Control method and system for parameter updating of electronic mechanical braking system and vehicle

Abstract

The invention discloses a control method and system for parameter updating of an electronic mechanical braking system and a vehicle. The control method comprises the steps that a chassis domain controller is configured in advance to be electrically connected with the electronic mechanical braking system; controlling the chassis domain controller to send a whole vehicle parameter message to the mechano-electronic braking system, wherein the whole vehicle parameter message comprises a plurality of whole vehicle parameters; the electronic mechanical braking system receives the whole vehicle parameter message and extracts the whole vehicle parameters from the whole vehicle parameter message to serve as current whole vehicle parameters; the electronic mechanical braking system is further configured to determine whether previous whole vehicle parameters in the electronic mechanical braking system are consistent with the current whole vehicle parameters or not, and if not, the previous whole vehicle parameters are updated to be the current whole vehicle parameters. The software updating efficiency and universality of the electronic mechanical braking system can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle chassis, and in particular to a control method, system and vehicle for updating parameters of an electronic mechanical brake system. Background Art

[0002] With the popularization of autonomous driving technology, the importance of wire-controlled chassis has become increasingly prominent. Among them, the electromechanical braking system (EMB), as an advanced direction of wire-controlled braking, has significant technical advantages and application prospects. EMB not only supports all current complex braking functions, such as anti-lock braking system (ABS), traction control system (TRC) and vehicle dynamics control system (VDC), but also can achieve more efficient and precise braking control through the cooperation of distributed actuators and domain controllers.

[0003] The EMB actuator, also known as a distributed actuator, has complex functional algorithms that work with the domain controller in the actuator. The EMB contains vehicle-related parameters, and the vehicle parameters are calibrated or stored in non-volatile memory (NVM). In the prior art, the software including the vehicle parameters needs to be flashed into the controller through a flashing device during the debugging process before the vehicle goes offline, the offline process, and the repair and replacement process at the user end. The traditional flashing solution is not only time-consuming and inefficient, but also brings challenges to the platformization of the software. Different projects cannot use the same EMB actuator and have poor versatility.

[0004] The disclosure of the above background technology content is only used to assist in understanding the inventive concept and technical solution of the present invention. It does not necessarily belong to the prior art of the present application, nor does it necessarily provide technical guidance. In the absence of clear evidence that the above content has been disclosed before the filing date of the present application, the above background technology should not be used to evaluate the novelty and creativity of the present application. Summary of the invention

[0005] The object of the present invention is to provide a control method, system and vehicle for updating parameters of an electronic mechanical brake system, which can improve the software update efficiency and versatility of the electronic mechanical brake system.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] A control method for updating parameters of an electronic mechanical brake system comprises the following steps:

[0008] Pre-configuring a chassis domain controller (CDC) to be electrically connected to an electromechanical brake system;

[0009] Controlling the chassis domain controller to send a vehicle parameter message to the mechanical electronic brake system, wherein the vehicle parameter message includes a plurality of vehicle parameters;

[0010] The electronic mechanical braking system receives the vehicle parameter message, and extracts the vehicle parameter from the vehicle parameter message as the current vehicle parameter;

[0011] The electronic mechanical braking system is also configured to determine whether the previous vehicle parameters within it are consistent with the current vehicle parameters. If not, the previous vehicle parameters are updated to the current vehicle parameters.

[0012] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the control method further includes the following steps:

[0013] Pre-configuring an initial program in the electronic mechanical braking system, wherein the initial program is configured with preset initial vehicle parameters;

[0014] The electronic mechanical braking system is also configured to update the initial vehicle parameters to the current vehicle parameters.

[0015] Furthermore, any one of the above-mentioned technical solutions or a combination of multiple technical solutions further includes the following steps:

[0016] Pre-configure a corresponding parameter range for each of the vehicle parameters;

[0017] For each of the current vehicle parameters, the electronic mechanical braking system is also configured to determine whether the current vehicle parameter is within its corresponding parameter range. If so, it further determines whether the previous vehicle parameter is consistent with the current vehicle parameter.

