. According to the system, a load sensing unit monitors the load capacity of vehicle tires in real time and transmits the load capacity, collected in real time, of the vehicle tires to an electronic control unit; the electronic control unit is used for dynamically adjusting a pedal feeling curve and a wheel braking force distribution proportion in real time according to the load capacity, collected in real time, of vehicle tires, the pedal feeling curve is the best corresponding relation between pedal displacement signals of the pedal simulator and the total braking force of the whole vehicle, and then the wheel braking force distribution proportion is obtained. A braking instruction is generated according to the pedal feeling curve and the wheel braking force distribution proportion, and the braking instruction is transmitted to an electronic mechanical brake; and the electronic mechanical brake is used for braking the vehicle according to the braking instruction. Therefore, by detecting the load capacity of the vehicle tires in real time and dynamically adjusting the pedal feeling curve and the wheel braking force distribution proportion in real time according to the load capacity of the vehicle tires, the braking effect of the vehicle can be greatly improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to an electronic mechanical braking system and method. Background Art

[0002] With the rapid development of national roads and transportation, the use of trucks is becoming more and more popular. Especially in the logistics, freight and other industries, trucks play a vital role. Commercial vehicles have the characteristics of light rear axle load when unloaded and heavy rear axle load when fully loaded, that is, the load of the whole vehicle varies greatly. The optimal braking force of the front and rear wheels is different when the load of the whole vehicle is different. At the same time, the braking acceleration during braking will cause weight transfer, which also affects the optimal braking force of the front and rear wheels. Usually, the braking system of the vehicle is designed according to the full load state, which means that when the load of the whole vehicle is small, the front and rear wheels cannot achieve the optimal braking force. The driver cannot get the best braking feeling under the low load of the whole vehicle. In addition, due to the low rear wheel locking pressure when the whole vehicle is unloaded, it is easy to cause the rear wheel to trigger the anti-lock too easily when braking under no-load conditions, which poses a safety risk. At the same time, commercial vehicles also have the characteristics of light left wheel load and heavy right wheel load when turning left, and the greater the lateral acceleration of the whole vehicle, the greater the weight difference between the left and right wheels. Usually, the braking system of a vehicle is designed based on the left-right symmetry of the load, which results in the left and right wheels being unable to achieve optimal braking force when there is a large weight difference between the left and right wheels during steering.

[0003] In summary, how to improve the braking effect of a vehicle is a problem that technical personnel in this field need to solve urgently. Summary of the invention

[0004] In view of this, the present application provides an electronic mechanical braking system and method, aiming to improve the braking effect of a vehicle.

[0005] In a first aspect, the present application provides an electromechanical braking system, comprising:

[0006] load sensing unit, electronic control unit and electromechanical brake;

[0007] The load sensing unit is used to monitor the load of the vehicle tires in real time; and transmit the load of the vehicle tires collected in real time to the electronic control unit;

[0008] The electronic control unit is used to dynamically adjust the pedal feel curve and the wheel braking force distribution ratio in real time according to the real-time collected load of the vehicle tire; the pedal feel curve is the best correspondence between the pedal displacement signal of the pedal simulator and the total braking force of the whole vehicle; generate a braking command according to the pedal feel curve and the wheel braking force distribution ratio; and transmit the braking command to the electronic mechanical brake;

[0009] The electromechanical brake is used to brake the vehicle according to the braking instruction.

[0010] Optionally, the system further includes:

[0011] A pedal simulator, for generating the pedal displacement signal in response to the pedal simulator being triggered; and transmitting the pedal displacement signal to the electronic control unit;

[0012] The electronic control unit is specifically used to generate a braking instruction according to the pedal displacement signal, the pedal feel curve and the wheel braking force distribution ratio.

[0013] Optionally, the load sensing unit includes:

[0014] Left front wheel load sensor, right front wheel load sensor, left rear wheel load sensor and right rear wheel load sensor;

[0015] The left front wheel load sensor is used to monitor the load of the left front wheel in real time; and transmit the load of the left front wheel collected in real time to the electronic control unit;

[0016] The right front wheel load sensor is used to monitor the load of the right front wheel in real time; and transmit the real-time collected load of the right front wheel to the electronic control unit;

[0017] The left rear wheel load sensor is used to monitor the load of the left rear wheel in real time; and transmit the real-time collected load of the left rear wheel to the electronic control unit;

[0018] The right rear wheel load sensor is used to monitor the load of the right rear wheel in real time; and transmit the real-time collected load of the right rear wheel to the electronic control unit.

