Zero-position learning method for EMB system, and storage medium, system and vehicle

Abstract

A zero-position learning method for an EMB system, the method comprising: after an EMB system is powered on, controlling brake pads to clamp at a preset target speed; when a clamping force generated by the brake pads is greater than or equal to a target clamping force, controlling the brake pads to maintain the target clamping force within a preset duration; after the preset duration, controlling the brake pads to retract by a first retraction distance; and after the brake pads retract by the first retraction distance, if no clamping force is generated by the brake pads, controlling the brake pads to retract by a second retraction distance, defining the position of the brake pads after same have retracted by the second retraction distance as a software zero-position of the EMB system, and using this position as a starting point for clamping force control of the EMB system. Zero-position learning for the brake pads can be implemented when the vehicle with EMB is powered on, and the zero position of the brake pads is promptly corrected so as to correct the braking force of the vehicle. Further provided are a zero-position learning system for an EMB system, and a vehicle and a storage medium.

Description

Zero position learning method of EMB braking system, storage medium, system and vehicle

[0001] Cross-reference to related applications

[0002] The present disclosure claims priority to the Chinese patent application No. 2024109504981, filed on July 15, 2024, and entitled "Zero position learning method of EMB braking system, storage medium, system and vehicle", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the field of EMB braking system, in particular, to a zero position learning method of EMB braking system, a storage medium, a system and a vehicle. BACKGROUND

[0004] With the increasing demand of consumers for the comfort and safety of automobiles, more and more mechatronic products have appeared in the field of automobile braking, and the EMB (Electro-Mechanical Braking System) scheme is becoming the mainstream design. Compared with the traditional vacuum booster and electronic booster, the EMB has a natural advantage in accelerating the pressure building rate, improving the maximum assist capability, and ensuring the safety of vehicle braking.

[0005] The EMB generates clamping force by friction plate and friction plate disengaging contact through the motor installed in the caliper position, transmission gear and ball screw, after speed reduction and torque increase.

[0006] With the whole vehicle braking judgment and the wear of the friction plate, the contact point of the friction plate and the friction disc after contact will change. If the EMB electric control system does not timely learn and correct the contact point, it may cause the friction plate and the friction disc to contact and produce drag when the driver has no braking demand, the vehicle cannot run normally, the vehicle mileage is reduced, and even the friction plate may be abnormally worn, the vehicle may be damaged, or the response time of braking may be prolonged. Therefore, the EMB electric control system needs to timely learn and correct the contact point, i.e. the zero position of braking force.

[0007] SUMMARY

[0008] To solve the above problems, the present disclosure provides a zero position learning method of EMB braking system, which can learn the zero position of the friction plate when the EMB braking vehicle is powered on, and timely correct the zero position of the friction plate to correct the braking force of the vehicle.

[0009] The present disclosure provides a zero position learning method of an EMB braking system, the method comprising: after the EMB braking system is powered on, controlling a friction plate to be clamped at a preset target speed; when the clamping force generated by the friction plate is greater than or equal to a target clamping force, controlling the friction plate to maintain the target clamping force for a preset time; after the preset time, controlling the friction plate to back off according to a first back-off distance; after the friction plate back off the first back-off distance, if the friction plate does not generate a clamping force, controlling the friction plate to back off according to a second back-off distance, defining the position of the friction plate after the second back-off distance as the software zero position of the EMB braking system, and taking this position as the starting point of the clamping force control of the EMB braking system.

[0010] In an embodiment, the step of controlling the friction plate to be clamped at a preset target speed after the EMB braking system is powered on comprises: obtaining the moving speed of the friction plate; obtaining the speed difference between the moving speed of the friction plate and the preset target speed; generating a first motor torque adjustment signal according to the speed difference, and controlling the brake motor to adjust the moving speed of the friction plate according to the first motor torque adjustment signal, so that the friction plate is clamped at a preset target speed.

