EMB system and vehicle
By designing an EMB system including acquisition module, acquisition module, execution module and control module, and using dual-winding motors and redundant power supplies to improve safety redundancy, the problem of insufficient redundancy and security guarantee in the existing EMB system architecture is solved, and higher functional safety is achieved.
Patent Information
- Application Number
- CN202421741792.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-22
- Publication Date
- 2025-06-27
- Estimated Expiration
- 2034-07-22
AI Technical Summary
The existing EMB system architecture does not have enough redundancy and security guarantees, and the overall electronic and electrical architecture does not comply with functional safety.
An EMB system is designed, including a acquisition module connected to a vehicle pedal, a plurality of acquisition modules, a plurality of execution modules and a control module. The acquisition module obtains the pedal position signal, the acquisition module collects the wheel speed signal and the rotation angle signal of the wheel, the control module determines the braking force of each wheel based on these signals, and controls the execution module to perform braking operations. The system uses a dual-winding motor to increase the failure safety redundancy of the motor, and includes a redundant power supply and a redundant control unit to improve the safety redundancy of the system.
The overall security redundancy of the EMB system has been improved, and the problem of insufficient redundancy and security guarantee of EMB system architecture in the prior art has been solved, ensuring the functional safety of the system.
Smart Images
Figure CN223030967U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of the automotive industry, and particularly relates to an EMB system and a vehicle. Background Art
[0002] Intelligent vehicles are emerging products of the combination of artificial intelligence technology and modern automotive industry, and are developing into a full-automatic wheeled intelligent machine integrating features such as networked communication, multi-source perception, autonomous decision-making, safety and efficiency, and flexibility. Among them, the braking system plays a very important role. The electromechanical braking system (EMB, Electromechanical Brake) is the future trend of the braking system. The EMB replaces the hydraulic circuit with an electromechanical system, mainly consisting of a pedal simulator, an EMB actuator, a controller, etc. By controlling the clamping force of the actuator, independent control of the braking force of each wheel can be achieved, eliminating the hydraulic system and improving the integration and response speed. For the EMB system, the overall architecture of the EMB system and the topology of the corresponding controller are the premise for EMB development and ensuring system functional safety.
[0003] The electromechanical braking system consists of four major parts: a sensor array, a control unit, an execution unit, and a power supply system. The sensor array includes various sensors for collecting vehicle status information; the control unit adopts a hierarchical control architecture, consisting of an upper-layer decision-making controller (brake control unit, BCU) and four wheel-side controllers (wheel acuator control unit, WACU). Among them, the BCU performs information processing and decision-making such as four-wheel braking torque calculation, and the WACU receives instructions from the upper-layer controller and can achieve independent control of the wheel-side motor; the execution unit includes a braking execution mechanism, a braking signal lamp, and a human-machine interface; the power supply system supplies power to the EMB system. In addition, the above modules exchange information through the CAN network.
[0004] However, there are significant differences in the system architectures of current EMBs, with insufficient redundancy and safety guarantee. The overall electronic and electrical architecture does not meet functional safety, and the topology architecture of the entire controller is not clear. Summary of the Invention
[0005] The present application provides an EMB system and a vehicle to solve the problems of insufficient redundancy and safety guarantee in the existing EMB system architecture, and the overall electronic and electrical architecture not meeting functional safety.
[0006] An embodiment of the first aspect of the present application provides an EMB system, including: an acquisition module connected to a vehicle pedal, where the acquisition module is configured to acquire a pedal position signal; a plurality of acquisition modules respectively disposed on a plurality of vehicle wheels, and the plurality of acquisition modules are configured to acquire a wheel speed signal and a steering angle signal of the corresponding wheel; a plurality of execution modules respectively disposed on both sides of the plurality of wheels, and the plurality of execution modules are configured to perform a braking operation on the corresponding wheel according to the braking force of each wheel, wherein the drive source of the plurality of execution modules uses a dual-winding motor to increase the fail-safe redundancy margin of the motor. When a single motor fails, the motor of the other set of windings can intervene in time to work; a control module, where the control module is respectively connected to the acquisition module, the plurality of acquisition modules, and the plurality of execution modules. When the pedal position signal is a valid signal, the control module determines the braking force of each wheel according to the wheel speed signal and the steering angle signal, and controls the plurality of execution modules to perform a braking operation on the corresponding wheel according to the braking force of each wheel.