[0019] Optionally, the electronic control unit is specifically used for:

[0020] Dynamically adjusting the pedal feel curve and the wheel braking force distribution ratio in real time according to the load of the left front wheel, the load of the right front wheel, the load of the left rear wheel and the load of the right rear wheel collected in real time;

[0021] generating a braking command for the left front wheel, a braking command for the right front wheel, a braking command for the left rear wheel, and a braking command for the right rear wheel according to the pedal feel curve and the wheel braking force distribution ratio;

[0022] The braking command for the left front wheel, the braking command for the right front wheel, the braking command for the left rear wheel, and the braking command for the right rear wheel are transmitted to the electromechanical brake.

[0023] Optionally, the electromechanical brake comprises:

[0024] left front electromechanical brake, right front electromechanical brake, left rear electromechanical brake and right rear electromechanical brake;

[0025] The left front electronic mechanical brake is used to brake the left front wheel according to the braking instruction for the left front wheel;

[0026] The right front electronic mechanical brake is used to brake the right front wheel according to the braking instruction for the right front wheel;

[0027] The left rear electronic mechanical brake is used to brake the left rear wheel according to the braking instruction for the left rear wheel;

[0028] The right rear electronic mechanical brake is used to brake the right rear wheel according to the braking instruction for the right rear wheel.

[0029] In a second aspect, the present application provides an electronic mechanical braking method, comprising:

[0030] Real-time monitoring of vehicle tire load;

[0031] According to the real-time collected load of the vehicle tire, the pedal feel curve and the wheel braking force distribution ratio are dynamically adjusted in real time; the pedal feel curve is the optimal correspondence between the pedal displacement signal of the pedal simulator and the total braking force of the whole vehicle;

[0032] generating a braking instruction according to the pedal feel curve and the wheel braking force distribution ratio;

[0033] The brake command brakes the vehicle.

[0034] Optionally, the method further includes:

[0035] In response to the pedal simulator being triggered, generating the pedal displacement signal;

[0036] The generating a braking instruction according to the pedal feel curve and the wheel braking force distribution ratio includes:

[0037] A braking command is generated according to the pedal displacement signal, the pedal feel curve and the wheel braking force distribution ratio.

[0038] Optionally, the real-time monitoring of the load of vehicle tires includes:

[0039] Real-time monitoring of the load on the left front wheel;

[0040] Real-time monitoring of the load on the right front wheel;

[0041] Real-time monitoring of the load on the left rear wheel;

[0042] Monitor the load on the right rear wheel in real time.

[0043] Optionally, dynamically adjusting the pedal feel curve and the wheel braking force distribution ratio in real time according to the real-time collected load of the vehicle tires includes:

[0044] Dynamically adjusting the pedal feel curve and the wheel braking force distribution ratio in real time according to the load of the left front wheel, the load of the right front wheel, the load of the left rear wheel and the load of the right rear wheel collected in real time;

[0045] The generating a braking instruction according to the pedal feel curve and the wheel braking force distribution ratio includes:

[0046] A braking command for the left front wheel, a braking command for the right front wheel, a braking command for the left rear wheel, and a braking command for the right rear wheel are generated according to the pedal feel curve and the wheel braking force distribution ratio.

[0047] Optionally, braking the vehicle according to the braking instruction includes:

[0048] braking the left front wheel according to the braking instruction for the left front wheel;

[0049] braking the right front wheel according to the braking instruction for the right front wheel;

[0050] braking the left rear wheel according to the braking instruction for the left rear wheel;

[0051] The right rear wheel is braked according to the braking instruction for the right rear wheel.

