Redundant power supply control device and electromechanical brake system
By designing a redundant power control device in the electronic mechanical braking system, and using multi-modules to work together to achieve flexible switching of main and auxiliary power supplies, the problem of high cost of redundant power switching function in the prior art is solved, and the reliability and safety of the system are improved.
Patent Information
- Application Number
- CN202510202064.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-24
- Publication Date
- 2025-05-27
AI Technical Summary
In the prior art, in electronic mechanical braking systems, the redundant power switching function is costly and it is difficult to achieve flexible switching at the component level.
A redundant power control device is designed, including main power, auxiliary power and power processing unit. Through the main power monitoring module, auxiliary power monitoring module, microprocessor module, power power processing module, main power switching module, auxiliary power switching module and logic power processing module, flexible switching of main and auxiliary power supply is realized.
It realizes component-level redundant power switching, improves system reliability and security, while reducing costs.
Smart Images
Figure CN120049595A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a redundant power supply control device and an electromechanical braking system based on the same. Background Art
[0002] In the field of on-line braking systems, the dynamic safety of vehicles is a very critical issue. Especially in the electromechanical braking system (EMB), since the brake pedal is completely decoupled from the vehicle's entire braking system, safety has received more attention.
[0003] Currently, most of the power supply EE architectures of hydraulic braking systems are single-power-supply systems. For the vehicle's electrical system, reliability mainly considers the reliability of the power supply for electrical equipment. That is, if a certain power supply fails during vehicle operation, how to ensure the safe operation of the vehicle. For power supply design, the commonly used method is redundant power supply design. That is to say, the vehicle adopts dual-channel redundant power supply, that is, a design in which a low-voltage battery and a generator or a high-voltage DC / DC converter are connected in parallel. In this way, even during driving, if the engine accidentally stalls, the generator has no power output, or the high-voltage system malfunctions and the DC / DC converter cannot provide low-voltage power for the entire vehicle, the low-voltage battery can still provide power for the entire vehicle at this time, ensuring the normal operation of the vehicle's safety functions such as steering, braking, lighting, wipers, and other functions such as instruments, navigation, door locks, and windows, thereby ensuring the driving safety of the vehicle to the greatest extent.
[0004] From the perspective of the overall vehicle design, the design of redundant power supplies provides an energy supply guarantee for the EMB system. However, it is relatively costly to implement the switching function of redundant power supplies at the level of the vehicle's power management. Therefore, the design at the EMB component level needs to be able to flexibly switch the supply of the main power supply and the redundant power supply to ensure the safe operation of the EMB. Summary of the Invention
[0005] The technical problem to be solved by the present invention is to provide an improved redundant power supply control device at the component level with better switching control flexibility and lower cost.
[0006] To solve the above technical problems, a technical solution adopted by the present invention is: A redundant power supply control device is connected to a power load module. The redundant power supply control device includes a main power supply, an auxiliary power supply, and a power processing unit; the power processing unit is respectively connected to the main power supply, the auxiliary power supply, and the power load module; The power processing unit includes: A main power supply monitoring module, which is used to monitor the voltage of the main power supply signal output by the main power supply and output a corresponding main power supply voltage identification signal, and output a main power supply on / off switching signal based on a main power supply on / off control signal; Auxiliary power supply monitoring module, which is used to monitor the voltage of the auxiliary power supply signal output by the auxiliary power supply and output the corresponding auxiliary power supply voltage identification signal, and output the auxiliary power supply on / off switching signal based on the auxiliary power supply on / off control signal; Microprocessor module, which is used to judge the power supply state according to the main power supply voltage identification signal and the auxiliary power supply voltage identification signal, and output the main power supply on / off control signal or the auxiliary power supply on / off control signal based on the result of the power supply state judgment; Power supply processing module, which is used to obtain the main power supply signal or the auxiliary power supply signal, process the main power supply signal or the auxiliary power supply signal into a working power supply signal and then output it to the power load module; Main power supply switching module, which is used to realize the connection or disconnection between the main power supply and the power supply processing module based on the main power supply on / off switching signal; Auxiliary power supply switching module, which is used to realize the connection or disconnection between the auxiliary power supply and the power supply processing module based on the auxiliary power supply on / off switching signal; Logic power supply processing module, which is used to obtain the main power supply signal or the auxiliary power supply signal, process the main power supply signal or the auxiliary power supply signal into a module working power supply and then output it to the microprocessor module.
