Electronic mechanical braking system of automobile, wheel edge actuator and automobile

Abstract

The invention discloses an electronic mechanical braking system of an automobile, wheel edge actuators and a vehicle, the electronic mechanical braking system comprises a main controller and four wheel edge actuators, the main controller is arranged in a vehicle cab and is suitable for receiving an external signal of the whole vehicle and executing a whole vehicle level control decision and a wheel edge level braking execution decision at the same time; the four wheel edge actuators are arranged on four wheel edges correspondingly and are in communication connection with the main controller, and the main controller is suitable for controlling the wheel edge actuators to act. The wheel edge actuator comprises a magnetic ring arranged on the periphery of the rotating shaft and an angle sensor arranged on the side. According to the invention, wheel control and upper control are combined by using the main controller, so that the working environment of the wheel control is improved, the signal quality and the operation reliability are improved, and the cost is remarkably reduced. Meanwhile, the wheel edge actuator does not need to be provided with a wheel edge control circuit board, and the axial size can be reduced; the wheel edge executor realizes monitoring of motor angle signals through the magnetic ring, and the reliability is high.

Description

Technical Field

[0001] This invention relates to the field of automotive braking technology, and in particular to an electromechanical braking system and an actuator. Background Technology

[0002] With the development of automotive intelligence, the requirements for vehicle chassis are becoming increasingly stringent, and electromechanical braking represents the future of braking systems. The architecture of an electromechanical braking system is crucial. Unlike traditional hydraulic braking systems, electromechanical braking systems eliminate hydraulic lines and use electrical signals for control. They consist of five main components: a main controller, wheel-side actuators, a power supply, a pedal simulator, and sensors. A well-designed system architecture ensures stable control operation and reliable braking.

[0003] Existing electromechanical braking systems divide the controller into two parts: an upper-level controller and a wheel-side controller. The wheel-side controller has a large area and is usually placed on the wheel, where it is subjected to greater vibration and impact. Electronic components are prone to detachment, resulting in poor signal quality. Furthermore, the wheel-side is a forced-motion, high-friction environment with high heat conditions, and the controller is exposed to higher temperatures, leading to decreased reliability. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one object of this invention is to provide an electromechanical braking system for automobiles, a wheel-side actuator, and a vehicle, aiming to solve the problem of poor reliability of existing wheel-side controllers located on the wheels.

[0005] This invention proposes an electromechanical braking system for automobiles, which includes a main controller and four wheel-side actuators. The main controller is located in the vehicle's cockpit and is adapted to receive external signals from the vehicle and simultaneously execute vehicle-level control decisions and wheel-side braking execution decisions. The four wheel-side actuators are respectively located on the four wheels of the vehicle. The main controller is communicatively connected to the four wheel-side actuators and is adapted to control the operation of each wheel-side actuator.

[0006] According to the electromechanical braking system of the present invention, compared with the traditional braking system architecture, the wheel-side controller is eliminated, and the wheel-side controller is directly merged with the upper-level controller. This improves the working environment of the wheel-side controller, enhancing signal quality, operational reliability, and control performance. Furthermore, the present invention uses only one main controller, significantly reducing costs compared to the traditional combination of an upper-level controller and four wheel-side controllers. Moreover, for the vehicle's wheel-side actuators, since the wheel-side controller is eliminated, a large PCB circuit board is no longer needed; only a small signal transmission board is required, reducing the axial dimension of the wheel-side actuators.

[0007] According to some embodiments of the present invention, the main controller includes a first MCU module and a second MCU module, four motor drive modules, a first signal processing module and a second signal processing module; the four motor drive modules are connected to wheel-side actuators in a one-to-one correspondence; the first signal processing module is adapted to acquire external braking signals and convert the external braking signals into first digital information; the second signal processing module is adapted to acquire external braking signals and convert the external braking signals into second digital information; the first MCU module is connected to the first signal processing module and the two motor drive modules, and the first MCU module is adapted to generate a first drive control signal and a second drive control signal based on the first digital information and send them to the two motor drive modules connected to them respectively; the second MCU module is connected to the second signal processing module and the other two motor drive modules, and the second MCU module is adapted to generate a third drive control signal and a fourth drive control signal based on the second digital information and send them to the two motor drive modules connected to them respectively.