[0052] The present application provides an electronic mechanical braking system. The system includes: a load sensing unit, an electronic control unit and an electronic mechanical brake; the load sensing unit monitors the load of the vehicle tire in real time, and transmits the real-time collected load of the vehicle tire to the electronic control unit; the electronic control unit is used to first dynamically adjust the pedal feel curve and the wheel braking force distribution ratio in real time according to the real-time collected load of the vehicle tire, wherein the pedal feel curve is the optimal correspondence between the pedal displacement signal of the pedal simulator and the total braking force of the whole vehicle, and then, a braking command is generated according to the pedal feel curve and the wheel braking force distribution ratio, and the braking command is transmitted to the electronic mechanical brake; the electronic mechanical brake is used to brake the vehicle according to the braking command. In this way, by detecting the load of the vehicle tire in real time, and dynamically adjusting the pedal feel curve and the wheel braking force distribution ratio in real time according to the load of the vehicle tire, the braking effect of the vehicle can be greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0054] Figure 1 A flow chart of an electromechanical braking method provided in an embodiment of the present application;

[0055] Figure 2 A schematic diagram of the structure of an electromechanical braking system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. The present application provides an electronic mechanical braking system and method for use in the field of vehicle technology. The above is only an example and does not limit the application field of the method and system name provided by the present application.

[0057] With the rapid development of national roads and transportation, the use of trucks is becoming more and more popular. Especially in the logistics, freight and other industries, trucks play a vital role. Commercial vehicles have the characteristics of light rear axle load when unloaded and heavy rear axle load when fully loaded, that is, the load of the whole vehicle varies greatly. The optimal braking force of the front and rear wheels is different when the load of the whole vehicle is different. At the same time, the braking acceleration during braking will cause weight transfer, which also affects the optimal braking force of the front and rear wheels. Usually, the braking system of the vehicle is designed according to the full load state, which means that when the load of the whole vehicle is small, the front and rear wheels cannot achieve the optimal braking force. The driver cannot get the best braking feeling under the low load of the whole vehicle. In addition, due to the low rear wheel locking pressure when the whole vehicle is unloaded, it is easy to cause the rear wheel to trigger the anti-lock too easily when braking under no-load conditions, which poses a safety risk. At the same time, commercial vehicles also have the characteristics of light left wheel load and heavy right wheel load when turning left, and the greater the lateral acceleration of the whole vehicle, the greater the weight difference between the left and right wheels. Usually, the braking system of a vehicle is designed based on the left-right symmetry of the load, which results in the left and right wheels being unable to achieve optimal braking force when there is a large weight difference between the left and right wheels during steering.

[0058] After research, the inventor proposed the technical solution of this application. An electronic mechanical braking system includes: a load sensing unit, an electronic control unit and an electronic mechanical brake; the load sensing unit monitors the load of the vehicle tire in real time, and transmits the real-time collected load of the vehicle tire to the electronic control unit; the electronic control unit is used to first dynamically adjust the pedal feel curve and the wheel braking force distribution ratio in real time according to the real-time collected load of the vehicle tire, wherein the pedal feel curve is the optimal correspondence between the pedal displacement signal of the pedal simulator and the total braking force of the whole vehicle, and then, generates a braking command according to the pedal feel curve and the wheel braking force distribution ratio, and transmits the braking command to the electronic mechanical brake; the electronic mechanical brake is used to brake the vehicle according to the braking command. In this way, by detecting the load of the vehicle tire in real time, and dynamically adjusting the pedal feel curve and the wheel braking force distribution ratio in real time according to the load of the vehicle tire, the braking effect of the vehicle can be greatly improved.

[0059] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application. It should be noted that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings. In the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0060] See also Figure 1 , Figure 1 A flowchart of an electronic mechanical braking method provided in an embodiment of the present application includes:

[0061] S101: Monitor the load of vehicle tires in real time.

[0062] The load sensing unit uses advanced sensor technology, such as pressure sensors, displacement sensors or weight sensors, to monitor the load of the vehicle tires in real time. In some cases, the load sensing unit includes: left front wheel load sensor, right front wheel load sensor, left rear wheel load sensor and right rear wheel load sensor. These four sensors are installed in key parts such as the vehicle's suspension system and can capture the changes in the load of the vehicle's four wheels in real time.

[0063] S102: The load of the vehicle tire collected in real time is transmitted to the electronic control unit.

[0064] The load sensing unit transmits the load of the vehicle tires collected in real time to the electronic control unit, wherein the load of the vehicle tires includes the load of the left front wheel, the load of the right front wheel, the load of the left rear wheel and the load of the right rear wheel.

