Electronic braking system and vehicle

Abstract

The embodiment of the utility model discloses an electronic braking system and a vehicle. The electronic brake system comprises a wheel speed sensing module, a brake pedal execution module, a steer-by-wire hand feeling execution module, a wheel end electronic mechanical brake module and a steer-by-wire wheel end execution control module. The wheel speed sensing module is connected with the wheel end electronic mechanical braking module, and the wheel end electronic mechanical braking module is used for receiving a wheel speed signal and transmitting the wheel speed signal to the steer-by-wire wheel end execution control module; the steer-by-wire wheel end execution control module is connected with the wheel end electronic mechanical brake module, the brake pedal execution module and the steer-by-wire hand feeling execution module, and the steer-by-wire wheel end execution control module is used for controlling the working state of the wheel end electronic mechanical brake module according to the wheel speed signal, the brake pedal signal and the steer-by-wire signal. According to the technical scheme, brake control and steer-by-wire control share the same controller, the information transmission path is short, and the space, occupied by the brake system controller, of the vehicle is saved.

Description

Technical Field

[0001] This utility model relates to the field of braking technology, and in particular to an electronic braking system and vehicle. Background Technology

[0002] With the development of new energy vehicle technology, people have increasingly higher requirements for vehicle braking systems. Existing vehicle braking systems require separate controllers, which occupy vehicle space, and the braking system needs to work in conjunction with steering, resulting in long information transmission paths and low real-time performance. Utility Model Content

[0003] This utility model provides an electronic braking system and vehicle to solve the problems of existing vehicle braking systems requiring separate controller installation, occupying vehicle space, and the need for the braking system to work in conjunction with steering, resulting in long information transmission paths and low real-time performance.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] This utility model embodiment provides an electronic braking system, including:

[0006] Wheel speed sensing module, brake pedal actuation module, steer-by-wire feel actuation module, wheel-end electromechanical braking module, and steer-by-wire wheel-end actuation control module;

[0007] The brake pedal actuator module is used to generate brake pedal signals;

[0008] The steer-by-wire feel actuator module is used to generate steer-by-wire signals;

[0009] The wheel speed sensing module is used to detect wheel speed signals; the wheel speed sensing module is connected to the wheel-end electromechanical braking module, and the wheel-end electromechanical braking module is used to receive the wheel speed signals and transmit the wheel speed signals to the steer-by-wire wheel-end execution control module;

[0010] The steer-by-wire wheel-end execution control module is connected to the wheel-end electromechanical braking module, the brake pedal execution module, and the steer-by-wire feel execution module. The steer-by-wire wheel-end execution control module is used to control the working state of the wheel-end electromechanical braking module according to the wheel speed signal, the brake pedal signal, and the steer-by-wire signal.

[0011] Optionally, the brake pedal actuation module includes:

[0012] Brake pedal and pedal position sensor;

[0013] The pedal position sensor is connected to the brake pedal and is used to detect the position information of the brake pedal; the brake pedal signal includes the position information of the brake pedal.

[0014] Optional, the electronic braking system also includes:

[0015] An acceleration sensor is connected to the steer-by-wire end-control module, which is used to acquire acceleration signals through the acceleration sensor.

[0016] A gyroscope sensor is connected to the steer-by-wire end-execution control module, which is used to acquire steering angle signals through the gyroscope sensor.

[0017] The steer-by-wire wheel-end actuator control module is used to control the working state of the calipers of the wheel-end electromechanical braking module based on acceleration and steering angle signals.

[0018] Optionally, the accelerometer and gyroscope sensors are integrated into the steer-by-wire end control module, or the accelerometer and gyroscope sensors are externally attached to the steer-by-wire end control module.

[0019] Optionally, the wheel speed sensing module includes at least four wheel speed sensors for detecting wheel speed signals of the front and rear wheels.

[0020] Optional, wheel-end electromechanical braking module, including:

[0021] At least two front-wheel electromechanical brake actuators with control assemblies and at least two rear-wheel electromechanical brake actuators with control assemblies; the front-wheel electromechanical brake actuators with control assemblies are connected between the wheel speed sensors and the steer-by-wire wheel-end actuation control module, and the rear-wheel electromechanical brake actuators with control assemblies are connected between the wheel speed sensors and the steer-by-wire wheel-end actuation control module.