[0011] In an embodiment, the step of controlling the friction plate to be clamped at a preset target speed after the EMB braking system is powered on comprises: determining whether the moving distance of the friction plate is greater than a preset first limit distance; if yes, determining that the friction plate zero position learning fails, and the EMB braking system enters a degraded mode.

[0012] In an embodiment, the step of controlling the friction plate to back off according to a first back-off distance after the preset time comprises: obtaining the position of the friction plate; obtaining the distance difference between the position of the friction plate and the first back-off distance; generating a second motor torque adjustment signal according to the distance difference, and controlling the brake motor to back off the friction plate according to the second motor torque adjustment signal.

[0013] In an embodiment, the step of, after the friction plate is retracted by the first retraction distance, if the friction plate does not generate a clamping force, controlling the friction plate to be retracted by a second retraction distance, defining the position of the friction plate after being retracted by the second retraction distance as the software zero position of the EMB brake system, and taking the position as the starting point of the clamping force control of the EMB brake system, comprises: after the friction plate is retracted by the first retraction distance, judging whether the friction plate generates a clamping force; if the friction plate generates a clamping force, obtaining a distance difference between the position of the friction plate and a third retraction distance, generating a second motor torque adjustment signal according to the distance difference, and controlling the friction plate to be retracted again by the brake motor according to the second motor torque adjustment signal; after the friction plate is retracted by the second retraction distance, judging again whether the friction plate generates a clamping force; if the friction plate does not generate a clamping force, obtaining a distance difference between the position of the friction plate and the second retraction distance, generating a second motor torque adjustment signal according to the distance difference, and controlling the friction plate to be retracted by the brake motor according to the second motor torque adjustment signal; and defining the position of the friction plate after being retracted by the second retraction distance as the software zero position of the EMB brake system and the starting point of the clamping force control of the EMB brake system.

[0014] In an embodiment, the step of, if the friction plate generates a clamping force, obtaining a distance difference between the position of the friction plate and a third retraction distance, generating a second motor torque adjustment signal according to the distance difference, and controlling the friction plate to be retracted again by the brake motor according to the second motor torque adjustment signal, and after the friction plate is retracted by the second retraction distance, judging again whether the friction plate generates a clamping force, comprises: judging whether the total retraction distance of the friction plate retracted by the first retraction distance and the third retraction distance exceeds a preset second limit distance; if yes, determining that the friction plate zero position learning fails, and the EMB brake system enters a degraded mode.

[0015] The present disclosure also provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the zero position learning method of the EMB brake system as described above.

[0016] The present disclosure also provides a zero position learning system of an EMB brake system, characterized in that the system comprises: a clamping force acquisition and analysis module configured to acquire and analyze a clamping force signal sent by a clamping force sensor, and send the clamping force signal to a zero position learning module and a clamping force closed-loop control module; a motor position acquisition and analysis module configured to acquire a motor position signal sent by a motor position sensor, acquire a moving speed of a friction plate and a position of the friction plate according to the motor position signal, send the moving speed of the friction plate to a friction plate speed control module, send the position of the friction plate to a friction plate position control module and the zero position learning module; the zero position learning module is configured to send a preset target speed to the friction plate speed control module, send a first back-off distance, a second back-off distance and a third back-off distance to the friction plate position control module, send a target clamping force to the clamping force closed-loop control module, judge whether the clamping force signal is greater than a preset clamping force after the motor control module controls the brake motor to back off the first back-off distance, and according to the position of the friction plate, acquire a software zero position of the EMB brake system and a starting point of clamping force control of the EMB brake system after the motor control module controls the brake motor to back off the second back-off distance; the friction plate position control module is configured to generate a second motor torque adjustment signal according to a distance difference between the position of the friction plate and the first back-off distance or the second back-off distance or the third back-off distance, and send the second motor torque adjustment signal to a control arbitration module; the friction plate speed control module is configured to generate a first motor torque adjustment signal according to a speed difference between the moving speed of the friction plate and the preset target speed, and send the first motor torque adjustment signal to the control arbitration module; the clamping force closed-loop control module is configured to generate a third motor torque adjustment signal when the clamping force signal is greater than or equal to the target clamping force, and send the third motor torque adjustment signal to the control arbitration module; the control arbitration module is configured to arbitrate a plurality of motor torque adjustment signals, determine a final output motor torque adjustment signal, and send the final output motor torque adjustment signal to a motor control module; the motor control module is configured to control the brake motor according to the final output motor torque adjustment signal.