[0008] According to some embodiments of the present invention, the electromechanical braking system further includes a first power supply module and a second power supply module. The first power supply module is connected to a first signal processing module, a first MCU module, and two corresponding motor drive modules. The second power supply module is connected to a second signal processing module, a second MCU module, and two corresponding motor drive modules. The first power supply module and the second power supply module are connected through a switching circuit.

[0009] According to some embodiments of the present invention, the first MCU module and the second MCU module are communicatively connected; when the first MCU module or the second power supply module fails, the second MCU module takes over the two motor drive modules connected to the first MCU module; when the second MCU module or the second power supply module fails, the first MCU module takes over the two motor drive modules connected to the second MCU module.

[0010] According to some embodiments of the present invention, the first MCU module and the second MCU module are adapted to monitor each other's status so as to take over the two motor drive modules connected to them when one of them fails.

[0011] According to some embodiments of the present invention, the electromechanical braking system further includes a first power management module and a second power management module; the first power management module is connected to a first power module; and the second power management module is connected to the second power module.

[0012] According to some embodiments of the present invention, the electromechanical braking system further includes a pedal sensor and a wheel speed sensor; the pedal sensor is connected to the main controller, and the pedal sensor acquires the actual opening degree of the pedal and transmits it to the main controller; the wheel speed sensor is connected to the main controller, and the wheel speed sensor is adapted to acquire the actual rotational speed of the wheel and transmit it to the main controller.

[0013] This invention also proposes a wheel-side actuator for use in the electromechanical braking system of the aforementioned automobile. The wheel-side actuator includes a motor, an angle sensor, and a signal transmission board. A magnetic ring is fitted onto the output shaft of the motor, and the magnetic ring is adapted to rotate with the output shaft. The motor has a connector connection outlet and a wiring groove. The angle sensor is disposed on the motor, with its detection end facing the magnetic ring to detect the rotation signal of the magnetic ring. The signal transmission board is disposed on the motor. The connecting wires of the motor and the connecting wires of the angle sensor are both housed in the wiring groove and connected to the connector connection outlet. The connector connection outlet is connected to the signal transmission board, and the signal transmission board is communicatively connected to the main controller.

[0014] According to some embodiments of the present invention, the wheel-side actuator further includes a brake caliper and a force sensor. The brake caliper is driven by a motor to apply a braking clamping force to the wheel. The force sensor is disposed on the brake caliper to be adapted to collect the braking clamping force of the brake caliper. The force sensor is connected to a connector outlet to be adapted to transmit the braking clamping force of the brake caliper to the main controller through a signal transmission board.

[0015] According to the wheel-side actuator of the present invention, the wheel-side actuator communicates directly with the main controller, facilitating system integration and control, reducing intermediate links in signal transmission, improving signal transmission efficiency and reliability, enabling the main controller to obtain the status information of the wheel-side actuator in a timely manner, thereby making corresponding control decisions more quickly and improving the braking safety and stability of the vehicle; it also simplifies the overall system architecture and helps reduce the manufacturing cost of the braking system. Furthermore, the wheel-side actuator of the present invention has a compact and reasonable structure, saving space; by optimizing the layout of the motor output shaft, magnetic ring, and angle sensor, the detection accuracy can be improved, and the rotational speed signal of the magnetic ring can be obtained more accurately, thereby providing more accurate feedback information for the electromechanical braking system and improving the control accuracy of braking.

[0016] The present invention also proposes a vehicle comprising the electromechanical braking system of the aforementioned automobile and the aforementioned wheel-side actuators.

[0017] The vehicle according to the present invention, having the above-described electromechanical braking system and wheel-side actuator, can improve braking control performance, reduce costs, optimize wheel-side structure arrangement, and achieve safe and reliable vehicle braking.