[0022] Optionally, the electronic braking system also includes: redundant CAN communication signal lines;

[0023] Redundant CAN communication signal lines are connected between the steer-by-wire wheel-end execution control module and the wheel-end electromechanical braking module; redundant CAN communication signal lines are connected between the steer-by-wire wheel-end execution control module and the steer-by-wire feel execution module.

[0024] Redundant CAN communication signal lines are connected between the acceleration sensor and the drive-by-wire steering wheel end control module;

[0025] Redundant CAN communication signal lines are connected between the gyroscope sensor and the drive-by-wire steering wheel end control module;

[0026] Redundant CAN communication signal lines are used for communication between the steer-by-wire wheel-end actuator control module and the wheel-end electromechanical braking module, acceleration sensor, and gyroscope sensor.

[0027] Optional, the electronic braking system also includes: redundant SENT signal lines;

[0028] A redundant SENT signal line is connected between the pedal position sensor and the steer-by-wire wheel-end actuation control module; the redundant SENT signal line is used for communication between the pedal position sensor and the steer-by-wire wheel-end actuation control module.

[0029] Optionally, the electronic braking system also includes: a power module and redundant power lines;

[0030] The redundant power line connects the power module to the wheel-end electromechanical braking module, the steer-by-wire wheel-end actuation control module, and the steer-by-wire feel actuation module; the power module supplies power to the wheel-end electromechanical braking module, the steer-by-wire wheel-end actuation control module, and the steer-by-wire feel actuation module through the redundant power line.

[0031] According to another aspect of the present invention, this embodiment provides a vehicle including the electronic braking system proposed in any of the first aspects.

[0032] The electronic braking system provided in this embodiment connects a steer-by-wire wheel-end execution control module with a wheel-end electromechanical braking module, a brake pedal execution module, and a steer-by-wire feel execution module. The steer-by-wire wheel-end execution control module controls the calipers of the wheel-end electromechanical braking module to brake or release the brake based on wheel speed signals, brake pedal signals, and steer-by-wire signals. Because braking control and steer-by-wire control share the same controller, the steer-by-wire wheel-end execution control module can perform both steer-by-wire control and control of the wheel-end electromechanical braking module, achieving a fusion of steering and braking control. This configuration eliminates the need for separate controllers for braking and steering, resulting in a shorter information transmission path, higher real-time performance, and reduced space occupied by the braking system controller, thus reducing vehicle weight and the cost of a separate braking controller. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of this utility model and these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the structure of an electronic braking system provided in an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of another electronic braking system provided in an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of another electronic braking system provided in this embodiment of the present invention. Detailed Implementation

[0037] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0038] Based on the above-mentioned technical problems, this embodiment proposes the following solutions:

[0039] Figure 1 This is a schematic diagram of the structure of an electronic braking system provided in an embodiment of this utility model. See also... Figure 1 The electronic braking system provided in this embodiment includes a wheel speed sensing module 1, a brake pedal actuation module 2, a steer-by-wire feel actuation module 3, a wheel-end electromechanical braking module 4, and a steer-by-wire wheel-end actuation control module 5. The brake pedal actuation module 2 generates a brake pedal signal; the steer-by-wire feel actuation module 3 generates a steer-by-wire signal; the wheel speed sensing module 1 detects the wheel speed signal; the wheel speed sensing module 1 is connected to the wheel-end electromechanical braking module 4, and the wheel-end electromechanical braking module 4 receives the wheel speed signal and transmits it to the steer-by-wire wheel-end actuation control module 5; the steer-by-wire wheel-end actuation control module 5 is connected to the wheel-end electromechanical braking module 4, the brake pedal actuation module 2, and the steer-by-wire feel actuation module 3, and the steer-by-wire wheel-end actuation control module 5 controls the working state of the wheel-end electromechanical braking module 4 according to the wheel speed signal, the brake pedal signal, and the steer-by-wire signal.

[0040] Specifically, the steer-by-wire feel execution module 3 includes a steering wheel actuator (HWA), primarily controlled by electronic signals. This module mainly comprises road feedback, steering execution, and related sensors. The road feedback section includes a steering wheel, road feel motor, reducer, and torque angle sensor, used to provide feedback torque commands and apply appropriate road feel to the driver. The steering execution section includes a steering motor, steering gear, and steering tie rod, used to execute the steering angle commands given by the steer-by-wire wheel-end execution control module 5, achieving vehicle steering. The steer-by-wire wheel-end execution control module 5 and related sensors output road feel feedback torque commands and wheel steering angle commands in real time based on driving intention, vehicle status, and road conditions.