[0017] In an embodiment, the zero position learning module determines that the friction plate zero position learning fails if it is determined that the total back-off distance of the brake motor controlled by the motor control module according to the back-off of the first back-off distance and the third back-off distance exceeds a preset second limit distance.

[0018] The present disclosure also provides a vehicle comprising the zero position learning system of the EMB brake system described above.

[0019] The zero position learning method of the EMB braking system, the storage medium, the system and the vehicle provided by the present disclosure are as follows: after the EMB braking system is powered on, the friction plate is controlled to be clamped at a preset target speed; when the clamping force generated by the friction plate is greater than or equal to the target clamping force, the friction plate is controlled to maintain the target clamping force for a preset time; after the preset time, the friction plate is controlled to be retracted according to a first retraction distance; after the friction plate is retracted by the first retraction distance, if the friction plate does not generate the clamping force, the friction plate is controlled to be retracted according to a second retraction distance; the position of the friction plate after being retracted by the second retraction distance is defined as the software zero position of the EMB braking system, and the position is taken as the starting point of the clamping force control of the EMB braking system. When the vehicle with the EMB braking system is powered on, the zero position learning of the friction plate is performed, and the zero position of the friction plate is corrected in time, so that the braking force of the vehicle is corrected. BRIEF DESCRIPTION OF DRAWINGS

[0020] FIG. 1 is a flowchart of a zero position learning method of an EMB braking system in an embodiment of the present disclosure;

[0021] FIG. 2 is a flowchart of step S11 in FIG. 1;

[0022] FIG. 3 is a schematic diagram of the position of a friction plate and the clamping force generated by the friction plate in an embodiment of the present disclosure;

[0023] FIG. 4 is a flowchart of step S13 in FIG. 1;

[0024] FIG. 5 is a structural schematic diagram of a zero position learning system of an EMB braking system in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] The foregoing and other technical contents, features and effects of the present disclosure will be clearly presented in the following detailed description of preferred embodiments in cooperation with the drawings. Through the description of the specific embodiments, the technical means and effects taken by the present disclosure to achieve the predetermined purposes can be more deeply and specifically understood. However, the accompanying drawings are provided for reference and illustration only, and are not used to limit the present disclosure.

[0026] In order to further explain the technical means and effects taken by the present disclosure to achieve the predetermined purposes, the present disclosure is described in detail as follows in cooperation with the drawings and preferred embodiments.

[0027] FIG. 1 is a flowchart of a zero position learning method of an EMB braking system in an embodiment of the present disclosure.

[0028] As shown in FIG. 1, the zero position learning method of the EMB braking system provided by the present embodiment includes the following steps:

[0029] Step S11: after the EMB braking system is powered on, the friction plate is controlled to be clamped at a preset target speed.

[0030] Specifically, as shown in FIG. 2, step S11 comprises:

[0031] Step S111: acquiring the moving speed of the friction plate.

[0032] Specifically, the moving speed of the friction plate is acquired by the motor position acquisition module.

[0033] Step S112: acquiring the speed difference between the moving speed of the friction plate and the preset target speed.

[0034] Step S113: generating a first motor torque adjustment signal according to the speed difference, and controlling the brake motor to adjust the moving speed of the friction plate according to the first motor torque adjustment signal, so that the friction plate clamps at the preset target speed.

[0035] Specifically, as shown in FIG. 3, because the position of the brake motor corresponds to the position of the friction plate, a control algorithm (such as PID control) can be used to calculate how much torque needs to be increased or decreased to make the moving speed of the friction plate reach or approach the preset target speed V1 according to the speed difference. The brake motor is any one of permanent magnet synchronous motor, brushless direct current motor, direct current brush motor, stepping motor and induction motor.