[0018] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1This is a schematic diagram of an electromechanical braking system according to some embodiments of the present invention; Figure 2 This is a schematic diagram of the structure of a wheel-side actuator according to some embodiments of the present invention; Figure 3 This is a partial structural schematic diagram of the signal transmission of a wheel-side actuator according to some embodiments of the present invention; Figure 4 This is an assembly diagram of an angle sensor and a motor according to some embodiments of the present invention.

[0020] Figure label: 1. Motor; 2. Output shaft; 3. Magnetic ring; 4. Angle sensor; 5. Wiring groove; 6. Connector outlet; 7. Signal transmission board. Detailed Implementation

[0021] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0022] The following is for reference. Figure 1 An electromechanical braking system for a car according to an embodiment of the present invention is described below; reference is made below. Figures 2-4 A wheel-side actuator according to an embodiment of the present invention is described.

[0023] This invention proposes an electromechanical braking system for automobiles, which includes a main controller and four wheel-side actuators. The main controller is located in the vehicle's cockpit and is adapted to receive external signals from the vehicle and simultaneously execute vehicle-level control decisions and wheel-side braking execution decisions. The four wheel-side actuators are respectively located on the four wheels of the vehicle. The main controller is communicatively connected to the four wheel-side actuators and is adapted to control the operation of each wheel-side actuator.

[0024] According to the electromechanical braking system of the present invention, such as Figure 1 As shown, the main controller differs from conventional upper-level controllers, incorporating both control and wheel-side execution decisions. The main controller acquires braking signals, processes, calculates, and judges these signals, then outputs control signals to the wheel-side actuators, which drive all four wheels to achieve braking. The main controller is located in the vehicle's driver's cab, avoiding the impact and high-temperature environment of a wheel-side actuator, thus providing a safer working environment.

[0025] According to the electromechanical braking system of the present invention, compared with the traditional braking system architecture, the controller located at the wheel end is eliminated, and the wheel end controller is directly merged with the upper-level controller. This improves the working environment of the wheel end controller, enhances signal quality, improves operational reliability, and improves control performance. Furthermore, the present invention uses only one main controller, which significantly reduces costs compared to the traditional combination of an upper-level controller and four wheel end controllers.

[0026] Furthermore, for the wheel-side actuators of vehicles, since the wheel-side controller is eliminated, a large PCB circuit board is no longer needed; only a small signal transmission board is required, which can reduce the axial dimension of the wheel-side actuator. For example... Figure 1 As shown, the wheel-side actuator communicates with the main controller through a signal transmission board.

[0027] According to some embodiments of the present invention, the main controller includes a first MCU module and a second MCU module, four motor drive modules, a first signal processing module and a second signal processing module; the four motor drive modules are connected to wheel-side actuators in a one-to-one correspondence; the first signal processing module is adapted to acquire external braking signals and convert the external braking signals into first digital information; the second signal processing module is adapted to acquire external braking signals and convert the external braking signals into second digital information; the first MCU module is connected to the first signal processing module and the two motor drive modules, and the first MCU module is adapted to generate a first drive control signal and a second drive control signal based on the first digital information and send them to the two motor drive modules connected to them respectively; the second MCU module is connected to the second signal processing module and the other two motor drive modules, and the second MCU module is adapted to generate a third drive control signal and a fourth drive control signal based on the second digital information and send them to the two motor drive modules connected to them respectively.