[0041] The brake pedal actuator module 2 includes an intelligent control brake pedal (E-Pedal). The brake pedal actuator module 2 is capable of performing deceleration and braking operations. The steer-by-wire wheel-end actuator control module 5 is connected to the brake pedal actuator module 2; the steer-by-wire wheel-end actuator control module 5 analyzes the pedal signal and generates a brake pedal signal.

[0042] Wheel speed sensing module 1 is a sensor used to measure the rotational speed of car wheels. Commonly used wheel speed sensors include: magnetoelectric wheel speed sensors and Hall effect wheel speed sensors. Electromagnetic induction wheel speed sensors generate induced voltage through changes in magnetic flux, while Hall effect wheel speed sensors work based on the Hall effect principle.

[0043] The wheel-end electromechanical braking module 4 includes an electromechanical braking system (EMB). The wheel-end electromechanical braking module 4 is connected to the wheel speed sensing module 1. It combines electric drive and mechanical braking to achieve efficient, precise, and sensitive braking performance. The wheel-end electromechanical braking module 4 includes a motor, reducer, clamping device, caliper, and wheel-end controller, etc.

[0044] The steer-by-wire wheel-end actuator control module 5 includes a steer-by-wire wheel-end actuator with control assembly (RWA). The steer-by-wire wheel-end actuator control module 5 can communicate with the wheel-end electromechanical braking module 4 to achieve braking control, and it can also communicate with the steer-by-wire feel actuator module 3 to achieve steering control. This configuration allows the braking and steering controls of the electronic braking system to share the same controller, eliminating the need for separate controllers. This configuration results in a shorter information transmission path and higher real-time performance when braking and steer-by-wire control are integrated. It also saves space occupied by the braking system controller, reduces vehicle weight, and lowers the cost of a separate braking controller.

[0045] The electronic braking system provided in this embodiment connects the steer-by-wire wheel-end execution control module 5 with the wheel-end electromechanical braking module 4, the brake pedal execution module 2, and the steer-by-wire feel execution module 3. The steer-by-wire wheel-end execution control module 5 controls the calipers of the wheel-end electromechanical braking module 4 to brake or release the brake based on wheel speed signals, brake pedal signals, and steer-by-wire signals. Since braking control and steer-by-wire control share the same controller, the steer-by-wire wheel-end execution control module 5 can perform both steer-by-wire control and control of the wheel-end electromechanical braking module 4, achieving a fusion of steering and braking control. This configuration eliminates the need for separate controllers for braking and steering, resulting in a shorter information transmission path, higher real-time performance, and reduced space occupied by the braking system controller, thus reducing vehicle weight and the cost of a separate braking controller.

[0046] Optionally, based on the above embodiments, see also... Figure 1 The brake pedal actuation module 2 may include: a brake pedal and a pedal position sensor; the pedal position sensor is connected to the brake pedal and is used to detect the position information of the brake pedal; the brake pedal signal includes the position information of the brake pedal.

[0047] Specifically, the pedal position sensor includes potentiometer sensors and non-contact sensors. Two potentiometer sensors operate under the same reference voltage. As the brake pedal position changes, the potentiometer resistance changes linearly, generating a voltage signal reflecting the amount and rate of brake pedal depressing, which is then input to the steer-by-wire control module 5. The two potentiometer sensors can be reversed to achieve reverse resistance changes, ensuring signal reliability. Non-contact sensors can be used, as vehicles can use inductively based non-contact sensors to monitor pedal position. The pedal position sensor monitors the driver's operation of the brake pedal, converting this operation into an electrical signal input to the steer-by-wire control module 5, thereby achieving precise vehicle control.

[0048] Optional, Figure 2 This is a schematic diagram of another electronic braking system provided in an embodiment of the present invention. Based on the above embodiment, see... Figure 2 The electronic braking system provided in this embodiment may further include: an acceleration sensor 6, which is connected to the steer-by-wire wheel-end execution control module 5, and the steer-by-wire wheel-end execution control module 5 is used to acquire acceleration signals through the acceleration sensor 6; a gyroscope sensor 7, which is connected to the steer-by-wire wheel-end execution control module 5, and the steer-by-wire wheel-end execution control module 5 is used to acquire steering angle signals through the gyroscope sensor 7; the steer-by-wire wheel-end execution control module 5 is used to control the working state of the caliper of the wheel-end electromechanical braking module 4 according to the acceleration signal and the steering angle signal.