[0007] Optionally, the above EMB system further includes: a power supply module, where the power supply module includes a main power supply and a redundant power supply connected to the main power supply. The main power supply supplies power to the acquisition module, the plurality of acquisition modules, the execution module, and the control module, and the redundant power supply is configured to supply power to the acquisition module, the plurality of acquisition modules, the execution module, and the control module when the main power supply is in a fault state.
[0008] Optionally, the control module includes: a main control unit configured to determine the braking force of each wheel according to the wheel speed signal and the steering angle signal when the pedal position signal is a valid signal; a redundant control unit connected to the main control unit, configured to determine the braking force of each wheel according to the wheel speed signal and the steering angle signal when the main control unit is in a fault state and the pedal position signal is a valid signal.
[0009] Optionally, the control module further includes: a plurality of execution control units respectively connected to the main control unit and the redundant control unit, where the plurality of execution control units are configured to receive the braking force of each wheel issued by the main control unit or the redundant control unit, and drive the plurality of execution modules to control the corresponding wheel to perform a braking operation according to the braking force of each wheel.
[0010] Optionally, the above EMB system further includes: a detection module for detecting whether the main control unit or the redundant control unit is in a fault state, the detection module being connected to the power supply module and the control module respectively; an alarm module connected to the detection module for performing acoustic alarm reminder and / or optical alarm reminder when the detection module detects that the main control unit and / or the redundant control unit is in the fault state.
[0011] Optionally, the alarm module includes: an acoustic alarm unit connected to the detection module, and when the detection module detects that the main control unit and / or the redundant control unit is in a fault state, the acoustic alarm unit performs an acoustic alarm reminder; and / or, an optical alarm unit connected to the detection module, and when the detection module detects that the main control unit and / or the redundant control unit is in the fault state, the optical alarm unit performs an optical alarm reminder.
[0012] Optionally, the above EMB system further includes: a display module connected to the control module, and the display module is used to display the fault information of the main control unit and / or the redundant control unit.
[0013] Optionally, the above EMB system further includes: a first communication module disposed between the acquisition module and the control module for sending the pedal position signal to the control module; a second communication module disposed between the plurality of acquisition modules and the control module for sending the wheel speed signal and the steering angle signal of the wheel to the control module.
[0014] Optionally, the plurality of acquisition modules include a wheel speed sensor, a steering angle sensor, and a pedal travel sensor, and each sensor is a sensor with a dual control chip.
[0015] An embodiment of the second aspect of the present application provides a vehicle, including the EMB system as described in the above embodiment.
[0016] In the above implementation manner, the pedal position signal is acquired by the acquisition module connected to the vehicle pedal, the wheel speed signal and the steering angle signal of the corresponding wheel are acquired by the plurality of acquisition modules disposed on the plurality of wheels of the vehicle, and when the pedal position signal is a valid signal, the control module determines the braking force of each wheel according to the wheel speed signal and the steering angle signal, and controls the plurality of execution modules to perform a braking operation on the corresponding wheel according to the braking force of each wheel. Thus, the problems in the prior art that the architecture redundancy and safety guarantee of the EMB system are insufficient and the overall electronic and electrical architecture does not conform to functional safety are solved, and the overall safety redundancy is improved.
[0017] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The above-mentioned and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of embodiments in conjunction with the accompanying drawings, where:
[0019] Figure 1 is a schematic diagram of an EMB system according to an embodiment of the present application;
[0020] Figure 2 is a schematic diagram of an EMB system according to an embodiment of the present application;
[0021] Figure 3 is a schematic diagram of the topology of an EMB controller according to an embodiment of the present application;
[0022] Figure 4 is a schematic diagram of a fault tree according to an embodiment of the present application. BRIEF DESCRIPTION OF THE DRAWINGS:
[0024] 10 - EMB system; 100 - acquisition module; 200 - multiple acquisition modules; 300 - multiple execution modules; 400 - control module; 500 - power supply module and 600 - detection module. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0025] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where 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 intended to explain the present application, and should not be construed as limiting the present application.
[0026] An EMB system and a vehicle according to an embodiment of the present application will be described below with reference to the accompanying drawings. In view of the problems in the prior art mentioned in the above background art, namely, the redundancy and safety guarantee of the EMB system architecture are insufficient, and the overall electronic and electrical architecture does not meet functional safety requirements, the present application provides an EMB system. In this system, a pedal position signal is obtained by an acquisition module connected to the vehicle pedal, a wheel speed signal and a steering angle signal of the corresponding wheel are collected by multiple acquisition modules provided on multiple wheels of the vehicle, and when the pedal position signal is a valid signal, a control module determines the braking force of each wheel according to the wheel speed signal and the steering angle signal, and controls multiple execution modules to perform a braking operation on the corresponding wheels according to the braking force of each wheel. Thus, the problems in the prior art that the redundancy and safety guarantee of the EMB system architecture are insufficient and the overall electronic and electrical architecture does not meet functional safety requirements are solved, and the overall safety redundancy is improved.