[0036] Specifically, in an embodiment, during the execution of step S11, it can be judged in real time whether the moving distance P1 of the friction plate is greater than the preset first limit distance P2 (for example, 2mm). If the moving distance P1 of the friction plate is greater than the preset first limit distance P2, it is determined that the friction plate zero position learning fails, and the EMB brake system is controlled to enter the degradation mode. If the moving distance P1 of the friction plate is not greater than the preset first limit distance P2, it is normally entered into step S12.

[0037] Step S12: when the clamping force generated by the friction plate is greater than or equal to the target clamping force, controlling the friction plate to maintain the target clamping force within a preset time.

[0038] Specifically, when it is monitored that the clamping force generated by the friction plate is greater than or equal to the target clamping force F1 (for example, 30N), the control of the friction plate to continue to move forward is stopped, and the friction plate is controlled to maintain at the target clamping force F1 within a preset time T1 (for example, 100ms). Motor torque fluctuation caused by inertia or other external factors can be avoided, thereby reducing errors to improve the accuracy of zero position learning.

[0039] Step S13: after the preset time, controlling the friction plate to retreat according to a first retreat distance.

[0040] Specifically, as shown in FIG. 4, step S11 comprises:

[0041] Step S131: obtaining the position of the friction plate.

[0042] Specifically, the position of the friction plate can be obtained by a motor position acquisition and analysis module. The motor position acquisition and analysis module can accurately measure the position of the motor and convert it into the position of the friction plate.

[0043] Step S132: obtaining the distance difference between the position of the friction plate and the first back-off distance.

[0044] Specifically, the first back-off distance P3 (for example, 1 mm) is a standard distance set by the system during design, which is usually determined based on the mechanical and control parameters of the system. By comparing the current position of the friction plate with the first back-off distance, the distance difference between the two can be calculated.

[0045] Step S133: generating a second motor torque adjustment signal according to the distance difference, and controlling the friction plate to back off according to the second motor torque adjustment signal.

[0046] Step S14: after the friction plate is backed off by the first back-off distance, if the friction plate does not generate a clamping force, the friction plate is controlled to back off according to a second back-off distance, and the position of the friction plate after being backed off by the second back-off distance is defined as the software zero position of the EMB braking system, and this position is taken as the starting point of the clamping force control of the EMB braking system.

[0047] Specifically, after the friction plate is backed off by the first back-off distance P3, it is determined whether the friction plate generates a clamping force; if the friction plate generates a clamping force, the distance difference between the position of the friction plate and the third back-off distance P4 (not shown in the figure, for example, 0.1 mm) is obtained, a second motor torque adjustment signal is generated according to the distance difference, and the friction plate is controlled to back off again according to the second motor torque adjustment signal, and it is determined again whether the friction plate generates a clamping force after the friction plate is backed off by the second back-off distance, until the friction plate does not generate a clamping force; after the friction plate is backed off by the first back-off distance P3, if the friction plate does not generate a clamping force, the distance difference between the position of the friction plate and the second back-off distance P5 (for example, 0.2 mm) is obtained, a second motor torque adjustment signal is generated according to the distance difference, and the friction plate is controlled to back off according to the second motor torque adjustment signal, and the position of the friction plate after being backed off by the second back-off distance P5 is defined as the software zero position of the EMB braking system and the starting point of the clamping force control of the EMB braking system.

[0048] Specifically, in an embodiment, it is judged whether the total back-off distance of the friction plate according to the first back-off distance P3 and the third back-off distance P4 exceeds a preset second limit distance P6 (not shown in the figure, for example, 1.3 mm); if yes, it is determined that the friction plate zero position learning fails, and the EMB braking system enters the degraded mode.

[0049] Specifically, F1, T1, P1-P6 can be flexibly calibrated according to actual conditions.