[0049] Specifically, the accelerometer 6 works by calculating acceleration by measuring the inertial force acting on the mass. When an object accelerates, the mass experiences a force proportional to the acceleration. This force causes the elastic element to deform, and the sensitive element converts this deformation into an electrical signal output. Accelerometers 6 include capacitive, inductive, strain gauge, piezoresistive, and piezoelectric types.

[0050] The gyroscope sensor 7 operates based on the principle of conservation of angular momentum. It contains a rotatable rotor; as the object rotates, the rotor's rotational state changes, and this change is converted into an electrical signal output by a detection element. The gyroscope sensor 7 measures rotational motion by detecting oscillations in the mechanical structure and can be used to measure steering angle signals.

[0051] The steer-by-wire wheel-end actuation control module 5 acquires steering angle signals via gyroscope sensor 7 and acceleration signals via accelerometer sensor 6. Based on the acceleration and steering angle signals, the steer-by-wire wheel-end actuation control module 5 controls the operating state of the calipers in the wheel-end electromechanical braking module 4. The caliper's operating states include normal operation and emergency braking. During normal driving, the caliper uses brake fluid pressure to push a piston, causing the brake pads to clamp the brake disc, thus decelerating or stopping the vehicle. In this state, the piston inside the caliper expands outward under brake fluid pressure, pushing the brake pads to press tightly against the brake disc, converting the wheel's kinetic energy into heat energy through friction, achieving deceleration and stopping. In an emergency, when the driver presses the brake pedal, the hydraulic pressure generated by the master cylinder is quickly transmitted to the piston inside the caliper. The piston expands rapidly, pushing the brake pads to clamp the brake disc even tighter, generating greater friction to help the vehicle decelerate or stop quickly. In this state, the caliper's reaction speed and force are crucial, directly affecting braking performance and safety.

[0052] Optional, Figure 3 This is a schematic diagram of another electronic braking system provided in an embodiment of the present invention. Based on the above embodiments, see... Figure 3 The accelerometer 6 and gyroscope 7 are integrated into the drive-by-wire steering wheel end control module 5, or see [link to relevant documentation]. Figure 2 The drive-by-wire steering wheel end control module 5 is equipped with an external acceleration sensor 6 and a gyroscope sensor 7.

[0053] Specifically, the accelerometer 6 and gyroscope 7 can be integrated into the drive-by-wire steering wheel end control module 5 as needed, which saves space occupied by the accelerometer 6 and gyroscope 7.

[0054] It should be noted that the accelerometer sensor 6 and the gyroscope sensor 7 can be integrated into an accelerometer and gyroscope sensor unit (IMU). The accelerometer and gyroscope sensor unit (IMU) can be integrated into the drive-by-wire steering wheel end-execution control module 5, or the accelerometer and gyroscope sensor unit (IMU) can be externally connected to the drive-by-wire steering wheel end-execution control module 5 for communication.

[0055] Optionally, based on the above embodiments, see also... Figure 2 and Figure 3 The wheel speed sensing module 1 includes at least four wheel speed sensors (WSS), which are used to detect the wheel speed signals of the front and rear wheels.

[0056] Specifically, a wheel speed sensor can be installed on each wheel as needed. The wheel speed sensors can be matched one-to-one with each wheel.

[0057] Optionally, based on the above embodiments, see also... Figure 2 and Figure 3 The wheel-end electromechanical braking module 4 may include: at least two front wheel electromechanical braking actuators with control assemblies 41 and at least two rear wheel electromechanical braking actuators with control assemblies 42; the front wheel electromechanical braking actuators with control assemblies 41 are connected between the wheel speed sensor and the steer-by-wire wheel-end execution control module 5, and the rear wheel electromechanical braking actuators with control assemblies 42 are connected between the wheel speed sensor and the steer-by-wire wheel-end execution control module 5.

[0058] Specifically, the front wheel electromechanical brake actuator with control assembly 41 can communicate with the front wheel speed sensors and transmit the wheel speed information to the steer-by-wire wheel-end execution control module 5. The rear wheel electromechanical brake actuator with control assembly 42 can communicate with the rear wheel speed sensors and transmit the wheel speed information to the steer-by-wire wheel-end execution control module 5. This configuration facilitates the timely transmission of the front and rear wheel speed signals to the steer-by-wire wheel-end execution control module 5, reduces the signal transmission path of the front and rear wheel speed signals, and improves the accuracy of the steer-by-wire wheel-end execution control module 5 in controlling the steering and braking of the front and rear wheels.