[0065] S103: According to the real-time collected vehicle tire load, dynamically adjust the pedal feel curve and wheel braking force distribution ratio in real time.

[0066] The electronic control unit ECU dynamically adjusts the pedal feel curve and the wheel braking force distribution ratio in real time according to the load of the vehicle tire collected in real time by the load sensing unit. Specifically, based on vehicle dynamics, braking force and a large amount of experimental data, the optimal braking force distribution ratio required for the four wheels under different loads is calculated, as well as the optimal correspondence between the pedal displacement signal of the pedal simulator and the total braking force of the vehicle, where the total braking force of the vehicle is equal to the sum of the braking forces of the four wheels.

[0067] S104: Generate a braking command according to the pedal feel curve and the wheel braking force distribution ratio.

[0068] In response to the pedal displacement signal transmitted by the pedal simulator, the ECU also receives the pedal displacement signal data of the pedal simulator in real time, and generates the braking command by converting the braking force size signals of the four wheels according to the optimal pedal feel curve and the optimal 4-wheel braking force distribution ratio calculated above.

[0069] Wherein, the pedal simulator is used to generate the pedal displacement signal in response to the pedal simulator being triggered; and transmit the pedal displacement signal to the electronic control unit.

[0070] S105: Transmit the braking command to the electromechanical brake.

[0071] The electronic control unit transmits a braking command to the electronic mechanical brake, and the braking command includes: a braking command to the left front wheel, a braking command to the right front wheel, a braking command to the left rear wheel, and a braking command to the right rear wheel.

[0072] S106: Braking the vehicle according to the braking command.

[0073] The electronic mechanical brake brakes the vehicle according to the braking command. Specifically, the left front electronic mechanical brake brakes the left front wheel according to the braking command for the left front wheel; the right front electronic mechanical brake brakes the right front wheel according to the braking command for the right front wheel; the left rear electronic mechanical brake brakes the left rear wheel according to the braking command for the left rear wheel; and the right rear electronic mechanical brake brakes the right rear wheel according to the braking command for the right rear wheel.

[0074] In the embodiment provided by the present application, the load of the vehicle tire is first monitored in real time, and then the pedal feel curve and the wheel braking force distribution ratio are adjusted in real time and dynamically according to the load of the vehicle tire collected in real time, wherein the pedal feel curve is the optimal correspondence between the pedal displacement signal of the pedal simulator and the total braking force of the whole vehicle, and then a braking command is generated according to the pedal feel curve and the wheel braking force distribution ratio, and finally, the braking command brakes the vehicle. In this way, by detecting the load of the vehicle tire in real time and dynamically adjusting the pedal feel curve and the wheel braking force distribution ratio according to the load of the vehicle tire in real time, the braking effect of the vehicle can be greatly improved.

[0075] The above are some specific implementations of the electronic mechanical braking method provided by the embodiment of the present application. Based on this, the present application also provides a corresponding system. The system provided by the embodiment of the present application will be introduced from the perspective of functional modularization.

[0076] See also Figure 2 , Figure 2 The present invention provides a schematic diagram of the structure of an electromechanical braking system, the electromechanical braking system 200 comprising:

[0077] A load sensing unit 210, an electronic control unit 220 and an electronic mechanical brake 230;

[0078] The load sensing unit 210 is used to monitor the load of the vehicle tires in real time; and transmit the load of the vehicle tires collected in real time to the electronic control unit 220;

[0079] The electronic control unit 220 is used to dynamically adjust the pedal feel curve and the wheel braking force distribution ratio in real time according to the real-time collected load of the vehicle tire; the pedal feel curve is the best correspondence between the pedal displacement signal of the pedal simulator and the total braking force of the whole vehicle; generate a braking command according to the pedal feel curve and the wheel braking force distribution ratio; and transmit the braking command to the electronic mechanical brake 230;

[0080] The electromechanical brake 230 is used to brake the vehicle according to the braking instruction.

[0081] Optionally, the system 200 further includes:

[0082] A pedal simulator, for generating the pedal displacement signal in response to the pedal simulator being triggered; and transmitting the pedal displacement signal to the electronic control unit 220;

[0083] The electronic control unit 220 is specifically configured to generate a braking instruction according to the pedal displacement signal, the pedal feel curve, and the wheel braking force distribution ratio.