[0050] The zero position learning method of the EMB braking system provided by the present disclosure includes the following steps: after the EMB braking system is powered on, the friction plate is controlled to be clamped at a preset target speed; when the clamping force generated by the friction plate is greater than or equal to the target clamping force, the friction plate is controlled to maintain the target clamping force for a preset time; after the preset time, the friction plate is controlled to back off according to a first back-off distance; after the friction plate backs off the first back-off distance, if the friction plate does not generate a clamping force, the friction plate is controlled to back off according to a second back-off distance; the position of the friction plate after backing off the second back-off distance is defined as the software zero position of the EMB braking system, and this position is taken as the starting point of the clamping force control of the EMB braking system. The vehicle with the EMB braking system can learn the zero position of the friction plate when powered on, and timely correct the zero position of the friction plate, so as to correct the braking force of the vehicle.

[0051] FIG. 5 is a structural schematic diagram of a zero position learning system of an EMB braking system in an embodiment of the present disclosure.

[0052] As shown in FIG. 5, the zero position learning system 51 of the EMB braking system includes a clamping force acquisition and analysis module 511, a motor position acquisition and analysis module 512, a zero position learning module 513, a friction plate position control module 514, a friction plate speed control module 515, a clamping force closed-loop control module 516, a control arbitration module 517, and a motor control module 518.

[0053] The clamping force acquisition and analysis module 511 is configured to acquire and analyze the clamping force signal sent by the clamping force sensor 52, and send the clamping force signal to the zero position learning module 513 and the clamping force closed-loop control module 516.

[0054] The motor position acquisition and analysis module 512 is configured to acquire the motor position signal sent by the motor position sensor 53, analyze the motor position signal to acquire the moving speed of the friction plate and the position of the friction plate, send the moving speed of the friction plate to the friction plate speed control module 515, and send the position of the friction plate to the friction plate position control module 514 and the zero position learning module 513.

[0055] The zero position learning module 513 is configured to send a preset target speed to the friction plate speed control module 515, send a first fallback distance, a second fallback distance and a third fallback distance to the friction plate position control module 514, and send a target clamping force to the clamping force closed-loop control module 516. The module is also responsible for determining whether the clamping force signal is greater than the preset clamping force (i.e. 0) after the motor control module 518 controls the brake motor to fall back by the first fallback distance, and determining the software zero position of the EMB braking system and the starting point of the clamping force control according to the position of the friction plate after the motor control module 518 controls the brake motor to fall back by the second fallback distance.

[0056] The friction plate position control module 514 is configured to generate a second motor torque adjustment signal according to the distance difference between the position of the friction plate and the first fallback distance or the second fallback distance or the third fallback distance, and send the second motor torque adjustment signal to the control arbitration module 517.

[0057] The friction plate speed control module 515 is configured to generate a first motor torque adjustment signal according to the speed difference between the moving speed of the friction plate and the preset target speed, and send the first motor torque adjustment signal to the control arbitration module 517.

[0058] The clamping force closed-loop control module 516 is configured to generate a third motor torque adjustment signal when the clamping force signal is greater than or equal to the target clamping force, and send the third motor torque adjustment signal to the control arbitration module 517.

[0059] The control arbitration module 517 is configured to arbitrate the first motor torque adjustment signal, the second motor torque adjustment signal and the third motor torque adjustment signal from multiple control modules, determine the final output motor torque adjustment signal, and send the signal to the motor control module 518.

[0060] The motor control module 518 is configured to control the brake motor according to the final output motor torque adjustment signal, to ensure that the friction plate is clamped and falls back at a predetermined speed and position. The motor control module 518 is also in transmission connection with the EMB transmission mechanism and the friction plate (not shown in the figure). When the motor control module 518 controls the brake motor to rotate according to the final output motor torque adjustment signal, the brake motor will drive the EMB transmission mechanism and the friction plate in transmission connection therewith, and then push the friction plate to clamp or fall back.

