Electronic mechanical braking system, control method and unmanned vehicle

Abstract

The invention provides an electronic mechanical braking system, a control method and an unmanned vehicle, the electronic mechanical braking system comprises four corner modules corresponding to a left front wheel, a right front wheel, a right rear wheel and a left rear wheel, and the four corner modules are respectively connected with a central control system and a braking control unit through a redundant communication network; the redundant communication network comprises a main communication network and a backup communication network which are mutually independent, and adopts a star-shaped and ring-shaped mixed topological structure; the central control system is used for receiving a braking instruction of the unmanned driving system, sending the braking instruction to the braking control unit, monitoring the working state and the health condition of the whole system and carrying out fault diagnosis and processing; the braking control unit is used for generating a braking force instruction required by each wheel according to the braking instruction in combination with the current vehicle state, and sending the braking force instruction to each corner module for execution through a redundant communication network; and the power supply systems of the four corner modules form an annular power supply topological structure.

Description

Technical Field

[0001] This application relates to an electromechanical braking system, control method, and unmanned vehicle, belonging to the field of unmanned vehicle braking technology. Background Technology

[0002] With the construction of smart cities and the development of automation technologies, driverless vehicles are rapidly becoming an important part of urban public services. Driverless vehicles (such as driverless sweepers) are widely used in residential communities, industrial parks, and municipal roads. Their operating conditions are characterized by frequent low-speed starts and stops, large load fluctuations (empty / full load of garbage), and complex operating environments (dense pedestrian traffic, numerous road obstacles), placing extremely high demands on mobility, path planning accuracy, and safety. Traditional hydraulic braking systems, due to their response delays, complex structures, and difficulty in accurately coordinating with complex autonomous driving algorithms, are no longer sufficient to meet the needs of next-generation driverless vehicles.

[0003] Existing autonomous vehicle braking solutions have the following drawbacks: Insufficient adaptability: Traditional hydraulic / pneumatic braking systems have complex pipelines, making them difficult to integrate with the compact wheel corner modules of unmanned vehicles; some electromechanical braking systems have not optimized braking torque for the load fluctuations of the sweeper, resulting in excessive braking when unloaded (easy to lock up) and insufficient braking when fully loaded (excessive braking distance).

[0004] Redundancy and lack of safety: Unmanned vehicles need to meet the "fault tolerance" requirement. Existing electromechanical braking systems mostly adopt a single sensor and single actuator design. Once the motor fails or the wheel speed sensor fails, it will directly lead to braking failure, which poses a safety hazard.

[0005] Disconnected control strategy: The control logic is not optimized according to the working scenario (such as the need for slow braking on residential roads and the need for rapid braking in open areas), resulting in poor braking comfort and easy to cause panic among pedestrians on the road. Summary of the Invention

[0006] In view of at least one of the above technical problems, this application provides an electromechanical braking system, control method and unmanned vehicle, which adopts a corner module integrated architecture, designing the braking system of each wheel as an independent corner module. Each corner module adopts a multi-layer redundancy design, including power redundancy, communication redundancy and control redundancy, to ensure that the system can still work normally under any single point of failure.

[0007] To solve the above-mentioned technical problems, the technical solution adopted in this application is: According to a first aspect of this application, an electromechanical braking system is provided, the electromechanical braking system adopting a corner module integrated architecture, including a central control system, four corner modules, a braking control unit, a redundant communication network, and a power supply system; The four corner modules include a first corner module, a second corner module, a third corner module, and a fourth corner module, which correspond to the left front wheel, right front wheel, right rear wheel, and left rear wheel of the vehicle, respectively. The four corner modules are connected to the central control system and the brake control unit through a redundant communication network, forming a distributed control system architecture. The redundant communication network includes an independent main communication network and a backup communication network. The central control system and the brake control unit are connected to the four corner modules in a star topology through the redundant communication network, and the four corner modules are connected in a ring topology through the redundant communication network to form a closed communication loop. The central control system includes a main controller and a system monitoring module; the main controller is used to receive braking commands from the autonomous driving system and send the braking commands to the braking control unit through a redundant communication network; the system monitoring module is used to monitor the working status and health status of the entire system and to perform fault diagnosis and handling. The brake control unit is used to generate the braking force command required for each wheel based on the braking command and the current vehicle status, and sends the braking force command to each corner module for execution through a redundant communication network; The power system adopts a ring power topology.