[0007] According to a specific embodiment of the present invention, the power supply processing module includes a filtering module for filtering and stabilizing the main power supply signal or the auxiliary power supply signal.
[0008] Preferably, the filtering module includes a π-type filtering network.
[0009] According to a specific embodiment of the present invention, the main power supply monitoring module includes a main power supply filtering module for obtaining the main power supply signal and filtering the main power supply signal to eliminate voltage fluctuations and output the main power supply voltage identification signal, and a main power supply output control module for obtaining the main power supply on / off control signal and correspondingly outputting the main power supply on / off switching signal.
[0010] According to a specific embodiment of the present invention, the auxiliary power supply monitoring module includes an auxiliary power supply filtering module for obtaining the auxiliary power supply signal and filtering the auxiliary power supply signal to eliminate voltage fluctuations and output the auxiliary power supply voltage identification signal, and an auxiliary power supply output control module for obtaining the auxiliary power supply on / off control signal and correspondingly outputting the auxiliary power supply on / off switching signal.
[0011] Preferably, the logic power supply processing module includes a comparison module configured to obtain the main power supply signal and the auxiliary power supply signal and compare the voltage of the main power supply signal with that of the auxiliary power supply signal, and an isolation module configured to isolate the main unit signal or the auxiliary power supply signal according to the result of the voltage comparison and output the non-isolated auxiliary power supply signal or main power supply signal to the microprocessor module.
[0012] Preferably, a lower voltage limit value and a delay time are preset in the microprocessor module; When the main power supply switching module is turned on and the auxiliary power supply switching module is turned off, if the microprocessor module determines based on the main power supply voltage identification signal that the voltage of the main power supply signal is lower than the lower voltage limit value and determines based on the auxiliary power supply voltage identification signal that the voltage of the auxiliary power supply signal is equal to or higher than the lower voltage limit value, after the delay time, the microprocessor module outputs the main power supply on / off control signal for controlling the disconnection of the main power supply switching module and the auxiliary power supply on / off control signal for controlling the connection of the auxiliary power supply switching module; When the main power supply switching module is turned off and the auxiliary power supply switching module is turned on, if the microprocessor module determines based on the auxiliary power supply voltage identification signal that the voltage of the auxiliary power supply signal is lower than the lower voltage limit value and determines based on the main power supply voltage identification signal that the voltage of the main power supply signal is equal to or higher than the lower voltage limit value, after the delay time, the microprocessor module outputs the main power supply on / off control signal for controlling the connection of the main power supply switching module and the auxiliary power supply on / off control signal for controlling the disconnection of the auxiliary power supply switching module.
[0013] On the other hand, the present invention provides an electromechanical braking system provided on a vehicle, which includes the above redundant power supply control device.
[0014] Furthermore, the power load module includes a plurality of wheel-side actuators for performing wheel braking on the vehicle. Further, the wheel-side actuators are arranged in one-to-one correspondence with the wheels of the vehicle.
[0015] Due to the application of the above technical solutions, the present invention has the following advantages compared with the prior art: The present invention can achieve flexible switching of redundant power supplies at the component level, has good reliability and safety, and low cost at the same time. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Attached Figure 1 is a schematic diagram of the architecture of the electromechanical braking system of the present invention.
[0017] Attached Figure 2 is a block diagram of the redundant power supply control device integrated in the electromechanical braking system of the present invention.
[0018] Attached Figure 3 is a schematic diagram of a π-type filter network. Specific implementation manners
[0019] The present invention will be further described below in conjunction with the embodiments shown in the attached drawings.
[0020] Embodiment 1: As attached Figure 1 shown, an electro-mechanical braking system provided on a vehicle includes a redundant power control device and a power load module. The power load module includes a plurality of wheel-side actuators for performing wheel braking on the vehicle. The wheel-side actuators are arranged in one-to-one correspondence with the wheels of the vehicle, and specifically include a right front wheel-side actuator (EMR FR) 100, a left front wheel-side actuator (EMR FL) 101, a right rear wheel-side actuator (EMR RR) 102, and a left rear wheel-side actuator (EMR RL) 103.