[0061] The zero position learning module 513 determines that the friction plate zero position learning fails when it is determined that the total fallback distance of the brake motor controlled by the motor control module 518 to fall back according to the first fallback distance and the third fallback distance exceeds the preset second limit distance.

[0062] The zero position learning module 513 determines that the friction plate zero position learning fails when the moving distance of the friction plate controlled by the motor control module 518 based on the first motor torque adjustment signal exceeds the preset first limit distance.

[0063] The zero position learning module 513 is also responsible for determining whether the clamping force signal is greater than the preset clamping force after the motor control module 518 controls the brake motor to retreat by the third retreat distance.

[0064] The disclosure also provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the zero position learning method of the EMB brake system as described above.

[0065] The disclosure also provides a vehicle comprising the zero position learning system of the EMB brake system as described above.

[0066] The EMB brake system zero position learning method, storage medium, system, and vehicle provided by the disclosure can achieve the learning of the zero position of the friction plate when the EMB brake system is powered on, and timely correct the zero position of the friction plate and the braking force of the vehicle.

[0067] The above is only a preferred embodiment of the disclosure, and does not limit the disclosure in any form. Although the disclosure has been disclosed as above, it is not intended to limit the disclosure. Any person skilled in the art can make some changes or modifications to the above disclosed technical content without departing from the scope of the technical solution of the disclosure, and any simple modification, equivalent change and modification of the above embodiment according to the technical essence of the disclosure are still within the scope of the technical solution of the disclosure. Industrial applicability

[0068] The EMB brake system zero position learning method, storage medium, system, and vehicle provided by the disclosure can achieve the learning of the zero position of the friction plate when the EMB brake system is powered on, and timely correct the zero position of the friction plate and the braking force of the vehicle.

Claims

1. A method of zero position learning for an EMB brake system, characterized by, The method comprises: controlling the friction plate to be clamped at a preset target speed after the EMB brake system is powered on; controlling the friction plate to maintain the target clamping force for a preset time when the clamping force generated by the friction plate is greater than or equal to the target clamping force; controlling the friction plate to be backed off according to a first back-off distance after the preset time; controlling the friction plate to be backed off according to a second back-off distance if the friction plate does not generate a clamping force after the friction plate is backed off by the first back-off distance, and defining the position of the friction plate after being backed off by the second back-off distance as the software zero position of the EMB brake system and taking this position as the starting point of the clamping force control of the EMB brake system.

2. The method of null learning of an EMB brake system of claim 1, wherein, The step of controlling the friction plate to be clamped at a preset target speed after the EMB brake system is powered on comprises: obtaining the moving speed of the friction plate; obtaining the speed difference between the moving speed of the friction plate and the preset target speed; generating a first motor torque adjustment signal according to the speed difference, and controlling the brake motor to adjust the moving speed of the friction plate according to the first motor torque adjustment signal so that the friction plate is clamped at a preset target speed.

3. The method of null learning for an EMB brake system of claim 2, wherein, The method further comprises: judging whether the moving distance of the friction plate is greater than a preset first limit distance; if yes, determining that the friction plate zero position learning fails, and the EMB brake system enters a degraded mode.

4. The method of null learning of an EMB brake system according to any one of claims 1 to 3, characterized in that, The step of controlling the friction plate to be backed off according to a first back-off distance after the preset time comprises: obtaining the position of the friction plate; obtaining the distance difference between the position of the friction plate and the first back-off distance; generating a second motor torque adjustment signal according to the distance difference, and controlling the brake motor to back off the friction plate according to the second motor torque adjustment signal.