[0008] In some embodiments, the power system includes a main battery, a backup battery, and a power management module. The main battery provides main power to the system through the power management module, and the backup battery provides backup power through the power management module. When the main power fails, the backup power is switched on.

[0009] In some embodiments, the power supply of each corner module is connected to the power supply of the adjacent corner module through a power bus, forming a ring power topology. When the power supply to one corner module fails, the system can automatically switch and reconfigure the power supply through a ring power topology.

[0010] In some embodiments, the main battery is a lithium battery pack, and the backup battery is a low-voltage storage battery.

[0011] In some embodiments, the central control system and the brake control unit are respectively connected to the four corner modules via a star topology through a redundant communication network, and the four corner modules are connected to each other via a ring topology through a redundant communication network to form a closed communication loop, including: When the main communication network is normal, the four corner modules are connected to the central control system and the brake control unit through the main communication network to form the first star connection communication. The first corner module, the second corner module, the third corner module, and the fourth corner module are connected in a ring through the main communication network to form the first closed communication loop. When the main communication network fails, the four corner modules are connected to the central control system and the brake control unit through the backup communication network to form a second star-shaped communication connection. The first corner module, the second corner module, the third corner module, and the fourth corner module are connected in a ring through the backup communication network to form a second closed communication loop.

[0012] In some embodiments, each corner module is equipped with dual communication interfaces, which are used to connect to the main communication network and the backup communication network, respectively.

[0013] In some embodiments, each corner module includes a brake driver and a brake actuator; wherein, The brake actuator includes: a brake motor, which is connected to the brake caliper via a planetary gear reducer and a ball screw transmission mechanism; The brake actuator is used to receive braking force commands from the brake control unit and adjust the current and / or speed of the brake motor according to the braking force commands, thereby adjusting the clamping force of the brake caliper on the brake disc to achieve the target braking force.

[0014] According to a second aspect of this application, a control method for the aforementioned electromechanical braking system is provided, comprising: The central control system receives braking commands from the autonomous driving system and sends the braking commands and the current vehicle status to the braking control unit through a redundant communication network; the braking commands include target deceleration, braking distance, and braking time. The brake control unit generates the required braking force command for each wheel based on the braking command and the current vehicle status, and sends the braking force command to each corner module for execution through a redundant communication network; Each module feeds back the working status of the brake actuator after execution to the brake control unit through a redundant communication network; The brake control unit adjusts the braking force distribution strategy in real time based on the working status of the brake actuators fed back by each corner module, generates new braking force commands, and sends them to each corner module for execution through a redundant communication network to realize the braking commands.

[0015] In some embodiments, the control method for the electromechanical braking system further includes: The central control system acquires the working status and health status of the entire system in real time, and determines whether a fault has occurred based on the working status and health status. If a failure is detected in the primary communication network, the system will automatically switch to the backup communication network. If a main power failure is detected, the system will automatically switch to the backup power. If a front axle or rear axle failure is detected, the system braking is downgraded. The central control system coordinates across the entire vehicle to isolate the faulty axle, maintain the braking function of the remaining single axle, limit the vehicle speed to a safe value, ensure the minimum necessary braking force, and simultaneously activate the dynamic torque distribution algorithm to avoid the risk of rollover and maintain the stability of the vehicle's straight-line driving. At this time, there is no need for the entire vehicle to stop suddenly. If a single electromechanical braking system failure is detected on the front axle and / or rear axle, the system braking is downgraded. The central control system coordinates at the vehicle level. If the deviation between the braking force at the current vehicle speed and the vehicle's braking force requirement is less than the deviation threshold, adaptive control compensation is used to adjust the braking torque and output of the other three electromechanical braking systems. If the deviation between the braking force at the current vehicle speed and the vehicle's braking force requirement is greater than or equal to the deviation threshold, the brake of that electromechanical braking system is isolated, and the current vehicle speed is reduced. If a failure of three or more electromechanical braking systems on the front and / or rear axles is detected, the system switches to the highest safety level, the central control system adjusts at the vehicle level, triggers an emergency stop strategy, and the vehicle stops immediately for fault repair.

[0016] According to a third aspect of this application, this application also provides an unmanned vehicle equipped with the aforementioned electromechanical braking system.

[0017] The beneficial effects achieved by this application are as follows: This application solves the problems of single point of failure risk, insufficient redundancy design, imperfect control strategy, communication reliability problem and power system risk in the prior art by integrating electromechanical braking redundancy design with corner modules, distributed corner module architecture, dual communication network, power redundancy and fault diagnosis and fault-tolerant control, and provides a highly reliable electromechanical braking system for unmanned vehicles.