[0028] In this embodiment, as Figure 1As shown, the first signal processing module and the second signal processing module receive external braking signals and preprocess them. Based on the external braking signals, they generate standardized signals, characteristic parameters, and other digital information, and output them to the first MCU module and the second MCU module. Based on the digital information, the first MCU module and the second MCU module calculate the required braking torque and other parameters for each wheel using built-in algorithms, and generate corresponding drive control signals to output to the corresponding motor drive modules. The motor drive modules control the braking action of the wheel-side actuators set on the wheel sides based on the drive control signals. Specifically, this invention adopts independent four-motor drive control. The four motor drive modules are respectively connected to the four wheel-side actuators. The first MCU controls the front axle or the two motors on the left side, and the second MCU controls the rear axle or the two motors on the right side. The first MCU module and the second MCU module adjust the output torque of each wheel-side actuator in real time according to the vehicle's dynamic state (such as turning, sideslip, differences in road surface adhesion, and other real-time state parameters). For example, during straight-line braking: the four motor drive modules output the same torque to achieve uniform braking; during turning braking: the braking torque of the outer wheels is increased, and the braking torque of the inner wheels is reduced, thereby improving vehicle stability through "torque vector control". In this embodiment, the main controller directly controls the motor drive module to control the wheel-side actuators of each wheel, which simplifies the mechanical structure, reduces system complexity, and improves braking response speed and accuracy.

[0029] In some embodiments, such as Figure 1 As shown, the first MCU module and the second MCU module are adapted to receive vehicle signals and wheel-side signals through CAN1 and CAN2 communication.

[0030] According to some embodiments of the present invention, the electromechanical braking system further includes a first power supply module and a second power supply module. The first power supply module is connected to a first signal processing module, a first MCU module, and two corresponding motor drive modules; the second power supply module is connected to a second signal processing module, a second MCU module, and two corresponding motor drive modules; and the first and second power supply modules are connected via a switching circuit. In this embodiment, the first and second power supply modules are configured to supply power to the main controller; specifically, the first power supply module supplies power to the first signal processing module, the first MCU module, and the two motor drive modules, while the second power supply module independently supports the second signal processing module, the second MCU module, and the other two motor drive modules. The first and second power supply modules have independent power supply architectures, each connected to a set of signal processing modules, MCU modules, and motor drive modules. This embodiment ensures that the other power supply can still maintain the basic functions of the system when a single power supply fails by physically isolating the power path. Furthermore, the first and second power supply modules are connected via a switching circuit, which allows immediate switching to the other power supply module when one power supply module fails or malfunctions, ensuring continuous transmission and execution of braking commands, improving system redundancy, reliability, and safety, and ensuring that the braking function can still be executed normally when a single power supply fails; it also optimizes power management.

[0031] According to some embodiments of the present invention, a first MCU module and a second MCU module are communicatively connected. When either the first MCU module or the second power supply module fails, the second MCU module takes over the two motor drive modules connected to the first MCU module; conversely, when either the second MCU module or the second power supply module fails, the first MCU module takes over the two motor drive modules connected to the second MCU module. In this embodiment, the first MCU module and the second MCU module achieve real-time data interaction through a communication line. Under normal operating conditions, the two MCU modules independently control their respective motor drive modules. When the first MCU module or its power supply module fails, the second MCU module receives a fault signal through the communication line and immediately initiates a takeover procedure, extending control to the two motor drive modules originally managed by the first MCU module; and vice versa. This embodiment, through a dual-power supply and dual-MCU redundancy design, enables the system to have fault tolerance; a single component failure does not affect the overall braking function, significantly improving braking reliability.

[0032] According to some embodiments of the present invention, the first MCU module and the second MCU module are adapted to monitor each other's status so that they can take over the two motor drive modules connected to them when one of them fails. In this embodiment, the first MCU module and the second MCU module can identify fault signals in a timely manner by monitoring each other's status, so as to immediately take over the motor drive module controlled by the faulty module. In this embodiment, the dual MCU modules monitor each other to form a redundant system. When any MCU module fails due to hardware failure, software abnormality, or power interruption, the other MCU module can immediately take over the motor drive module it controls, avoiding complete loss of braking function; thus, the fault tolerance capability of the system is significantly enhanced, and the braking safety and reliability are significantly improved.

[0033] In some embodiments, such as Figure 1 As shown, the first MCU module and the second MCU module are connected via CAN communication.

[0034] According to some embodiments of the present invention, the electromechanical braking system further includes a first power management module and a second power management module; the first power management module is connected to a first power module; and the second power management module is connected to a second power module. In this embodiment, by setting the first power management module and the second power management module, power conversion and stable output can be achieved, and the power output can be dynamically adjusted according to the braking conditions (such as emergency braking and conventional braking) to ensure the reliable operation of each module.