[0027] Specifically,Figure 1 A schematic diagram of an EMB system provided by an embodiment of the present application.
[0028] The EMB system of the present application is different from the traditional triple redundancy structure. The basic electronic and electrical framework of the EMB system can be designed according to a four-way parallel functional safety architecture, which combines the basic components of the EMB system with the vehicle drive, steering, and suspension systems.
[0029] As Figure 1 shown, the EMB system 10 includes: an acquisition module 100, a plurality of acquisition modules 200, a plurality of execution modules 300, a control module 400, and a power supply module 500.
[0030] Among them, the acquisition module 100 connected to the vehicle pedal is used to acquire the pedal position signal; a plurality of acquisition modules 200 are respectively arranged on a plurality of wheels of the vehicle, and the plurality of acquisition modules 200 are used to acquire the wheel speed signal and the steering angle signal of the corresponding wheels; a plurality of execution modules 300 are respectively arranged on both sides of the plurality of wheels, and the plurality of execution modules 300 are used to perform a braking operation on the corresponding wheels according to the braking force of each wheel. Among them, the drive source of the plurality of execution modules 300 adopts a dual-winding motor to increase the fail-safe redundancy margin of the motor. When a single motor fails, the motor of the other set of windings can intervene in time to work; the control module 400 is respectively connected to the acquisition module 100, the plurality of acquisition modules 200, and the plurality of execution modules 300. When the pedal position signal is a valid signal, the control module 400 determines the braking force of each wheel according to the wheel speed signal and the steering angle signal, and controls the plurality of execution modules 300 to perform a braking operation on the corresponding wheels according to the braking force of each wheel.
[0031] Optionally, the above-mentioned EMB system 10 further includes: a power supply module 500, which includes a main power supply 501 and a redundant power supply 502 connected to the main power supply 501. The main power supply 501 supplies power to the acquisition module 100, the plurality of acquisition modules 200, the execution module 300, and the control module 400, and the redundant power supply 502 is used to supply power to the acquisition module 100, the plurality of acquisition modules 200, the execution module 300, and the control module 400 when the main power supply 501 is in a fault state.
[0032] Among them, in some embodiments, the plurality of acquisition modules 200 include a wheel speed sensor, a steering angle sensor, and a pedal travel sensor, and each sensor is a sensor with dual control chips.
[0033] In the embodiment of the present application, the power supply module 500 provides a stable voltage input for the EMB system 10. The power supply module 500 adopts two sets of battery systems, namely the main power supply 501 and the redundant power supply 502, asFigure 2 Power1 and Power2 in it. The main power supply 501 supplies power to the acquisition module 100, multiple acquisition modules 200, the execution module 300, and the control module 400. The redundant power supply 502 is used to supply power to the acquisition module 100, multiple acquisition modules 200, the execution module 300, and the control module 400 when the main power supply 501 is in a fault state, thus realizing redundant backup power supply.
[0034] The acquisition module 100 connected to the vehicle pedal is a pedal travel sensor (such as Figure 2 the Pedal module in it), including pedal PTS1 and pedal PTS2, which are used to collect pedal position signals to simulate braking feedback torque. The pedal travel sensing adopts a nearby dual-chip scheme and has 4 pins, and can output two independent digital and transmission signals.
[0035] Multiple acquisition modules 200 (such as Figure 2 the Sensor module in it) are respectively arranged on each wheel of the vehicle, including a wheel speed sensor and a steering angle sensor. The wheel speed sensor collects the wheel speed signal of the corresponding wheel, and the steering angle sensor is used to collect the steering angle signal of the corresponding wheel. Each sensor adopts a nearby dual-chip scheme, and each sensor has 4 pins to realize dual-current signal output. The steering angle sensor and the wheel speed sensor can output two independent digital and transmission signals.
[0036] Multiple execution modules 300 (such as Figure 2 the Actuator module in it) are distributed on both sides of the four wheels. For example, Figure 2 in it, they independently perform braking operations on the corresponding wheels according to the braking force of each wheel. The multiple execution modules 300 are driven by a dual-winding motor to realize redundant backup in case of motor failure.