[0018] (1) Corner module integrated architecture: This application adopts a corner module integrated architecture, which designs the braking system of each wheel as an independent drive module, realizing the high integration and modular design of the system, reducing the system complexity, and improving the maintainability and scalability of the system.

[0019] (2) Multi-layer redundancy design: Each corner module of this application adopts a multi-layer redundancy design, including control redundancy, power redundancy and communication redundancy, to ensure that the system can still work normally under any single point of failure, which greatly improves the reliability and security of the system.

[0020] (3) Power redundancy topology: The power system of this application adopts a ring power structure to form a closed power loop, ensuring that any single point power failure will not cause the system power supply to be interrupted, thereby improving the reliability and stability of the power system.

[0021] (4) Star + Ring Hybrid Communication Architecture: The communication system of this application adopts a star + ring hybrid topology. The central control system and each corner module are connected by a star, and the corner modules are connected by a ring, ensuring that any single point communication failure will not cause the system communication to be interrupted, thereby improving the reliability and fault tolerance of the communication system. Attached Figure Description

[0022] Figure 1 A schematic diagram of an electromechanical braking system provided in an embodiment of this application; Figure 2 This is a schematic diagram of the angle module installation in an electromechanical braking system provided in an embodiment of this application; Figure 3 A schematic diagram of the fault detection method for an electromechanical braking system provided in this application embodiment. Detailed Implementation

[0023] The present application will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and should not be used to limit the scope of protection of the present application.

[0024] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0025] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. 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.

[0026] Example 1: As Figure 1 As shown, this application provides an electromechanical braking system, including a central control system 01, four corner modules 02, a braking control unit 03, a redundant communication network 04, and a power supply system 05; The four corner modules 02 include a first corner module, a second corner module, a third corner module, and a fourth corner module corresponding to the left front wheel, right front wheel, right rear wheel, and left rear wheel of the vehicle, respectively. The four corner modules 02 (i.e. four EMBs) are connected to the central control system 01 and the brake control unit 03 through a redundant communication network 04, forming a distributed control system architecture. The redundant communication network 04 includes an independent main communication network and a backup communication network. The central control system 01 and the brake control unit are connected to the four corner modules 02 in a star configuration through the redundant communication network 04. The four corner modules 02 are connected in a ring configuration through the redundant communication network to form a closed communication loop. The central control system 01 includes a main controller 01-1 and a system monitoring module 01-2; the main controller 01-1 is used to receive braking commands from the unmanned driving system and send the braking commands to the braking control unit 03 through the redundant communication network 04; the system monitoring module 01-2 is used to monitor the working status and health status of the entire system and to perform fault diagnosis and handling. The brake control unit 03 is used to generate the braking force command required for each wheel based on the braking command and the current vehicle status, and sends the braking force command to each corner module 02 for execution through the redundant communication network 04. The power system 05 adopts a ring power topology.

[0027] In some embodiments, such as Figure 1 As shown, the power system 05 includes a main battery 05-1, a backup battery 05-2, and a power management module 05-3. The main battery 05-1 provides main power to the system through the power management module 05-3, and the backup battery 05-2 provides backup power through the power management module 05-3. When the main power fails, the backup power is switched to ensure redundancy and safety.

[0028] In addition, the power management module 05-3 is responsible for monitoring parameters such as voltage, current and temperature of each power supply. When an abnormality is detected, it automatically switches the power supply and performs protection to ensure the safe and stable operation of the system.

[0029] In some embodiments, the power supply of each corner module (EMB) is connected to the power supply of the adjacent corner module (EMB) through a power bus, forming a ring power topology. When a power supply failure occurs in a corner module, the system can automatically switch and reconfigure the power supply through a ring power supply topology to ensure the continuity of the system's power supply.

[0030] In this embodiment, the main battery is a lithium battery pack, and the backup battery is a low-voltage storage battery. A dual power input design (main lithium battery pack + low-voltage storage battery power supply) is adopted. When the main power supply fails, the backup power supply is switched to ensure redundancy and safety.