[0018] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, if the electronic mechanical braking system determines that the current vehicle parameter is not within its corresponding parameter range, the electronic mechanical braking system feeds back a first signal to the chassis domain controller to trigger the vehicle to send a prompt signal. In response to receiving the first signal, the chassis domain controller sends a third signal to the electronic control unit; and in response to receiving the fourth signal, the electronic control unit triggers the prompt device to send a prompt message.

[0019] Furthermore, based on any one of the technical solutions or a combination of multiple technical solutions mentioned above, during the vehicle debugging stage and / or the offline stage, the chassis domain controller sends a vehicle parameter message to the mechanical electronic braking system in response to receiving a power-on signal.

[0020] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, in the vehicle application stage, the chassis domain controller sends a vehicle parameter message to the mechanical electronic braking system in response to receiving a power-on signal; or,

[0021] In the vehicle application stage, the chassis domain controller sends a vehicle parameter message to the mechanical electronic braking system in response to receiving a second signal, where the second signal is different from the power-on signal.

[0022] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the mechanical electronic brake system includes a first EMB actuator, a second EMB actuator, a third EMB actuator and a fourth EMB actuator;

[0023] The first EMB actuator, the second EMB actuator, the third EMB actuator and the fourth EMB actuator are configured to synchronously receive the vehicle parameter message, and determine whether to update the previous vehicle parameters therein according to the vehicle parameter message.

[0024] Further, any one of the above-mentioned technical solutions or a combination of multiple technical solutions further includes: the electronic mechanical braking system is configured to determine the braking parameters according to the updated current vehicle parameters; and / or,

[0025] The electronic mechanical braking system is configured to write the current vehicle parameters into a non-volatile memory while updating the previous vehicle parameters to the current vehicle parameters.

[0026] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the chassis domain controller is configured to send a vehicle parameter message to the mechanical electronic brake system in the following manner:

[0027] The vehicle parameter message is sent to the electronic mechanical braking system within a preset first time period after the chassis domain controller is powered on.

[0028] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, the electronic mechanical braking system is configured to receive the vehicle parameter message in the following manner:

[0029] Within a preset second time period after the electronic mechanical braking system is powered on, if the number of times the electronic mechanical braking system successfully receives the vehicle parameter message exceeds a preset number, the electronic mechanical braking system extracts the vehicle parameter from the vehicle parameter message as the current vehicle parameter.

[0030] Further, based on any one of the technical solutions or a combination of multiple technical solutions described above, the vehicle parameters include tire rolling circumference, wheel speed sensor teeth number, brake energy efficiency coefficient, distributed slip function enabling parameter, slip control parameter, slip control parameter and slip control parameter; and / or,

[0031] If the previous vehicle parameters inside the electronic mechanical braking system are consistent with the current vehicle parameters, the previous vehicle parameters are not updated.

[0032] According to another aspect of the present invention, the present invention provides an electronic mechanical brake system, which updates its internal system parameters based on the control method for updating electronic mechanical brake system parameters as described in any one of the above technical solutions or a combination of multiple technical solutions.

[0033] According to another aspect of the present invention, the present invention provides a vehicle comprising an electrically connected chassis domain controller and a mechanical electronic brake system;

[0034] The chassis domain controller is configured to send a vehicle parameter message to the mechanical electronic brake system, wherein the vehicle parameter message includes a plurality of vehicle parameters;

[0035] The electronic mechanical braking system is configured to receive the vehicle parameter message, and extract the vehicle parameter from the vehicle parameter message as the current vehicle parameter;

[0036] The electronic mechanical braking system is also configured to determine whether the previous vehicle parameters within it are consistent with the current vehicle parameters. If not, the previous vehicle parameters are updated to the current vehicle parameters.