[0059] It should be noted that, Figure 2 and Figure 3 An exemplary illustration shows a rear wheel electromechanical brake actuator with control assembly 42 including an electromechanical braking system (EMB) and an electronic parking brake system (EPB), without any limitation herein.

[0060] Optionally, based on the above embodiments, see also... Figure 2 and Figure 3 The electronic braking system also includes: redundant CAN communication signal lines; redundant CAN communication signal lines are connected between the steer-by-wire wheel-end execution control module 5 and the wheel-end electromechanical braking module 4; redundant CAN communication signal lines are connected between the steer-by-wire wheel-end execution control module 5 and the steer-by-wire feel execution module 3; redundant CAN communication signal lines are connected between the acceleration sensor 6 and the steer-by-wire wheel-end execution control module 5; redundant CAN communication signal lines are connected between the gyroscope sensor 7 and the steer-by-wire wheel-end execution control module 5; the redundant CAN communication signal lines are used for the steer-by-wire wheel-end execution control module 5 to communicate with the wheel-end electromechanical braking module 4, the acceleration sensor 6, and the gyroscope sensor 7 respectively.

[0061] Specifically, redundant CAN communication signal lines enable the steer-by-wire wheel-end execution control module 5 to communicate with the wheel-end electromechanical braking module 4, the acceleration sensor 6, and the gyroscope sensor 7, respectively. This allows it to feed back wheel speed, acceleration, and steering angle signals to the steer-by-wire wheel-end execution control module 5, and vice versa. Redundant CAN communication signal lines improve the reliability and safety of braking and steering control.

[0062] See also Figure 2 and Figure 3 The redundant CAN communication signal lines include a first CAN communication signal line 10 and a second CAN communication signal line 11. The first CAN communication signal line 10 and the second CAN communication signal line 11 are redundant. It should be noted that... Figure 2 and Figure 3 The example shown illustrates that the green lines represent redundant CAN communication signal lines. The solid green line CAN1 represents the first CAN communication signal line 10, and the dashed green line CAN2 represents the second CAN communication signal line 11; no limitations are imposed here.

[0063] Optionally, based on the above embodiments, see also... Figure 2 and Figure 3 The electronic braking system may also include: a redundant SENT signal line; the redundant SENT signal line is connected between the pedal position sensor and the steer-by-wire end-actuation control module 5; the redundant SENT signal line is used for communication between the pedal position sensor and the steer-by-wire end-actuation control module 5.

[0064] Specifically, redundant SENT signal lines enable the pedal position signal transmitted by the pedal position sensor to be fed back to the steer-by-wire end control module 5. The use of redundant SENT signal lines improves the reliability and safety of braking control.

[0065] See also Figure 2 and Figure 3 The redundant SENT signal lines include a first SENT signal line 20 and a second SENT signal line 21. The first SENT signal line 20 and the second SENT signal line 21 are redundant to each other.

[0066] It should be noted that, Figure 2 and Figure 3 The example shown illustrates that the blue lines represent redundant SENT signal lines. The solid blue line SENT1 represents the first SENT signal line 20, and the dashed blue line SENT2 represents the second SENT signal line 21, without any limitation.

[0067] Optionally, based on the above embodiments, see also... Figure 2 and Figure 3 The electronic braking system also includes: a power module (not shown in the figure) and redundant power lines; the redundant power lines are connected between the power module and the wheel-end electromechanical braking module 4, the steer-by-wire wheel-end actuation control module 5 and the steer-by-wire feel actuation module 3; the power module is used to supply power to the wheel-end electromechanical braking module 4, the steer-by-wire wheel-end actuation control module 5 and the steer-by-wire feel actuation module 3 through the redundant power lines.

[0068] Specifically, this configuration improves the power supply reliability of the electronic braking system, further enhancing its safety. (See also...) Figure 2 and Figure 3 The redundant power lines include a first power line 30 and a second power line 31. The first power line 30 and the second power line 31 are redundant with each other.

[0069] It should be noted that, Figure 2 and Figure 3 The example shown illustrates that the red lines represent redundant power lines. The solid red line BAT1 represents the first power line 30, and the dashed red line BAT2 represents the second power line 31, without any limitation.

[0070] This embodiment provides a vehicle that includes the electronic braking system proposed in any of the above embodiments, and has the beneficial effects of the electronic braking system proposed in any of the above embodiments, which will not be repeated here.