[0031] In some embodiments, the central control system 01 and the brake control unit 03 are respectively connected to the four corner modules 02 via a star topology through a redundant communication network 04, and the four corner modules 02 are connected to each other via a ring topology through the redundant communication network, forming a closed communication loop, including: When the main communication network is normal, the four corner modules 02 are connected to the central control system 01 and the brake control unit 03 through the main communication network to form the first star connection communication. The first corner module, the second corner module, the third corner module, and the fourth corner module are connected in a ring through the main communication network to form the first closed communication loop. When the main communication network fails, the four corner modules 02 are connected to the central control system 01 and the brake control unit 03 through the backup communication network to form a second star-shaped communication connection. The first corner module, the second corner module, the third corner module, and the fourth corner module are connected in a ring through the backup communication network to form a second closed communication loop.

[0032] In some embodiments, the redundant communication network adopts a star + ring hybrid topology. The primary communication network and the backup communication network are independent of each other, achieving communication redundancy. Each corner module 02 is equipped with dual communication interfaces, used to connect to the primary communication network and the backup communication network respectively. When the primary communication network fails, the system automatically switches to the backup communication network to ensure communication continuity. Simultaneously, due to the ring topology, any single point of communication failure will not cause system communication interruption, improving the reliability and fault tolerance of the communication system.

[0033] In some embodiments, such as Figure 2 As shown, each corner module 02 includes a brake driver 02-1 and a brake actuator 02-2; wherein, Brake actuator 02-2 includes: a brake motor, which is connected to the brake caliper through a planetary gear reducer and a ball screw transmission mechanism; The brake actuator 02-1 is used to receive the braking force command issued by the brake control unit 03, and adjust the current and / or speed of the brake motor according to the braking force command, thereby adjusting the clamping force of the brake caliper clamping the brake disc 02-3 to achieve the target braking force.

[0034] The mechanical structure of the corner module 02 corresponding to the wheel integrates the hub motor, the brake driver 02-1 and the brake actuator 02-2 are integrated into the steering knuckle mounting slot of the corner module and fixed to the outer edge of the hub motor, and the brake disc 02-3 is coaxially fixed to the hub.

[0035] The central control system 01 receives the scene recognition feedback signal and the driving intention sent by the autonomous driving system. It integrates vehicle information, vehicle dynamic status and safety requirements, and feeds them back to the brake control unit 03. It calculates the braking torque required for each wheel in real time and generates corresponding motor control commands to send to the brake drive 02-1 to achieve precise control of motor current and speed, thereby adjusting the clamping force of the brake caliper in the brake actuator 02-2.

[0036] In this embodiment, each corner module 02 adopts a multi-layered redundancy design, including power redundancy, communication redundancy, and control redundancy, to ensure that the system can still work normally under any single point of failure.

[0037] Example 2: Based on Example 1, this application provides a control method for the above-mentioned electromechanical braking system, including: The central control system receives braking commands from the autonomous driving system and sends the braking commands and the current vehicle status to the braking control unit through redundant communication network 04; the braking commands include target deceleration, braking distance, and braking time. The brake control unit generates the required braking force command for each wheel based on the braking command and the current vehicle status (vehicle speed, load distribution, and road conditions, etc.), and sends the braking force command to each corner module 02 for execution through the redundant communication network 04 (the brake driver of each corner module receives the braking force command, controls the brake motor of the brake actuator 02-2 to work, and drives the brake caliper to clamp the brake disc 02-3 through the planetary gear reducer and ball screw transmission mechanism to realize the braking operation). Each corner module will feed back the working status of the brake actuator 02-2 after execution to the brake control unit through the redundant communication network 04; Based on the operating status of brake actuator 02-2 fed back by each corner module, the brake control unit adjusts the braking force distribution strategy in real time to generate new braking force commands, and sends them to each corner module for execution through a redundant communication network to realize the braking commands.

[0038] The above methods can optimize braking performance and vehicle stability. The central control system continuously monitors key system parameters and safety indicators, and initiates a fault handling process when an anomaly is detected.