[0037] The beneficial effects brought by the technical solution provided by the present invention are as follows:

[0038] a. The present invention enables the mechanical electronic brake system to obtain the current vehicle parameters from the chassis domain controller to update the internal vehicle parameters, so that the EMB software of different projects and different vehicles (different vehicle models have different vehicle parameters) can be the same, which can greatly reduce the number of EMB actuator program versions developed, and reduce R&D costs and management costs;

[0039] b. This application configures the initial vehicle parameters that can be replaced by the vehicle parameters in the mechanical electronic brake system. During the vehicle debugging, offline and application stages, whether the vehicle changes or the EMB is replaced, there is no need to check the vehicle model, and the vehicle parameters do not need to be updated without changing the software. Therefore, there is no need to repeatedly rewrite the EMB program, which can reduce the process, shorten the vehicle production cycle, and reduce the risk of program errors;

[0040] c. The technical solution provided by this application makes it unnecessary for the vehicle OTA process to involve EMB, which can reduce the difficulty of OTA;

[0041] d. The present application can improve the safety of the vehicle by comparing the acquired current vehicle parameters with the preset parameter range and writing the vehicle parameters to the non-volatile memory while updating the vehicle parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in 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 recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 A flow chart of a first control method for updating parameters of an electronic mechanical brake system provided for an exemplary embodiment of the present invention;

[0044] Figure 2 A framework diagram of an electromechanical braking system provided for an exemplary embodiment of the present invention;

[0045] Figure 3 A flowchart of an electronic mechanical brake system program update provided for an exemplary embodiment of the present invention;

[0046] Figure 4 A flowchart of a second control method for updating parameters of an electronic mechanical brake system provided by an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0048] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0049] In one embodiment of the present invention, a control method for updating parameters of an electronic mechanical brake system is provided. Figure 1 , the method comprises the following steps:

[0050] pre-configuring the chassis domain controller to be electrically connected to the electromechanical brake system;

[0051] Control the chassis domain controller to send a vehicle parameter message to the mechanical electronic brake system, wherein the vehicle parameter message includes a plurality of vehicle parameters, and each vehicle parameter has a unique ID;

[0052] The electronic mechanical braking system receives the vehicle parameter message, and extracts the vehicle parameter from the vehicle parameter message as the current vehicle parameter;

[0053] The electronic mechanical braking system is also configured to determine whether the previous vehicle parameters within it are consistent with the current vehicle parameters. If not, the previous vehicle parameters are updated to the current vehicle parameters.

[0054] If the previous vehicle parameters inside the electronic mechanical braking system are consistent with the current vehicle parameters, the previous vehicle parameters are not updated.

[0055] The vehicle parameters are vehicle calibration parameters, which are determined through vehicle testing, and usually include tire rolling circumference, wheel speed sensor teeth number, brake energy efficiency coefficient, distributed slip function enabling parameter, slip control parameter, slip control parameter and slip control parameter. The tire rolling circumference is usually in the range of 1.8 meters to 3 meters, the wheel speed sensor teeth number is usually in the range of 40-50, the brake energy efficiency coefficient is usually in the range of 50-120, the distributed slip function enabling parameter is usually in the range of 0-1, the slip control parameter KP is usually in the range of 0-10, the slip control parameter KI is usually in the range of 0-10, and the slip control parameter KD is usually in the range of 0-10.

[0056] The electromechanical brake system is configured to determine the braking parameters according to the updated current vehicle parameters. For example, the EMB actuator calculates the wheel speed according to the updated rolling circumference and the number of teeth of the wheel speed sensor; and determines the distribution of the brake clamping force according to the updated braking energy efficiency parameters.

[0057] The control method for updating the parameters of an electronic mechanical brake system provided by the present invention is essentially also a control method for updating the program of an electronic mechanical brake system. At present, the vehicle parameters of the vehicle are directly written into the program of the vehicle EMB actuator. Due to the wide variety of vehicle models, there are too many versions of the EMB actuator program and the management cost is too high. Moreover, during the vehicle development and debugging stage of the vehicle manufacturer, multiple vehicles are required to undergo multiple tests and parameter calibrations. Each time a new vehicle parameter is obtained through calibration, the EMB actuator program needs to be rewritten and re-written into the EMB system. The process is cumbersome, time-consuming and inefficient. For example, the dynamic slip rate PID is a key parameter for braking force performance. During the vehicle performance development process, the dynamic slip rate PID parameters are often modified. Whenever the parameters change, engineers are required to re-write the EMB actuator program.