[0037] The control module 400 adopts a hierarchical control architecture (such as Figure 2 the Control module in it), that is, the controller of the EMB system, which is composed of 2 upper-layer decision-making controllers and 4 edge execution controllers. The 2 decision-making controllers are divided into the main control unit 401 (such as Figure 2 the M-ECU in it) and the redundant control unit 402 (such as Figure 2 the S-ECU in it). The 4 edge execution controllers are 4 execution control units 403, such as Figure 2 in it (DWSS_FR, DWSS_FL, DWSS_RL, DWSS_RR). The upper-layer decision-making controllers are used to receive the pedal position signal, the wheel speed signal, and the steering angle signal, and calculate and make decisions on the four-wheel braking torque according to the pedal position signal, the wheel speed signal, and the steering angle signal. The edge execution controllers are used to receive the instructions of the upper-layer decision-making controllers and drive the multiple execution modules 300 to perform braking operations on the corresponding wheels according to the braking force of each wheel.
[0038] Optionally, in some embodiments, the control module 400 includes: a main control unit 401 and a redundant control unit 402 connected to the main control unit 401. Wherein, the main control unit 401 is configured to determine the braking force of each wheel according to the wheel speed signal and the steering angle signal when the pedal position signal is a valid signal; the redundant control unit 402 is configured to determine the braking force of each wheel according to the wheel speed signal and the steering angle signal when the main control unit 401 is in a fault state and the pedal position signal is a valid signal.
[0039] Optionally, in some embodiments, the 400 control module further includes: a plurality of execution control units 403 respectively connected to the main control unit 401 and the redundant control unit 403. The plurality of execution control units 403 are configured to receive the braking force of each wheel issued by the main control unit 401 or the redundant control unit 402, and drive the plurality of execution modules 300 to control the corresponding wheels to perform braking operations according to the braking force of each wheel.
[0040] Optionally, in some embodiments, the control module 400 further includes: a plurality of execution control units 403 respectively connected to the main control unit 401 and the redundant control unit 403. The plurality of execution control units 403 are configured to receive the braking force of each wheel issued by the main control unit 401 or the redundant control unit 402, and drive the plurality of execution modules 300 to control the corresponding wheels to perform braking operations according to the braking force of each wheel.
[0041] Specifically, the topology diagram of the control module 400 (EMB controller) is as Figure 3 shown. The control module 400 includes a main control unit 401, a redundant control unit 402 and 4 execution control units 403. Among them, the main control unit 401 and the redundant control unit 402 have two power supplies (i.e., the main power supply and the redundant power supply), have two signal processes, three private cans (i.e., CAN1, CAN2 and CAN3), and one public can (CAN4), forming a redundant backup with each other. The four execution control units 403 each have a driver module and two private cans (i.e., CAN1 and CAN2), each forming a redundant backup.
[0042] Among them, the main control unit 401 and the redundant control unit 402 are in a hot standby state and both receive signals. Usually, the main control unit 401 makes a decision. When it is found that the main control unit 401 fails, the redundant control unit 402 makes a supplementary decision. In the redundant backup mode, the redundant control unit 402 only receives information and does not perform calculations. When the main control unit 401 fails, the redundant control unit 402 will take over the main control unit 401 to make a supplementary decision, determine the braking force of each wheel according to the wheel speed signal and the steering angle signal, and send the braking force of each wheel to the 4 execution control units 403. The 4 execution control units 403 respectively drive a plurality of execution modules 300 to control the corresponding wheels to perform braking operations according to the braking force of each wheel.
[0043] For example, when the pedal position signal received by the main control unit 401 is a valid signal, that is, when the pedal position is not 0, it is determined that the pedal position signal is a valid signal. The main control unit 401 determines the braking force of each wheel according to the wheel speed signal and the steering angle signal, and sends a braking instruction to the 4 execution control units 403. After receiving the braking instruction from the main control unit 401, the 4 execution control units 403 drive the dual-winding motor to perform braking operations on the corresponding wheels. When the pedal position is 0, it is determined that the pedal position signal is an invalid signal, and the control module 400 does not execute calculation decisions.
[0044] Optionally, in some embodiments, the above EMB system 10 further includes: a detection module 600 and an alarm module for detecting whether the main control unit 401 or the redundant control unit 402 is in a fault state. Among them, the detection module 600 is respectively connected to the power supply module 500 and the control module 400; the alarm module is connected to the detection module 600 and is used for acoustic alarm reminder and / or optical alarm reminder when the detection module 600 detects that the main control unit 401 and / or the redundant control unit 402 is in a fault state.