[0039] In some embodiments, such as Figure 3 As shown, the control method for the electromechanical braking system further includes: The central control system acquires the working status and health status of the entire system in real time, and determines whether a fault has occurred based on the working status and health status (processing and analyzing the collected data, calculating characteristic parameters and indicators, comparing the characteristic parameters and indicators with preset thresholds, and determining whether a fault has occurred). If a failure is detected in the primary communication network, the system will automatically switch to the backup communication network. If a main power failure is detected, the system will automatically switch to the backup power. If a front or rear axle failure is detected, the system braking is downgraded, the central control system coordinates the whole vehicle level, isolates the faulty axle, maintains the braking function of the remaining single axle, limits the vehicle speed to a safe value (50% of the original speed), ensures the minimum necessary braking force, and at the same time activates the dynamic torque distribution algorithm to avoid the risk of rollover and maintain the stability of the vehicle driving in a straight line. At this time, there is no need for the whole vehicle to stop suddenly. If a single electromechanical braking system failure is detected on the front axle and / or rear axle, the system braking is downgraded. The central control system coordinates at the vehicle level to determine the degree of deviation between the braking force at the current vehicle speed and the vehicle's braking force requirement. If the deviation between the braking force at the current vehicle speed and the vehicle's braking force requirement is less than the deviation threshold (e.g., 25%, i.e., a slight deviation), adaptive control compensation is used to adjust the braking torque and output of the other three electromechanical braking systems. If the deviation between the braking force at the current vehicle speed and the vehicle's braking force requirement is greater than or equal to the deviation threshold (e.g., 25%, i.e., a severe deviation), the brake of that electromechanical braking system is isolated, and the current vehicle speed is reduced. If three or more (≥3) electromechanical braking systems on the front axle and / or rear axle are detected to fail, the system switches to the highest safety level, the central control system adjusts at the vehicle level, triggers the emergency stop strategy, and the vehicle stops immediately for fault repair.

[0040] In this application, if a fault is detected, the type, location, and severity of the fault are determined; based on the fault diagnosis results, an appropriate fault-tolerant strategy and control reconfiguration method are selected; the fault-tolerant control strategy is executed, and control parameters and strategies are adjusted to achieve fault-tolerant control of the system; fault information and processing procedures are recorded, and fault warnings and reports are performed.

[0041] In summary, this application addresses the problems of single-point failure risk, insufficient redundancy design, imperfect control strategy, communication reliability issues, and power system risks in existing technologies by integrating electromechanical braking redundancy design with corner modules, distributed corner module architecture, dual communication network, power redundancy, and fault diagnosis and fault-tolerant control, thus providing a highly reliable electromechanical braking system for unmanned vehicles.

[0042] (1) Redundancy design: From hardware to software, from control to communication, this application designs a multi-level redundancy scheme, which greatly improves the reliability and fault tolerance of the system.

[0043] (2) Distributed corner module architecture: The braking system is designed as a distributed corner module structure, with each corner module having independent control capabilities, which improves the reliability and maintainability of the system.

[0044] (3) Control strategy based on the dynamic model of the sweeper: In view of the special structure and working environment of the sweeper, a braking force distribution strategy and control algorithm for frequent start-stop and emergency braking of the composite sweeper were designed to improve braking performance and stability.

[0045] (4) Dual communication signals: CAN dual communication is adopted to ensure reliable transmission of control commands and reduce the risk of communication delay and data loss.

[0046] (5) Dual power redundancy: The combination design of dual power supply and energy storage device realizes seamless switching and energy management of power system, and improves system reliability.

[0047] (6) Fault diagnosis and fault tolerance control: Establish a fault diagnosis and fault tolerance control mechanism that integrates multiple information to quickly detect and locate faults and take corresponding fault tolerance measures.

[0048] Example 3: Based on Example 1, this application also provides an unmanned vehicle, which is equipped with the above-mentioned electromechanical braking system.

[0049] In some embodiments, the unmanned vehicle includes, but is not limited to, an unmanned sweeper.

[0050] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0051] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0052] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0053] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0054] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. An electromechanical braking system, characterized in that, The electromechanical braking system adopts a corner module integrated architecture, including a central control system, four corner modules, a braking control unit, a redundant communication network, and a power supply system. The four corner modules include a first corner module, a second corner module, a third corner module, and a fourth corner module, which correspond to the left front wheel, right front wheel, right rear wheel, and left rear wheel of the vehicle, respectively. The four corner modules are connected to the central control system and the brake control unit through a redundant communication network, forming a distributed control system architecture. The redundant communication network includes an independent main communication network and a backup communication network. The central control system and the brake control unit are connected to the four corner modules in a star topology through the redundant communication network, and the four corner modules are connected in a ring topology through the redundant communication network to form a closed communication loop. The central control system includes a main controller and a system monitoring module; the main controller is used to receive braking commands from the autonomous driving system and send the braking commands to the braking control unit through a redundant communication network; the system monitoring module is used to monitor the working status and health status of the entire system and to perform fault diagnosis and handling. The brake control unit is used to generate the braking force command required for each wheel based on the braking command and the current vehicle status, and sends the braking force command to each corner module for execution through a redundant communication network; The power system adopts a ring power topology.