[0058] During the vehicle offline phase, each EMB system also needs to be flashed, resulting in a relatively long offline cycle. During the application phase after the vehicle is delivered to the user, when the EMB actuator needs to be replaced or the manufacturer updates the vehicle parameters, it is usually necessary for the vehicle manufacturer or after-sales 4S shop to use professional flashing equipment (diagnostic instrument) to flash, which is not only inefficient and costly, but also affects the user's use of the vehicle. Although some vehicles can choose to update the EMB program OTA to adjust the vehicle parameters of the EMB, the OTA process is relatively complicated, with a high risk of failure and poor security.

[0059] It should be noted that the EHB actuator before EMB did not have its own software and was not complicated. It was driven directly by an external actuator. That is, the EHB actuator had no brain, but only action. Now the EMB actuator has independent control and the internal software is more complicated. Therefore, the default method in this field is to update the EMB program by flashing the program or using OTA (Over-The-Air Technology). However, this application proposes a new idea of ​​sending the whole vehicle parameter message to the EMB through the chassis domain controller to update the EMB program / parameters.

[0060] In this embodiment, see Figure 3, an initial program is pre-configured in the electronic mechanical brake system, and the initial program is configured with preset initial vehicle parameters. The initial vehicle parameters corresponding to different vehicle parameters can be the same or different, and different vehicle parameters are distinguished by ID; after the chassis domain controller is electrically connected to the electronic mechanical brake system, the chassis domain controller sends a vehicle parameter message to the mechanical electronic brake system, and the electronic mechanical brake system extracts the current vehicle parameters from the vehicle parameter message and updates the initial vehicle parameters to the current vehicle parameters. In this way, different vehicle models can use the same EMB actuator program, which can greatly reduce the number of EMB actuator program versions developed, and reduce R&D costs and management costs.

[0061] In addition, there is no need to repeatedly reprogram the EMB during the vehicle debugging and offline stages, such as Figure 1 As shown, during the vehicle debugging stage and / or offline stage, the chassis domain controller responds to receiving a power-on signal and sends a vehicle parameter message to the mechanical electronic brake system. During the vehicle debugging stage and offline stage, the chassis domain controller responds to receiving a power-on signal and sends a vehicle parameter message to the mechanical electronic brake system.

[0062] More preferably, within a preset first time period (eg Figure 2 Within the 5 seconds shown, of course, it can also be other time periods, such as 3, 4, 6 seconds, etc.), the vehicle parameter message is sent to the electronic mechanical braking system. Within the preset second time period after the electronic mechanical braking system is powered on (for example Figure 2 Within the 5 seconds shown, of course, it can also be other times, such as 3, 4, 6 seconds, etc.), if the number of times the electronic mechanical brake system successfully receives the vehicle parameter message exceeds the preset number, the electronic mechanical brake system extracts the vehicle parameter from the vehicle parameter message as the current vehicle parameter. For example, an independent EMB actuator receives a vehicle parameter message, stops receiving after 2 successful rounds, and extracts the current vehicle parameter from the vehicle parameter message to determine whether the vehicle parameter needs to be updated. If it fails to successfully receive 2 rounds within 5 seconds, there is no subsequent operation.

[0063] In this embodiment, during the vehicle application stage, the chassis domain controller sends a vehicle parameter message to the mechanical electronic brake system in response to receiving a second signal, and the second signal is different from the power-on signal. Specifically, when the vehicle parameters of the vehicle are updated or the EMB actuator is replaced, the second signal is sent to the chassis domain controller to update the vehicle parameters in the EMB system. Of course, in other embodiments, during the vehicle application stage, it can also be set as follows: the chassis domain controller sends a vehicle parameter message to the mechanical electronic brake system in response to receiving a power-on signal. In this way, there is no need to update the vehicle parameters in the EMB system in a large number of cases.