[0045] Optionally, in some embodiments, the alarm module includes: an acoustic alarm unit and / or an optical alarm unit. Among them, the acoustic alarm unit is connected to the detection module 600, and when the detection module 600 detects that the main control unit 401 and / or the redundant control unit 402 is in a fault state, the acoustic alarm unit gives an acoustic alarm reminder; the optical alarm unit is connected to the detection module 600, and when the detection module 600 detects that the main control unit 401 and / or the redundant control unit 402 is in a fault state, the optical alarm unit gives an optical alarm reminder.
[0046] Specifically, the detection module 600 (such as Figure 2The RSAS in it are respectively connected to the power supply module 500 and the control module 400, and are used to detect whether the main control unit 401 and / or the redundant control unit 402 in the control module 400 fails. If a failure occurs, an alarm signal is generated to the alarm module.
[0047] When the acoustic alarm unit receives the alarm signal, it gives an acoustic alarm reminder according to the alarm signal, or when the optical alarm unit receives the alarm signal, it gives an optical alarm reminder according to the alarm signal, or the acoustic alarm unit gives an acoustic alarm reminder according to the alarm signal, and at the same time the optical alarm unit gives an optical alarm reminder according to the alarm signal.
[0048] Optionally, in some embodiments, the above EMB system 10 further includes: a display module, which is connected to the control module 400, and the display module is used to display the fault information of the main control unit 401 and / or the redundant control unit 402.
[0049] Among them, the display module is the central control screen on the vehicle end.
[0050] It can be understood that when the detection module 600 detects that the main control unit 401 or the redundant control unit 402 is in a fault state, it generates the fault information corresponding to the main control unit 401 or the redundant control unit 402 to the display module, and reminds the driver of the controller fault information when the driver is working; when the detection module 600 detects that both the main control unit 401 and the redundant control unit 402 are in a fault state, it generates the fault information corresponding to the main control unit 401 and the redundant control unit 402 to the display module, and reminds the driver of the controller fault information.
[0051] Optionally, in some embodiments, the above EMB system 10 further includes: a first communication module disposed between the acquisition module 100 and the control module 400, which is used to send the pedal position signal to the control module 400; a second communication module disposed between the plurality of acquisition modules 200 and the control module 400, which is used to send the wheel speed signal and the steering angle signal of the wheel to the control module 400.
[0052] Among them, both the first communication module and the second communication module are CAN networks.
[0053] It can be understood that the acquisition module 100 transmits the pedal position signal to the control module 400 through the first communication module, and the acquisition module 200 transmits the wheel speed signal and the steering angle signal of the wheel to the control module 400 through the second communication module.
[0054] For the EMB system proposed in this application, the method of the minimum cut set of the fault tree is used to demonstrate functional safety.
[0055] Which level to perform the fault tree analysis is also an issue that needs to be clarified in advance. In this paper, the potential causes of the fault state are traced only to the basic functional units of the basic components in the system. Under this assumption, the fault tree of the braking fault of the EMB system is as Figure 4 shown.
[0056] Identification of the minimal cut sets:
[0057] Applying the Minimal Cut Set (MOCUS) algorithm, Figure 4 the cut sets of the fault tree shown in
[0058] can be expressed as:
[0059] K1: {p1, p2}
[0060] K2: {can1, can2}
[0061] K3: {wss1, wss2}
[0062] K4: {sas1, sas22}
[0063] K5: {pts1, pts2}
[0064] K6: {m1, s1}
[0065] K7: {a1, a2, a3, a4}
[0066] According to the definition of the cut set, the TOP event occurs if and only if all the basic events in a cut set occur. The probability of the TOP event occurring can be approximated by the following formula.
[0067]
[0068] In the formula, k is the number of basic events in the cut set, and Q j is the probability of the basic event occurring.
[0069] It can be seen from the formula that the braking failure probability of the EMB system is:
[0070] Q0 ≈ 3.0310 -14 <10 -8 ;
[0071] It can be seen that the braking failure of the EMB system proposed in this application meets the failure rate requirements of ASIL-D and meets the safety and reliability requirements of the system.