[0071] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. An electronic braking system, characterized in that, include: Wheel speed sensing module, brake pedal actuation module, steer-by-wire feel actuation module, wheel-end electromechanical braking module, and steer-by-wire wheel-end actuation control module; The brake pedal execution module is used to generate brake pedal signals; The steer-by-wire feel execution module is used to generate steer-by-wire signals; The wheel speed sensing module is used to detect wheel speed signals; the wheel speed sensing module is connected to the wheel-end electromechanical braking module, and the wheel-end electromechanical braking module is used to receive the wheel speed signals and transmit the wheel speed signals to the steer-by-wire wheel-end execution control module; The steer-by-wire wheel-end execution control module is connected to the wheel-end electromechanical braking module, the brake pedal execution module, and the steer-by-wire feel execution module. The steer-by-wire wheel-end execution control module is used to control the working state of the wheel-end electromechanical braking module according to the wheel speed signal, the brake pedal signal, and the steer-by-wire signal.

2. The electronic braking system according to claim 1, characterized in that, The brake pedal actuation module includes: Brake pedal and pedal position sensor; A pedal position sensor is connected to the brake pedal, and the pedal position sensor is used to detect the position information of the brake pedal; the brake pedal signal includes the position information of the brake pedal.

3. The electronic braking system according to claim 2, characterized in that, The electronic braking system further includes: An acceleration sensor is provided, which is connected to the steer-by-wire end-actuation control module. The steer-by-wire end-actuation control module is used to acquire acceleration signals through the acceleration sensor. A gyroscope sensor is connected to the drive-by-wire steering wheel end-execution control module, which is used to acquire steering angle signals through the gyroscope sensor. The steer-by-wire wheel-end actuator control module is used to control the working state of the caliper of the wheel-end electromechanical braking module according to the acceleration signal and the steering angle signal.

4. The electronic braking system according to claim 3, characterized in that, The accelerometer and the gyroscope are integrated into the drive-by-wire steering wheel end control module, or the accelerometer and the gyroscope are externally attached to the drive-by-wire steering wheel end control module.

5. The electronic braking system according to claim 4, characterized in that, The wheel speed sensing module includes at least four wheel speed sensors, which are used to detect the wheel speed signals of the front and rear wheels.

6. The electronic braking system according to claim 5, characterized in that, The wheel-end electromechanical braking module includes: At least two front-wheel electromechanical brake actuators with control assemblies and at least two rear-wheel electromechanical brake actuators with control assemblies; the front-wheel electromechanical brake actuators with control assemblies are connected between the wheel speed sensors and the steer-by-wire wheel-end actuation control module; the rear-wheel electromechanical brake actuators with control assemblies are connected between the wheel speed sensors and the steer-by-wire wheel-end actuation control module.

7. The electronic braking system according to claim 6, characterized in that, The electronic braking system also includes: redundant CAN communication signal lines; The redundant CAN communication signal line is connected between the steer-by-wire wheel-end execution control module and the wheel-end electromechanical braking module; the redundant CAN communication signal line is connected between the steer-by-wire wheel-end execution control module and the steer-by-wire feel execution module; The redundant CAN communication signal line is connected between the acceleration sensor and the drive-by-wire steering wheel end execution control module; The redundant CAN communication signal line is connected between the gyroscope sensor and the drive-by-wire steering wheel end execution control module; The redundant CAN communication signal lines are used for communication between the steer-by-wire wheel-end execution control module and the wheel-end electromechanical braking module, the acceleration sensor, and the gyroscope sensor, respectively.

8. The electronic braking system according to claim 2, characterized in that, The electronic braking system also includes: redundant SENT signal lines; The redundant SENT signal line is connected between the pedal position sensor and the steer-by-wire end-actuation control module; the redundant SENT signal line is used for communication between the pedal position sensor and the steer-by-wire end-actuation control module.

9. The electronic braking system according to claim 1, characterized in that, The electronic braking system also includes: a power module and redundant power lines; The redundant power line is connected between the power module and the wheel-end electromechanical braking module, the steer-by-wire wheel-end actuation control module, and the steer-by-wire feel actuation module; the power module is used to supply power to the wheel-end electromechanical braking module, the steer-by-wire wheel-end actuation control module, and the steer-by-wire feel actuation module through the redundant power line.

10. A vehicle, characterized in that, Includes the electronic braking system as described in any one of claims 1 to 9.

Images