[0064] In one embodiment of the present invention, the control method for updating the parameters of the electronic mechanical brake system further includes the following steps: pre-configuring a corresponding parameter range for each of the vehicle parameters; for each of the current vehicle parameters, the electronic mechanical brake system is further configured to determine whether the current vehicle parameter is within its corresponding parameter range, and if so, further determining whether the previous vehicle parameter is consistent with the current vehicle parameter. Preferably, the electronic mechanical brake system writes the current vehicle parameter into a non-volatile memory while updating the previous vehicle parameter to the current vehicle parameter.

[0065] If the electronic mechanical braking system determines that the current vehicle parameter is not within the corresponding parameter range, the electronic mechanical braking system feeds back a first signal to the chassis domain controller to trigger the vehicle to send a prompt signal. Specifically, the chassis domain controller sends a third signal to the electronic control unit in response to receiving the first signal; the electronic control unit triggers the prompt device to send a prompt message in response to receiving the fourth signal.

[0066] In one embodiment of the present invention, Figure 2 As shown, the mechanical electronic brake system includes a first EMB actuator, a second EMB actuator, a third EMB actuator and a fourth EMB actuator, that is, Figure 2 The EMB actuators corresponding to the left front wheel, right front wheel, left rear wheel and right rear wheel shown in the figure. The first EMB actuator, the second EMB actuator, the third EMB actuator and the fourth EMB actuator are configured to synchronously receive the vehicle parameter message and determine whether to update the previous vehicle parameters therein according to the vehicle parameter message.

[0067] In one embodiment of the present invention, an electronic mechanical brake system is provided, which updates its internal system parameters based on the control method for updating electronic mechanical brake system parameters as described in any one or a combination of multiple embodiments above.

[0068] In one embodiment of the present invention, a vehicle is provided, comprising a chassis domain controller and a mechanical electronic brake system electrically connected;

[0069] The chassis domain controller is configured to send a vehicle parameter message to the mechanical electronic brake system, wherein the vehicle parameter message includes a plurality of vehicle parameters;

[0070] The electronic mechanical braking system is configured to receive the vehicle parameter message, and extract the vehicle parameter from the vehicle parameter message as the current vehicle parameter;

[0071] The electronic mechanical braking system is also configured to determine whether the previous vehicle parameters within it are consistent with the current vehicle parameters. If not, the previous vehicle parameters are updated to the current vehicle parameters.

[0072] It should be noted that the above-mentioned electronic mechanical braking system and vehicle embodiments and the control method embodiment for updating electronic mechanical braking system parameters are based on the same inventive concept, and the entire contents of the control method embodiment for updating electronic mechanical braking system parameters are incorporated into the electronic mechanical braking system and vehicle embodiments by reference.

[0073] 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.

[0074] The above is only a specific implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A control method for updating parameters of an electronic mechanical brake system, characterized in that: The following steps are involved: pre-configuring the chassis domain controller to be electrically connected to the electromechanical brake system; Controlling the chassis domain controller to send a vehicle parameter message to the mechanical electronic brake system, wherein the vehicle parameter message includes a plurality of vehicle parameters; The electronic mechanical braking system receives the vehicle parameter message, and extracts the vehicle parameter from the vehicle parameter message as the current vehicle parameter; The electronic mechanical braking system is also configured to determine whether the previous vehicle parameters within it are consistent with the current vehicle parameters. If not, the previous vehicle parameters are updated to the current vehicle parameters.

2. The control method for updating parameters of an electronic mechanical brake system according to claim 1, characterized in that: The following steps are also included: Pre-configuring an initial program in the electronic mechanical braking system, wherein the initial program is configured with preset initial vehicle parameters; The electronic mechanical braking system is also configured to update the initial vehicle parameters to the current vehicle parameters.