[0021] The redundant power control device connected to the power load module includes a main power supply 001 and an auxiliary power supply 002. Then, each of the wheel-side actuators 100-103 is electrically connected between the main power supply 001 and the auxiliary power supply 002. The redundant power control device further includes a power processing unit, and through the power processing unit, the selection control of the main power supply 001 or the auxiliary power supply 002 accessed by the power load module can be realized.
[0022] As attached Figure 2As shown, the power supply processing unit is respectively connected to the main power supply 001, the auxiliary power supply 002, and the power load module 1006. The power supply processing unit includes a main power supply monitoring module 1001, an auxiliary power supply monitoring module 1002, a microprocessor module 1007, a power supply processing module 1005, a main power supply switching module 1003, an auxiliary power supply switching module 1004, and a logic power supply processing module 1008. The main power supply 001 has two output terminals, the main power supply monitoring module 1001 has two input terminals and two output terminals, the auxiliary power supply monitoring module 1002 has two input terminals and two output terminals, the main power supply switching module 1003 has two input terminals and one output terminal, the auxiliary power supply switching module 1004 has two input terminals and one output terminal, the power supply processing module 1005 has one input terminal and one output terminal, the microprocessor module 1007 has three input terminals and two output terminals, and the logic power supply processing module 1008 has two input terminals and one output terminal. The first output terminal of the main power supply 001 branches into two paths and is respectively connected to the first input terminal of the main power supply monitoring module 1001 and the first input terminal (power supply terminal) of the main power supply switching module 1003. The second output terminal of the main power supply 001 is connected to the first input terminal of the logic power supply processing module 1008. The first output terminal of the auxiliary power supply 002 branches into two paths and is respectively connected to the first input terminal of the auxiliary power supply monitoring module 1002 and the first input terminal (power supply terminal) of the auxiliary power supply switching module 1004. The second output terminal of the auxiliary power supply 002 is connected to the second input terminal of the logic power supply processing module 1008. The first output terminal of the main power supply monitoring module 1001 is connected to the first input terminal of the microprocessor module 1007. The first output terminal of the microprocessor module 1007 is connected to the second input terminal of the main power supply monitoring module 1001. The main power supply monitoring module 1001 and the microprocessor module 1007 can be connected by a bidirectional interface. The second output terminal of the main power supply monitoring module 1001 is connected to the second input terminal (control terminal) of the main power supply switching module 1003. The first output terminal of the auxiliary power supply monitoring module 1002 is connected to the second input terminal of the microprocessor module 1007. The second output terminal of the microprocessor module 1007 is connected to the second input terminal of the auxiliary power supply monitoring module 1002. The auxiliary power supply monitoring module 1002 and the microprocessor module 1007 can be connected by a bidirectional interface. The second output terminal of the auxiliary power supply monitoring module 1002 is connected to the second input terminal (control terminal) of the auxiliary power supply switching module 1004. The output terminals of the main power supply switching module 1003 and the auxiliary power supply monitoring module 1004 are converged and then connected to the input terminal of the power supply processing module 1005. The output terminal of the power supply processing module 1005 is connected to the input terminals of each power load module 1006. The output terminal of the logic power supply processing module 1008 is connected to the third input terminal of the microprocessor module 1007.
[0023] The main power supply monitoring module 1001 is used to monitor the voltage of the main power supply signal output by the main power supply 001 and output the corresponding main power supply voltage identification signal, and output the main power supply on / off switching signal based on the main power supply on / off control signal. The auxiliary power supply monitoring module 1002 is used to monitor the voltage of the auxiliary power supply signal output by the auxiliary power supply 002 and output the corresponding auxiliary power supply voltage identification signal, and output the auxiliary power supply on / off switching signal based on the auxiliary power supply on / off control signal. The microprocessor module 1007 is used to judge the power supply state according to the main power supply voltage identification signal and the auxiliary power supply voltage identification signal, and output the main power supply on / off control signal or the auxiliary power supply on / off control signal based on the result of the power supply state judgment. The power supply processing module 1005 is used to obtain the main power supply signal or the auxiliary power supply signal, process the main power supply signal or the auxiliary power supply signal into a working power supply signal and then output it to the power load module 1006. The main power supply switching module 1003 is used to connect or disconnect the main power supply 001 and the power supply processing module 1005 based on the main power supply on / off switching signal. The auxiliary power supply switching module 1004 is used to connect or disconnect the auxiliary power supply 002 and the power supply processing module 1005 based on the auxiliary power supply on / off switching signal. The logic power supply processing module 1008 is used to obtain the main power supply signal or the auxiliary power supply signal, process the main power supply signal or the auxiliary power supply signal into a module working power supply and then output it to the microprocessor module 1007. At this time, the microprocessor module 1007 can also communicate with the vehicle control system to obtain the power supply switching control signal.