[0035] In some embodiments, the first power management module is connected to the first MCU module, the first signal processing module, and the two corresponding motor drive modules through different output interfaces; the second power management module is connected to the second MCU module, the second signal processing module, and the two corresponding motor drive modules through different output interfaces. In this embodiment, the first power management module and the second power management module can dynamically adjust the power output of each module according to the braking conditions, dynamically adjust the power distribution, and realize on-demand power supply, tiered power supply, etc.

[0036] In some embodiments, the first power management module and the second power management module are communicatively connected to the first MCU module and the second MCU module. The first and second power management modules are also equipped with detection components such as current sensors and voltage sensors, enabling real-time monitoring of the power input and output status and real-time acquisition of power signals to detect anomalies such as overvoltage, undervoltage, overcurrent, and short circuits, thereby achieving closed-loop power control and rapid system response. The first and second power management modules can also detect the operating status of the first and second power modules to promptly identify power failures and immediately and automatically switch power modules via a switching circuit, ensuring the continuous transmission and execution of braking commands.

[0037] According to some embodiments of the present invention, the electromechanical braking system further includes a pedal sensor and a wheel speed sensor; the pedal sensor is connected to the main controller, and the pedal sensor collects the actual pedal opening degree and transmits it to the main controller; the wheel speed sensor is connected to the main controller, and the wheel speed sensor is adapted to collect the actual wheel rotation speed and transmit it to the main controller. In this embodiment, by setting the pedal sensor and wheel speed sensor, the external braking signal of the vehicle and the real-time wheel rotation speed signal can be collected to realize closed-loop control of braking. In some embodiments, four sets of wheel speed sensors are provided, corresponding one-to-one with the four wheels, and communicatively connected to the corresponding first signal processing module or second signal processing module.

[0038] According to some embodiments of the present invention, the electromechanical braking system further includes a force sensor connected to the main controller. The force sensor is adapted to acquire the braking clamping force of the wheel-side actuators and transmit it to the main controller. In this embodiment, by setting the force sensor, the magnitude of the braking clamping force of each wheel can be acquired, realizing closed-loop control of braking. In some embodiments, four sets of force sensors are provided, corresponding to the four wheels, and communicatively connected to the corresponding first signal processing module or second signal processing module.

[0039] The present invention also proposes a wheel-side actuator for use in the electromechanical braking system of the aforementioned automobile. The wheel-side actuator includes a motor 1, an angle sensor 4, and a signal transmission board 7. A magnetic ring 3 is fitted onto the output shaft 2 of the motor 1, and the magnetic ring 3 is adapted to rotate with the output shaft 2. The motor 1 has a connector connection outlet 6 and a wiring groove 5. The angle sensor 4 is disposed on the motor 1, with its detection end facing the magnetic ring 3 to detect the rotation signal of the magnetic ring 3. The signal transmission board 7 is disposed on the motor 1. The connecting wires of the motor 1 and the connecting wires of the angle sensor 4 are both housed in the wiring groove 5 and connected to the connector connection outlet 6. The connector connection outlet 6 is connected to the signal transmission board 7, and the signal transmission board 7 is communicatively connected to the main controller.