[0084] Optionally, the load sensing unit 210 includes:

[0085] Left front wheel load sensor, right front wheel load sensor, left rear wheel load sensor and right rear wheel load sensor;

[0086] The left front wheel load sensor is used to monitor the load of the left front wheel in real time; and transmit the load of the left front wheel collected in real time to the electronic control unit;

[0087] The right front wheel load sensor is used to monitor the load of the right front wheel in real time; and transmit the real-time collected load of the right front wheel to the electronic control unit;

[0088] The left rear wheel load sensor is used to monitor the load of the left rear wheel in real time; and transmit the real-time collected load of the left rear wheel to the electronic control unit;

[0089] The right rear wheel load sensor is used to monitor the load of the right rear wheel in real time; and transmit the real-time collected load of the right rear wheel to the electronic control unit.

[0090] Optionally, the electronic control unit 220 is specifically used for:

[0091] Dynamically adjusting the pedal feel curve and the wheel braking force distribution ratio in real time according to the load of the left front wheel, the load of the right front wheel, the load of the left rear wheel and the load of the right rear wheel collected in real time;

[0092] generating a braking command for the left front wheel, a braking command for the right front wheel, a braking command for the left rear wheel, and a braking command for the right rear wheel according to the pedal feel curve and the wheel braking force distribution ratio;

[0093] The braking command for the left front wheel, the braking command for the right front wheel, the braking command for the left rear wheel, and the braking command for the right rear wheel are transmitted to the electromechanical brake.

[0094] Optionally, the electromechanical brake 230 comprises:

[0095] left front electromechanical brake, right front electromechanical brake, left rear electromechanical brake and right rear electromechanical brake;

[0096] The left front electronic mechanical brake is used to brake the left front wheel according to the braking instruction for the left front wheel;

[0097] The right front electronic mechanical brake is used to brake the right front wheel according to the braking instruction for the right front wheel;

[0098] The left rear electronic mechanical brake is used to brake the left rear wheel according to the braking instruction for the left rear wheel;

[0099] The right rear electronic mechanical brake is used to brake the right rear wheel according to the braking instruction for the right rear wheel.

[0100] The embodiments of the present application also provide corresponding devices and computer storage media for implementing the solutions provided by the embodiments of the present application.

[0101] The device includes a memory and a processor, the memory is used to store instructions or codes, and the processor is used to execute the instructions or codes so that the device executes the method described in any embodiment of the present application.

[0102] The computer storage medium stores codes, and when the codes are executed, a device executing the codes implements the method described in any embodiment of the present application.

[0103] Through the description of the above implementation methods, it can be known that those skilled in the art can clearly understand that all or part of the steps in the above-mentioned embodiment method can be implemented by means of software plus a general hardware platform. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product, and the computer software product can be stored in a storage medium, such as a read-only memory (ROM) / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network communication device such as a router) to execute the methods described in each embodiment of the present application or some parts of the embodiments.

[0104] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0105] It should also be noted that the various embodiments in this specification are described in a progressive manner, and the same and similar parts between the various embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The system embodiments described above are merely schematic, in which the units described as separate components may or may not be physically separated, and the components indicated as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0106] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An electromechanical braking system, characterized in that: include: load sensing unit, electronic control unit and electromechanical brake; The load sensing unit is used to monitor the load of the vehicle tires in real time; Transmitting the load of the vehicle tire collected in real time to the electronic control unit; The electronic control unit is used to dynamically adjust the pedal feel curve and the wheel braking force distribution ratio in real time according to the real-time collected load of the vehicle tire; the pedal feel curve is the best correspondence between the pedal displacement signal of the pedal simulator and the total braking force of the whole vehicle; generate a braking command according to the pedal feel curve and the wheel braking force distribution ratio; and transmit the braking command to the electronic mechanical brake; The electromechanical brake is used to brake the vehicle according to the braking instruction.

2. The system according to claim 1, characterized in that The system further comprises: A pedal simulator, for generating the pedal displacement signal in response to the pedal simulator being triggered; and transmitting the pedal displacement signal to the electronic control unit; The electronic control unit is specifically used to generate a braking instruction according to the pedal displacement signal, the pedal feel curve and the wheel braking force distribution ratio.