[0024] In a specific embodiment, the power supply processing module 1005 includes a filtering module for filtering and stabilizing the main power supply signal or the auxiliary power supply signal. For example, the filtering module includes a π-type filtering network. The π-type filtering network is as shown in the appendix Figure 3 and includes two capacitors and an inductor. The inductor is connected to the positive line, the first capacitor is located at one end of the inductor and is connected between the positive line and the negative line, and the second capacitor is located at the other end of the inductor and is connected between the positive line and the negative line.
[0025] The main power supply monitoring module 1001 includes a main power supply filtering module and a main power supply output control module. The main power supply filtering module is used to obtain the main power supply signal and filter the main power supply signal to eliminate voltage fluctuations and output the main power supply voltage identification signal. The main power supply output control module is used to obtain the main power supply on / off control signal and correspondingly output the main power supply on / off switching signal. The auxiliary power supply monitoring module 1002 includes an auxiliary power supply filtering module and an auxiliary power supply output control module. The auxiliary power supply filtering module is used to obtain the auxiliary power supply signal and filter the auxiliary power supply signal to eliminate voltage fluctuations and output the auxiliary power supply voltage identification signal. The auxiliary power supply output control module is used to obtain the auxiliary power supply on / off control signal and correspondingly output the auxiliary power supply on / off switching signal.
[0026] In a preferred embodiment, the logic power processing module 1008 includes a comparison module and an isolation module. The comparison module is configured to obtain the main power signal and the auxiliary power signal, and compare the voltage of the main power signal with that of the auxiliary power signal. The isolation module is configured to isolate the main unit signal or the auxiliary power signal according to the result of the voltage comparison, and output the unisolated auxiliary power signal or main power signal to the microprocessor module 1007.
[0027] Under normal circumstances, the main power supply 001 and the auxiliary power supply 002 operate normally, and the right front wheel actuator (EMR FR) 100, the left front wheel actuator (EMR FL) 101, the right rear wheel actuator (EMR RR) 102, and the left rear wheel actuator (EMR RL) 103 are powered by the main power supply 001. At this time, in the power supply processing unit, the main power supply switching module 1003 is turned on, the auxiliary power supply switching module 1004 is turned off, and the outputs of the main power supply switching module 1003 and the auxiliary power supply switching module 1004 are converged to the power supply power processing module 1005. In order to make the converged power supply stable, the power supply power processing module 1005 introduces a π-type filter network. The π-type filter network not only filters and stabilizes the input power supply, but also can effectively suppress the radiation of the power load module 1006 to the outside, greatly improving the EMC performance of the electro-mechanical braking system.