5. The method of null learning of an EMB brake system according to any one of claims 1-4, wherein, The step of controlling the friction plate to be backed off according to a second back-off distance if the friction plate does not generate a clamping force after the friction plate is backed off by the first back-off distance, and defining the position of the friction plate after being backed off by the second back-off distance as the software zero position of the EMB brake system and taking this position as the starting point of the clamping force control of the EMB brake system comprises: judging whether the friction plate generates a clamping force after the friction plate is backed off by the first back-off distance; if the friction plate generates a clamping force, obtaining the distance difference between the position of the friction plate and a third back-off distance, generating a second motor torque adjustment signal according to the distance difference, controlling the brake motor to back off the friction plate again according to the second motor torque adjustment signal, and judging again whether the friction plate generates a clamping force after the friction plate is backed off by the second back-off distance; If the friction plate does not generate the clamping force, a distance difference between the position of the friction plate and a second back-off distance is obtained, a second motor torque adjustment signal is generated according to the distance difference, and the brake motor controls the friction plate to back off according to the second motor torque adjustment signal, so that the position of the friction plate after the friction plate is backed off by the second back-off distance is defined as the software zero position of the EMB brake system and the starting point of the clamping force control of the EMB brake system.

6. The method of null learning of an EMB brake system of claim 5, wherein, If the friction plate generates the clamping force, a distance difference between the position of the friction plate and a third back-off distance is obtained, a second motor torque adjustment signal is generated according to the distance difference, and the brake motor controls the friction plate to back off again according to the second motor torque adjustment signal, and the step of judging whether the friction plate generates the clamping force again after the friction plate is backed off by the second back-off distance, comprising: judging whether the total back-off distance of the friction plate according to the first back-off distance and the third back-off distance exceeds a preset second limit distance; if yes, it is judged that the friction plate zero position learning fails, and the EMB brake system enters a degraded mode.

7. A storage medium storing a computer program, characterized by The computer program is executed by the processor to realize the steps of the zero position learning method of the EMB brake system according to any one of claims 1 to 6.

8. A zero position learning system for an EMB brake system, characterized by, The system comprises: a clamping force acquisition and analysis module configured to acquire and analyze a clamping force signal sent by a clamping force sensor, and send the clamping force signal to a zero position learning module and a clamping force closed-loop control module; a motor position acquisition and analysis module configured to acquire a motor position signal sent by a motor position sensor, acquire a moving speed of a friction plate and a position of the friction plate according to the motor position signal, send the moving speed of the friction plate to a friction plate speed control module, send the position of the friction plate to a friction plate position control module and the zero position learning module; a zero position learning module configured to send a preset target speed to the friction plate speed control module, send a first back-off distance, a second back-off distance and a third back-off distance to the friction plate position control module, send a target clamping force to the clamping force closed-loop control module, judge whether the clamping force signal is greater than a preset clamping force after the motor control module controls the brake motor to back off by the first back-off distance, and acquire a software zero position of the EMB brake system and a starting point of the clamping force control of the EMB brake system according to the position of the friction plate after the motor control module controls the brake motor to back off by the second back-off distance; a friction plate position control module configured to generate a second motor torque adjustment signal according to a distance difference between the position of the friction plate and the first back-off distance or the second back-off distance or the third back-off distance, and send the second motor torque adjustment signal to a control arbitration module; a friction plate speed control module configured to generate a first motor torque adjustment signal according to a speed difference between the moving speed of the friction plate and the preset target speed, and send the first motor torque adjustment signal to the control arbitration module; The clamping force closed-loop control module is configured to generate a third motor torque adjustment signal and send the third motor torque adjustment signal to the control arbitration module when the clamping force signal is greater than or equal to a target clamping force; The control arbitration module is configured to arbitrate a plurality of motor torque adjustment signals, determine a final output motor torque adjustment signal, and send the final output motor torque adjustment signal to the motor control module; The motor control module is configured to control the brake motor according to the final output motor torque adjustment signal.

9. The zero position learning system of an EMB brake system as set forth in claim 8, wherein, If the zero position learning module determines that the motor control module controls the brake motor, and the total back-off distance of back-off of the first back-off distance and the third back-off distance exceeds a preset second limit distance, it is determined that the friction plate zero position learning fails.

10. A vehicle characterized by comprising: The zero position learning system of the EMB brake system of claim 8 or 9.

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