3. The system according to claim 1, characterized in that The load sensing unit comprises: Left front wheel load sensor, right front wheel load sensor, left rear wheel load sensor and right rear wheel load sensor; The left front wheel load sensor is used to monitor the load of the left front wheel in real time; and transmit the load of the left front wheel collected in real time to the electronic control unit; The right front wheel load sensor is used to monitor the load of the right front wheel in real time; and transmit the real-time collected load of the right front wheel to the electronic control unit; The left rear wheel load sensor is used to monitor the load of the left rear wheel in real time; and transmit the real-time collected load of the left rear wheel to the electronic control unit; The right rear wheel load sensor is used to monitor the load of the right rear wheel in real time; and transmit the real-time collected load of the right rear wheel to the electronic control unit.

4. The system according to claim 3, characterized in that The electronic control unit is specifically used for: Dynamically adjusting the pedal feel curve and the wheel braking force distribution ratio in real time according to the load of the left front wheel, the load of the right front wheel, the load of the left rear wheel and the load of the right rear wheel collected in real time; generating a braking command for the left front wheel, a braking command for the right front wheel, a braking command for the left rear wheel, and a braking command for the right rear wheel according to the pedal feel curve and the wheel braking force distribution ratio; The braking command for the left front wheel, the braking command for the right front wheel, the braking command for the left rear wheel, and the braking command for the right rear wheel are transmitted to the electromechanical brake.

5. The system according to claim 4, characterized in that The electromechanical brake comprises: left front electromechanical brake, right front electromechanical brake, left rear electromechanical brake and right rear electromechanical brake; The left front electronic mechanical brake is used to brake the left front wheel according to the braking instruction for the left front wheel; The right front electronic mechanical brake is used to brake the right front wheel according to the braking instruction for the right front wheel; The left rear electronic mechanical brake is used to brake the left rear wheel according to the braking instruction for the left rear wheel; The right rear electronic mechanical brake is used to brake the right rear wheel according to the braking instruction for the right rear wheel.

6. An electromechanical braking method, characterized in that: include: Real-time monitoring of vehicle tire load; According to the real-time collected load of the vehicle tire, the pedal feel curve and the wheel braking force distribution ratio are dynamically adjusted in real time; the pedal feel curve is the optimal correspondence between the pedal displacement signal of the pedal simulator and the total braking force of the whole vehicle; generating a braking instruction according to the pedal feel curve and the wheel braking force distribution ratio; The braking command brakes the vehicle.

7. The method according to claim 6, characterized in that The method further comprises: generating the pedal displacement signal in response to the pedal simulator being triggered; The generating a braking instruction according to the pedal feel curve and the wheel braking force distribution ratio includes: A braking command is generated according to the pedal displacement signal, the pedal feel curve and the wheel braking force distribution ratio.

8. The method according to claim 6, characterized in that The real-time monitoring of the load of vehicle tires includes: Real-time monitoring of the load on the left front wheel; Real-time monitoring of the load on the right front wheel; Real-time monitoring of the load on the left rear wheel; Monitor the load on the right rear wheel in real time.

9. The method according to claim 8, characterized in that The real-time dynamic adjustment of the pedal feel curve and the wheel braking force distribution ratio according to the real-time collected load of the vehicle tire includes: Dynamically adjusting the pedal feel curve and the wheel braking force distribution ratio in real time according to the load of the left front wheel, the load of the right front wheel, the load of the left rear wheel and the load of the right rear wheel collected in real time; The generating a braking instruction according to the pedal feel curve and the wheel braking force distribution ratio includes: A braking command for the left front wheel, a braking command for the right front wheel, a braking command for the left rear wheel, and a braking command for the right rear wheel are generated according to the pedal feel curve and the wheel braking force distribution ratio.

10. The method according to claim 9, characterized in that The step of braking the vehicle according to the braking instruction comprises: braking the left front wheel according to the braking instruction for the left front wheel; braking the right front wheel according to the braking instruction for the right front wheel; braking the left rear wheel according to the braking instruction for the left rear wheel; The right rear wheel is braked according to the braking instruction for the right rear wheel.

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