[0028] Meanwhile, the main power supply monitoring module 1001 and the auxiliary power supply monitoring module 1002 respectively monitor the output voltages of the main power supply 001 and the auxiliary power supply 002 in real time, and avoid mis-switching caused by mis-identification of the voltage due to power supply voltage fluctuations through filtering of the voltage fluctuations. The main power supply monitoring module 1001 and the auxiliary power supply monitoring module 1002 respectively send the main power supply voltage identification signal and the auxiliary power supply voltage identification signal to the microprocessor module 1007. The microprocessor module 1007 will read the voltage information in the output signals of the main power supply monitoring module 1001 and the auxiliary power supply monitoring module 1002 in real time. A voltage lower limit value and a delay time are preset in the microprocessor module 1007. When the main power supply switching module 1003 is turned on and the auxiliary power supply switching module 1004 is turned off, if the microprocessor module 1007 determines based on the main power supply voltage identification signal that the voltage of the main power supply signal output by the main power supply 001 is lower than the voltage lower limit value, and determines based on the auxiliary power supply voltage identification signal that the voltage of the auxiliary power supply signal output by the auxiliary power supply 002 is equal to or higher than the voltage lower limit value (i.e., within the normal range), the microprocessor module 1007 needs to actively cut off the input of the main power supply 001. In order to avoid the phenomenon of direct connection and backflow between the main power supply 001 and the auxiliary power supply 002 during the switching process, after the delay time, the microprocessor 1007 module outputs a main power supply on / off control signal for controlling the main power supply switching module 1003 to turn off and an auxiliary power supply on / off control signal for controlling the auxiliary power supply switching module 1004 to turn on, so that the main power supply switching module 1003 is turned off via the main power supply monitoring module 1001 and the auxiliary power supply switching module 1004 is turned on via the auxiliary power supply monitoring module 1002. At this time, the auxiliary power supply 002 participates in the power supply of the power responsible module 1006. On the contrary, when the main power supply switching module 1003 is turned off and the auxiliary power supply switching module 1004 is turned on, if the auxiliary power supply 002 fails and the power supply voltage of the main power supply 001 is normal, when the microprocessor module 1007 determines based on the auxiliary power supply voltage identification signal that the voltage of the auxiliary power supply signal is lower than the voltage lower limit value and determines based on the main power supply voltage identification signal that the voltage of the main power supply signal is equal to or higher than the voltage lower limit value (i.e., within the normal range), after the delay time, the microprocessor module 1007 outputs a main power supply on / off control signal for controlling the main power supply switching module 1003 to turn on and an auxiliary power supply on / off control signal for controlling the auxiliary power supply switching module 1004 to turn off, so that the main power supply switching module 1003 is turned on via the main power supply monitoring module 1001 and the auxiliary power supply switching module 1004 is turned off via the auxiliary power supply monitoring module 1002. At this time, the main power supply 001 participates in the power supply of the power responsible module 1006.
[0029] To ensure the normal operation of the power supply processing unit, a logic power supply processing module 1008 is included inside the processing unit. The logic power supply processing module 1008 is powered by both the main power supply 001 and the auxiliary power supply 002 at the same time. The logic power supply processing module 1008 compares and isolates the main power supply 001 and the auxiliary power supply 002 through hardware. If the output voltage of the main power supply 001 is higher than that of the auxiliary power supply 002, the main power supply 001 provides the logic power supply (module working power supply) for the microprocessor module 1007. Otherwise, the auxiliary power supply provides the logic power supply (module working power supply). The switching between the main power supply 001 and the auxiliary power supply 002 does not require software intervention and is realized through hardware for seamless switching. In this way, it can be ensured that the microprocessor module 1007 remains powered at any time. Even if there are problems with the main power supply 001 or the auxiliary power supply 002, there will be no mutual interference.
[0030] The beneficial effects of the above solution are as follows: 1. Two-way redundant power supply of the main power supply 001 and the auxiliary power supply 002 at the component level is adopted, and an additional monitoring module is added to each power supply circuit. The monitoring module realizes real-time monitoring of whether there are abnormalities in the power supply of the main and auxiliary power supply ports. When there are abnormalities in the power supply or the power supply line, the safe switching of the power supply is realized; 2. Each power supply circuit of the present invention is configured with an independent switching module. When the switching module receives the instruction of the microprocessor module, it realizes the dead zone control during the main and auxiliary power supply switching and simultaneously realizes the seamless supply of the load energy; 3. In terms of the switching strategy, the present invention can realize the power supply switching of the EMB single machine decision, or it can also decide whether to switch by receiving the battery health data sent by the vehicle battery controller or other controllers; 4. The reliability and safety of the electro-mechanical braking system are improved.
[0031] The above embodiments are only used to illustrate the technical concept and characteristics of the present invention, and their purpose is to enable those who are familiar with this technology to understand the content of the present invention and implement it accordingly, and cannot be used to limit the protection scope of the present invention. All equivalent changes or modifications made according to the spirit and essence of the present invention should be covered within the protection scope of the present invention.