[0040] According to the wheel-side actuator of the present invention, such as Figures 2-4As shown, the magnetic ring 3 rotates synchronously with the output shaft 2 of the motor 1. The magnetic field changes as the magnetic ring 3 rotates. The angle sensor 4 is positioned beside the output shaft 2, and its detection end can collect the rotation signal of the magnetic ring 3 and output it to the main controller. The rotation signal of the magnetic ring 3 is the motor angle signal. The main controller collects the motor angle signal and makes braking decisions based on the motor angle signal and other external braking signals. The connecting harnesses of the motor 1 and the angle sensor 4 are both housed in the wiring groove 5 and connected to the main controller via connectors to the outlet 6 and signal transmission board 7. The signal transmission board 7 can convert easily interfered signals such as the motor angle signal and clamping force signal into anti-interference signals for transmission to the main controller. The wheel-side actuator of this invention communicates directly with the main controller, facilitating system integration and control, reducing intermediate signal transmission links, improving signal transmission efficiency and reliability, enabling the main controller to obtain the status information of the wheel-side actuator in a timely manner, thereby making corresponding control decisions more quickly, improving vehicle braking safety and stability; simplifying the overall system architecture, and helping to reduce the manufacturing cost of the braking system. Moreover, the wheel-side actuator of the present invention has a compact and reasonable structure, saving space; by optimizing the layout of the motor output shaft 2, the magnetic ring 3 and the angle sensor 4, the detection accuracy can be improved, and the rotation signal of the magnetic ring 3 can be obtained more accurately, thereby providing more accurate feedback information for the electromechanical braking system and improving the control accuracy of braking.

[0041] In existing technologies, wheel-side actuators typically use a shaft-end magnet press-fit structure as a key testing component. However, the wheel-side actuator of this invention employs a ring magnet configuration, i.e., a magnetic ring 3. The magnetic ring 3 is fitted around the outer circumference of the output shaft 2 and rotates strictly synchronously with the output shaft 2. Compared to existing technologies, this reduces installation difficulty and the impact of vibration and shock, while also reducing the axial dimension of the wheel-side actuator.

[0042] In some embodiments, the wiring trough 5 is disposed on the edge of the side wall of the motor 1 housing, and the connector connection outlet 6 is disposed at the end of the wiring trough 5. The wiring trough 5 is constructed as an open trough structure, which facilitates the winding and layout of the wire harness. Further, as... Figure 3 As shown, the signal transmission board 7 is located on one side of the connector connection outlet 6.

[0043] According to some embodiments of the present invention, the wheel-side actuator further includes a brake caliper and a force sensor. The brake caliper is driven by a motor to apply a braking clamping force to the wheel. The force sensor is disposed on the brake caliper to collect the braking clamping force of the brake caliper. The force sensor is connected to a connector outlet 6 to transmit the braking clamping force of the brake caliper to the main controller via a signal transmission board 7. In this embodiment, by providing a force sensor, the magnitude of the braking clamping force of the wheel can be collected, realizing closed-loop control of braking. Further, the wheel-side actuator also includes a transmission gear assembly. The motor 1 drives the brake caliper to actuate via the transmission gear assembly, and the brake caliper is adapted to push the brake pads to clamp the wheel to achieve braking.

[0044] like Figure 1 As shown, the side-mounted signal transmission board 7 is used to convert easily interfered signals such as motor angle signals and clamping force signals into anti-interference signals and transmit them to the CAN2 bus. The main controller receives relevant signals through the CAN2 bus. The side-mounted signal transmission board 7 has strong vibration resistance, which can ensure the stability of signal transmission. Furthermore, as... Figure 1 As shown, the motor angle signal and clamping force signal are transmitted to the first MCU module and the second MCU module through the side-mounted signal transmission board 7. Compared with the prior art, the present invention eliminates the wheel-side controller, allowing the side-mounted signal transmission board 7 to replace the existing large PCB circuit board structure, realizing a signal transmission method from the side to a small circuit board, which can further reduce the axial dimension of the wheel-side actuator.

[0045] The present invention also proposes a vehicle comprising the aforementioned electromechanical braking system and the aforementioned wheel-side actuators. According to the present invention, the vehicle, having the aforementioned electromechanical braking system and wheel-side actuators, can improve braking control performance, reduce costs, optimize wheel-side structure arrangement, and achieve safe and reliable vehicle braking.

[0046] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0047] In the description of this invention, "first feature" and "second feature" may include one or more of the features.

[0048] In the description of this invention, "a plurality of" means two or more.

[0049] In the description of this invention, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or it may include the first and second features not being in direct contact but being in contact through another feature between them.