[0072] According to the EMB system proposed in the embodiments of the present application, a pedal position signal is obtained through an acquisition module connected to the vehicle pedal, wheel speed signals and corner signals of corresponding wheels are collected through a plurality of acquisition modules arranged on a plurality of wheels of the vehicle, and when the pedal position signal is a valid signal, a control module determines the braking force of each wheel according to the wheel speed signal and the corner signal, and controls a plurality of execution modules to perform braking operations on the corresponding wheels according to the braking force of each wheel. Thereby, the problems in the prior art that the EMB system architecture has insufficient redundancy and safety guarantee, and the overall electronic and electrical architecture does not meet functional safety are solved, and the overall safety redundancy is improved.
[0073] The embodiments of the present application further provide a vehicle, including the EMB system as described in the above embodiments.
[0074] According to the vehicle proposed in the embodiments of the present application, the problems in the prior art that the EMB system architecture has insufficient redundancy and safety guarantee, and the overall electronic and electrical architecture does not meet functional safety are solved, and the overall safety redundancy is improved.
[0075] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.
[0076] In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0077] It should be understood that each part of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one of the following techniques known in the art or a combination thereof can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.
Claims
1. An EMB system, characterized in that: include: An acquisition module connected to a vehicle pedal, the acquisition module being used to acquire a pedal position signal; A plurality of acquisition modules, wherein the plurality of acquisition modules are respectively arranged on a plurality of wheels of the vehicle, and the plurality of acquisition modules are used to acquire wheel speed signals and steering angle signals of corresponding wheels; A plurality of execution modules, the plurality of execution modules are respectively arranged on both sides of the plurality of wheels, the plurality of execution modules are used to perform braking operations on corresponding wheels according to the braking force of each wheel, wherein the driving source of the plurality of execution modules adopts a double-winding motor to increase the failure safety redundancy margin of the motor, and when a single motor fails, the motor with another set of windings can intervene in time to work; A control module, wherein the control module is respectively connected to the acquisition module, the multiple acquisition modules and the multiple execution modules, and when the pedal position signal is a valid signal, the control module determines the braking force of each wheel according to the wheel speed signal and the steering angle signal, and controls the multiple execution modules to perform braking operations on the corresponding wheels according to the braking force of each wheel.
2. The system according to claim 1, characterized in that Also includes: A power supply module, the power supply module includes a main power supply and a redundant power supply connected to the main power supply, the main power supply supplies power to the acquisition module, the multiple acquisition modules, the execution module and the control module, and the redundant power supply is used to supply power to the acquisition module, the multiple acquisition modules, the execution module and the control module when the main power supply is in a fault state.
3. The system according to claim 2, characterized in that The control module comprises: A main control unit, the main control unit being used for determining the braking force of each wheel according to the wheel speed signal and the steering angle signal when the pedal position signal is a valid signal; The redundant control unit connected to the main control unit is used to determine the braking force of each wheel according to the wheel speed signal and the steering angle signal when the main control unit is in a fault state if the pedal position signal is a valid signal.
4. The system according to claim 3, characterized in that The control module further includes: Multiple execution control units are respectively connected to the main control unit and the redundant control unit, and the multiple execution control units are used to receive each wheel braking force issued by the main control unit or the redundant control unit, and drive the multiple execution modules to control the corresponding wheel to perform braking operations according to each wheel braking force.
5. The system according to claim 3, characterized in that Also includes: A detection module for detecting whether the main control unit or the redundant control unit is in a fault state, the detection module being connected to the power supply module and the control module respectively; An alarm module is connected to the detection module and is used for providing an acoustic alarm and / or an optical alarm when the detection module detects that the main control unit and / or the redundant control unit is in the fault state.
6. The system according to claim 5, characterized in that The alarm module comprises: An acoustic alarm unit, which is connected to the detection module and which issues an acoustic alarm when the detection module detects that the main control unit and / or the redundant control unit is in a fault state; And / or, an optical alarm unit, wherein the optical alarm unit is connected to the detection module, and when the detection module detects that the main control unit and / or the redundant control unit is in a fault state, the optical alarm unit performs an optical alarm reminder.
7. The system according to claim 6, characterized in that Also includes: A display module is connected to the control module, and is used to display fault information of the main control unit and / or the redundant control unit.
8. The system according to claim 1, characterized in that Also includes: A first communication module disposed between the acquisition module and the control module, and configured to send the pedal position signal to the control module; The second communication module is arranged between the plurality of acquisition modules and the control module, and is used for sending the wheel speed signal and the steering angle signal of the wheel to the control module.
9. The system according to claim 1, characterized in that The multiple acquisition modules include a wheel speed sensor, a rotation angle sensor and a pedal travel sensor, and each sensor is a sensor with dual control chips.
10. A vehicle, characterized in that: include: The EMB system according to any one of claims 1 to 9.