Claims
1. A redundant power supply control device connected to a power load module, characterized in that: The redundant power supply control device comprises a main power supply, an auxiliary power supply and a power supply processing unit; the power supply processing unit is connected to the main power supply, the auxiliary power supply and the power load module respectively; The power processing unit comprises: A main power monitoring module, the main power monitoring module is used to monitor the voltage of the main power signal output by the main power supply and output a corresponding main power voltage identification signal, and output a main power on-off switching signal based on the main power on-off control signal; An auxiliary power supply monitoring module, the auxiliary power supply monitoring module is used to monitor the voltage of the auxiliary power supply signal output by the auxiliary power supply and output a corresponding auxiliary power supply voltage identification signal, and output an auxiliary power supply on-off switching signal based on the auxiliary power supply on-off control signal; A microprocessor module, the microprocessor module is used to judge the power state according to the main power supply voltage identification signal and the auxiliary power supply voltage identification signal, and output the main power supply on-off control signal or the auxiliary power supply on-off control signal based on the result of the power supply state judgment; A power supply processing module, the power supply processing module is used to obtain the main power supply signal or the auxiliary power supply signal, process the main power supply signal or the auxiliary power supply signal into a working power supply signal, and then output it to the power load module; A main power switching module, the main power switching module is used to realize the connection or disconnection between the main power supply and the power supply processing module based on the main power on-off switching signal; An auxiliary power switching module, the auxiliary power switching module is used to realize the connection or disconnection between the auxiliary power supply and the power supply processing module based on the auxiliary power supply on-off switching signal; A logic power processing module is used to obtain the main power signal or the auxiliary power signal, process the main power signal or the auxiliary power signal into a module working power, and then output it to the microprocessor module.
2. The redundant power supply control device according to claim 1, characterized in that: The power supply processing module includes a filtering module for filtering and stabilizing the main power supply signal or the auxiliary power supply signal.
3. The redundant power supply control device according to claim 2, characterized in that: The filtering module includes a π-type filtering network.
4. The redundant power supply control device according to claim 1, characterized in that: The main power monitoring module includes a main power filtering module for acquiring the main power signal and filtering the main power signal to eliminate voltage fluctuations and output the main power voltage identification signal, and a main power output control module for acquiring the main power on-off control signal and correspondingly outputting the main power on-off switching signal.
5. The redundant power supply control device according to claim 1, characterized in that: The auxiliary power supply monitoring module includes an auxiliary power supply filtering module for obtaining the auxiliary power supply signal and filtering the auxiliary power supply signal to eliminate voltage fluctuations and output the auxiliary power supply voltage identification signal, and an auxiliary power supply output control module for obtaining the auxiliary power supply on-off control signal and correspondingly outputting the auxiliary power supply on-off switching signal.
6. The redundant power supply control device according to claim 1, characterized in that: The logic power processing module includes a comparison module for acquiring the main power signal and the auxiliary power signal and performing voltage comparison on the voltage of the main power signal and the auxiliary power signal, and an isolation module for isolating the main unit signal or the auxiliary power signal according to the result of the voltage comparison and outputting the unisolated auxiliary power signal or the main power signal to the microprocessor module.
7. The redundant power supply control device according to claim 1, characterized in that: The microprocessor module is preset with a voltage lower limit value and a delay time; When the main power switching module is turned on and the auxiliary power switching module is turned off, if the microprocessor module determines that the voltage of the main power signal is lower than the voltage lower limit based on the main power voltage identification signal and determines that the voltage of the auxiliary power signal is equal to or higher than the voltage lower limit based on the auxiliary power voltage identification signal, after the delay time, the microprocessor module outputs the main power on-off control signal for controlling the main power switching module to be turned off and the auxiliary power on-off control signal for controlling the auxiliary power switching module to be turned on; When the main power switching module is disconnected and the auxiliary power switching module is connected, if the microprocessor module determines that the voltage of the auxiliary power signal is lower than the voltage lower limit based on the auxiliary power voltage identification signal and determines that the voltage of the main power signal is equal to or higher than the voltage lower limit based on the main power voltage identification signal, after the delay time, the microprocessor module outputs the main power on-off control signal for controlling the main power switching module to be connected and the auxiliary power on-off control signal for controlling the auxiliary power switching module to be disconnected.
8. An electromechanical braking system, provided on a vehicle, characterized in that: The vehicle electromechanical brake system comprises a redundant power supply control device as claimed in any one of claims 1 to 7.
9. The electromechanical brake system according to claim 8, characterized in that: The power load module includes a plurality of wheel side actuators for implementing wheel braking on the vehicle.
10. The electromechanical brake system according to claim 8, characterized in that: The wheel side actuators are arranged in one-to-one correspondence with the wheels of the vehicle.