3. The control method for updating parameters of an electronic mechanical brake system according to claim 2, characterized in that: The following steps are also included: Pre-configure a corresponding parameter range for each of the vehicle parameters; For each of the current vehicle parameters, the electronic mechanical braking system is also configured to determine whether the current vehicle parameter is within its corresponding parameter range. If so, it further determines whether the previous vehicle parameter is consistent with the current vehicle parameter.

4. The control method for updating parameters of an electronic mechanical brake system according to claim 3, characterized in that: If the electronic mechanical braking system determines that the current vehicle parameter is not within the corresponding parameter range, the electronic mechanical braking system feeds back a first signal to the chassis domain controller to trigger the vehicle to send a prompt signal.

5. The control method for updating parameters of an electronic mechanical brake system according to claim 2, characterized in that: During the vehicle debugging stage and / or offline stage, the chassis domain controller sends a vehicle parameter message to the mechanical electronic braking system in response to receiving a power-on signal.

6. The control method for updating parameters of an electronic mechanical brake system according to claim 5, characterized in that: In the vehicle application stage, the chassis domain controller sends a vehicle parameter message to the mechanical electronic brake system in response to receiving a power-on signal; or, In the vehicle application stage, the chassis domain controller sends a vehicle parameter message to the mechanical electronic braking system in response to receiving a second signal, where the second signal is different from the power-on signal.

7. The control method for updating parameters of an electronic mechanical brake system according to claim 1, characterized in that: The mechanical electronic brake system includes a first EMB actuator, a second EMB actuator, a third EMB actuator and a fourth EMB actuator; The first EMB actuator, the second EMB actuator, the third EMB actuator and the fourth EMB actuator are configured to synchronously receive the vehicle parameter message, and determine whether to update the previous vehicle parameters therein according to the vehicle parameter message.

8. The control method for updating parameters of an electronic mechanical brake system according to claim 1, characterized in that: Also includes: The electronic mechanical braking system is configured to determine braking parameters according to the updated current vehicle parameters; and / or, The electronic mechanical braking system is configured to write the current vehicle parameters into a non-volatile memory while updating the previous vehicle parameters to the current vehicle parameters.

9. The control method for updating parameters of an electronic mechanical brake system according to claim 1, characterized in that: The chassis domain controller is configured to send a vehicle parameter message to the mechanical electronic brake system in the following manner: The vehicle parameter message is sent to the electronic mechanical braking system within a preset first time period after the chassis domain controller is powered on.

10. The control method for updating parameters of an electronic mechanical brake system according to claim 1, characterized in that: The electronic mechanical braking system is configured to receive the vehicle parameter message in the following manner: Within a preset second time period after the electronic mechanical braking system is powered on, if the number of times the electronic mechanical braking system successfully receives the vehicle parameter message exceeds a preset number, the electronic mechanical braking system extracts the vehicle parameter from the vehicle parameter message as the current vehicle parameter.

11. The control method for updating parameters of an electronic mechanical brake system according to claim 1, characterized in that: The vehicle parameters include tire rolling circumference, wheel speed sensor teeth number, brake energy efficiency coefficient, distributed slip function enabling parameter, slip control parameter, slip control parameter and slip control parameter; and / or, If the previous vehicle parameters inside the electronic mechanical braking system are consistent with the current vehicle parameters, the previous vehicle parameters are not updated.

12. An electromechanical braking system, characterized in that: The control method for updating the parameters of the electronic mechanical brake system according to any one of claims 1 to 11 updates the internal system parameters.

13. A vehicle, characterized in that: including an electrically connected chassis domain controller and a mechanical electronic brake system; The chassis domain controller is configured to send a vehicle parameter message to the mechanical electronic brake system, wherein the vehicle parameter message includes a plurality of vehicle parameters; The electronic mechanical braking system is configured to receive the vehicle parameter message, and extract the vehicle parameter from the vehicle parameter message as the current vehicle parameter; The electronic mechanical braking system is also configured to determine whether the previous vehicle parameters within it are consistent with the current vehicle parameters. If not, the previous vehicle parameters are updated to the current vehicle parameters.

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