[0050] In the description of this invention, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0051] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0052] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An electromechanical braking system for automobiles, characterized in that, include: The main controller is located in the vehicle's cockpit and is adapted to receive external signals from the vehicle and simultaneously execute vehicle-level control decisions and wheel-side braking execution decisions. Four wheel-side actuators are respectively disposed on the four wheel sides of the vehicle; The main controller is communicatively connected to the four wheel-side actuators and is adapted to control the actions of each wheel-side actuator.

2. The electromechanical braking system according to claim 1, characterized in that, The main controller includes: Four motor drive modules are connected to the wheel-side actuators in a one-to-one correspondence. A first signal processing module and a second signal processing module, wherein the first signal processing module is adapted to acquire external braking signals and convert the external braking signals into first digital information; and the second signal processing module is adapted to acquire external braking signals and convert the external braking signals into second digital information. A first MCU module and a second MCU module. The first MCU module is connected to the first signal processing module and the two motor drive modules. The first MCU module is adapted to generate a first drive control signal and a second drive control signal based on the first digital information and send them to the two motor drive modules respectively. The second MCU module is connected to the second signal processing module and the other two motor drive modules. The second MCU module is adapted to generate a third drive control signal and a fourth drive control signal based on the second digital information and send them to the two motor drive modules respectively.

3. The electromechanical braking system for automobiles according to claim 2, characterized in that, Also includes: A first power module and a second power module, wherein the first power module is connected to the first signal processing module, the first MCU module and the two corresponding motor drive modules; The second power module is connected to the second signal processing module, the second MCU module, and the two corresponding motor drive modules; and the first power module and the second power module are connected through a switching circuit.

4. The electromechanical braking system for automobiles according to claim 3, characterized in that, The first MCU module and the second MCU module are communicatively connected; In the event of a failure in the first MCU module or the second power module, the second MCU module takes over the two motor drive modules connected to the first MCU module. In the event of a failure in the second MCU module or the second power module, the first MCU module takes over the two motor drive modules connected to the second MCU module.

5. The electromechanical braking system for automobiles according to claim 4, characterized in that, The first MCU module and the second MCU module are adapted to monitor each other's status so as to take over the two motor drive modules connected to them in the event of a failure in one of them.

6. The electromechanical braking system for automobiles according to claim 3, characterized in that, Also includes: A first power management module, wherein the first power management module is connected to the first power module; The second power management module is connected to the second power module.

7. The electromechanical braking system for automobiles according to claim 1, characterized in that, Also includes: A pedal sensor is connected to the main controller. The pedal sensor collects the actual pedal opening and transmits it to the main controller. A wheel speed sensor is connected to the main controller and is adapted to collect the actual rotational speed of the wheel and transmit it to the main controller.

8. A wheel-side actuator, applied to the electromechanical braking system of an automobile as described in any one of claims 1-7, characterized in that, include: An electric motor, wherein a magnetic ring is fitted onto the output shaft of the motor, and the magnetic ring is adapted to rotate with the output shaft; The motor has a connector connection outlet and a wiring channel; An angle sensor is disposed on the motor, with the detection end of the angle sensor facing the magnetic ring, so as to detect the rotation signal of the magnetic ring; A signal transmission board, wherein the signal transmission board is disposed on the motor; wherein... The motor's connecting harness and the angle sensor's connecting harness are both housed in the wiring groove and connected to the connector connection outlet; the connector connection outlet is connected to the signal transmission board, and the signal transmission board is communicatively connected to the main controller.

9. The wheel-side actuator according to claim 8, characterized in that, Also includes: Brake caliper, the brake caliper being driven by the motor to apply a braking clamping force to the wheel; A force sensor is disposed on the brake caliper to collect the braking clamping force of the brake caliper; the force sensor is connected to the connector outlet to transmit the braking clamping force of the brake caliper to the main controller through the signal transmission board.

10. A vehicle, characterized in that, The vehicle includes an electromechanical braking system as described in any one of claims 1-7, and further includes a wheel-side actuator as described in claim 9.

Images