2. The electromechanical braking system according to claim 1, characterized in that, The power system includes a main battery, a backup battery, and a power management module. The main battery provides main power to the system through the power management module, and the backup battery provides backup power through the power management module. When the main power fails, the backup power is switched on.

3. The electromechanical braking system according to claim 1 or 2, characterized in that, The power supply of each corner module is connected to the power supply of the adjacent corner module through the power bus, forming a ring power topology; When the power supply to one corner module fails, the system can automatically switch and reconfigure the power supply through a ring power topology.

4. The electromechanical braking system according to claim 2, characterized in that, The main battery is a lithium battery pack, and the backup battery is a low-voltage storage battery.

5. The electromechanical braking system according to claim 1, characterized in that, The central control system and brake control unit are connected to the four corner modules via a star topology through a redundant communication network, and the four corner modules are connected to each other via a ring topology through a redundant communication network, forming a closed communication loop, including: When the main communication network is normal, the four corner modules are connected to the central control system and the brake control unit through the main communication network to form the first star connection communication. The first corner module, the second corner module, the third corner module, and the fourth corner module are connected in a ring through the main communication network to form the first closed communication loop. When the main communication network fails, the four corner modules are connected to the central control system and the brake control unit through the backup communication network to form a second star-shaped communication connection. The first corner module, the second corner module, the third corner module, and the fourth corner module are connected in a ring through the backup communication network to form a second closed communication loop.

6. The electromechanical braking system according to claim 1, characterized in that, Each corner module is equipped with dual communication interfaces, one for connecting to the main communication network and the other for connecting to the backup communication network.

7. The electromechanical braking system according to claim 1, characterized in that, Each corner module includes a brake drive and a brake actuator; wherein... The brake actuator includes: a brake motor, which is connected to the brake caliper via a planetary gear reducer and a ball screw transmission mechanism; The brake actuator is used to receive braking force commands from the brake control unit and adjust the current and / or speed of the brake motor according to the braking force commands, thereby adjusting the clamping force of the brake caliper on the brake disc to achieve the target braking force.

8. The control method for the electromechanical braking system according to any one of claims 1-7, characterized in that, include: The central control system receives braking commands from the autonomous driving system and sends the braking commands and the current vehicle status to the braking control unit through a redundant communication network; the braking commands include target deceleration, braking distance, and braking time. The brake control unit generates the required braking force command for each wheel based on the braking command and the current vehicle status, and sends the braking force command to each corner module for execution through a redundant communication network; Each module feeds back the working status of the brake actuator after execution to the brake control unit through a redundant communication network; The brake control unit adjusts the braking force distribution strategy in real time based on the working status of the brake actuators fed back by each corner module, generates new braking force commands, and sends them to each corner module for execution through a redundant communication network to realize the braking commands.

9. The control method for the electromechanical braking system according to claim 8, characterized in that, Also includes: The central control system acquires the working status and health status of the entire system in real time, and determines whether a fault has occurred based on the working status and health status. If a failure is detected in the primary communication network, the system will automatically switch to the backup communication network. If a main power failure is detected, the system will automatically switch to the backup power. If a front axle or rear axle failure is detected, the system braking is downgraded. The central control system coordinates across the entire vehicle to isolate the faulty axle, maintain the braking function of the remaining single axle, limit the vehicle speed to a safe value, ensure the minimum necessary braking force, and simultaneously activate the dynamic torque distribution algorithm to avoid the risk of rollover and maintain the stability of the vehicle's straight-line driving. At this time, there is no need for the entire vehicle to stop suddenly. If a single electromechanical braking system failure is detected on the front axle and / or rear axle, the system braking is downgraded. The central control system coordinates at the vehicle level. If the deviation between the braking force at the current vehicle speed and the vehicle's braking force requirement is less than the deviation threshold, adaptive control compensation is used to adjust the braking torque and output of the other three electromechanical braking systems. If the deviation between the braking force at the current vehicle speed and the vehicle's braking force requirement is greater than or equal to the deviation threshold, the brake of that electromechanical braking system is isolated, and the current vehicle speed is reduced. If a failure of three or more electromechanical braking systems on the front and / or rear axles is detected, the system switches to the highest safety level, the central control system adjusts at the vehicle level, triggers an emergency stop strategy, and the vehicle stops immediately for fault repair.

10. An unmanned vehicle, characterized in that, The unmanned vehicle is equipped with an electromechanical braking system as described in any one of claims 1-7.

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