Single side wheel Anti-lock braking method and system based on dual-MCU chip EPB system

Abstract

The present invention relates to the field of automobile braking. Disclosed are a single side wheel anti-lock braking method and system based on a dual-MCU chip EPB system. The method comprises the following steps: S1, calculating a real-time single side slip ratio, the real-time single side slip ratio comprising a real-time left side slip ratio and a real-time right side slip ratio; S2, comparing the real-time single side slip ratio with a preset locking slip ratio, and adjusting a clamping force and a clamping step of a rear wheel; S3, comparing the number of single side release commands within a set time with a threshold, and determining a road surface condition; and S4, executing a braking policy on the basis of the determined road surface condition. By using the single side wheel anti-lock braking method and system based on a dual-MCU chip EPB system of the present invention, anti-lock control can be performed on single side wheels on the basis of real-time wheel speed information, and a road surface condition can be identified, so as to avoid a loss-of-control situation in which the vehicle body deviates or rotates due to slipping of single side wheels when two rear wheels are on a split-mu road surface, thereby further improving the stability of service braking, and meeting functional safety requirements.

Description

Single-side wheel anti-lock method and system based on EPB system of double MCU chips TECHNICAL FIELD

[0001] The present application relates to the field of automobile braking, in particular to a single-side wheel anti-lock method and system based on EPB system of double MCU chips. BACKGROUND

[0002] The anti-lock braking system (ABS) is an active safety technology, which mainly functions to automatically control the size of braking force when the vehicle is in emergency braking, prevent the wheel from locking, and ensure that the rolling friction between the wheel and the ground is maintained, so that the driver can still control the vehicle to turn when braking with full force, avoiding side slipping and losing control.

[0003] The EPB (Electronic Parking Brake) is an electronic control system that replaces the traditional manual cable-type hand brake, providing a more convenient and efficient parking brake solution.

[0004] It can be seen that the EPB is mainly responsible for parking brake when the vehicle is stopped. ABS plays a role in vehicle driving, especially in emergency braking, by quickly adjusting the braking force of each wheel to prevent the wheel from locking due to excessive braking force, ensuring that the vehicle can still be controlled during emergency braking, avoiding skidding and losing directional control. That is, both are important components of the vehicle braking system, which together ensure the braking safety of the vehicle in various situations.

[0005] To further improve braking stability, the prior art combines EPB and ABS to obtain an EPB anti-lock braking system, which can ensure that appropriate braking force is applied to the wheels when electronic parking brake is activated, to prevent the wheels from locking in static or low-speed conditions, thereby maintaining the controllability and stability of the vehicle. However, the existing EPB anti-lock braking system still has the risk of single-side wheel locking during driving braking. SUMMARY

[0006] To solve the above problems, the present application provides a single-side wheel anti-lock method and system based on EPB system of double MCU chips, which can control the single-side wheel anti-lock according to real-time wheel speed information, and can identify the road conditions, avoid the situation that the vehicle body deviates or rotates out of control due to single-side wheel skidding when the two rear wheels are on opposite road surfaces, further improve the driving braking stability, and meet the functional safety requirements.

[0007] To achieve the above purpose, the present application provides a single-side wheel anti-lock method based on EPB system of double MCU chips, comprising the following steps:

[0008] S1, when receiving the brake request signal, based on the real-time wheel speed information of each wheel, the running speed of the vehicle is calculated, and it is judged whether the running speed of the vehicle is greater than the set speed, if yes, the static parking instruction is executed, otherwise the dynamic parking instruction is executed, at this time the unilateral real-time slip rate is calculated, which includes left real-time slip rate and right real-time slip rate;

[0009] S2, comparing the unilateral real-time slip rate with the preset locked slip rate, adjusting the locking force and locking step of the rear wheel based on the comparison result, preventing the rear wheel from locking;

[0010] S3, comparing the unilateral release instruction times in the set time with the threshold value, and determining the road condition based on the comparison result;

[0011] S4, executing the brake strategy based on the determined road condition.

[0012] Preferably, in step S1, the set speed is 3km / h;

[0013] The left real-time slip rate calculation formula is as follows:

[0014] (1)

[0015] In the formula, Is the left real-time slip rate of the left rear wheel relative to the left front wheel during braking; Is the real-time wheel speed of the left front wheel of the vehicle; Is the real-time wheel speed of the left rear wheel of the vehicle;

[0016] The right real-time slip rate calculation formula is as follows:

[0017] (2)

[0018] In the formula, Is the right real-time slip rate of the right rear wheel relative to the right front wheel during braking; Is the real-time wheel speed of the right front wheel of the vehicle; Is the real-time wheel speed of the right rear wheel of the vehicle.

[0019] Preferably, step S2 specifically includes the following steps:

[0020] S21, if the left real-time slip rate is greater than the preset locked slip rate, the release instruction is executed, otherwise the clamping instruction is executed;

[0021] If the right real-time slip rate is greater than the preset locked slip rate, the release instruction is executed, otherwise the clamping instruction is executed;

[0022] S22, return to step S1 to calculate the unilateral real-time slip rate;

[0023] S23, return to step S21 based on the updated unilateral real-time slip rate, adjust the clamping force and clamping step of the left EPB caliper or the right EPB caliper to prevent the left rear wheel or the right rear wheel from locking.

[0024] Preferably, step S23 specifically includes the following steps:

[0025] If the left real-time slip rate is greater than the preset locking slip rate for a time , the clamping force is , the left EPB caliper is released until the clamping force is 0; if the left real-time slip rate is less than the preset locking slip rate for a time , the left EPB caliper continues to be clamped at the clamping force , and the clamping step is ;

[0026] If the right real-time slip rate is greater than the preset locking slip rate for a time , the clamping force is , the right EPB caliper is released until the clamping force is 0; if the right real-time slip rate is less than the preset locking slip rate for a time , the right EPB caliper continues to be clamped at the clamping force , and the clamping step is .

[0027] Preferably, in step S3, if the left release instruction frequency and the right release instruction frequency are both greater than the threshold value, it is determined that the left side and the right side of the vehicle are both on low adhesion road surfaces;

[0028] If the left release instruction frequency and the right release instruction frequency are both less than the threshold value, it is determined that the left side and the right side of the vehicle are both on high adhesion road surfaces;

[0029] If the left release instruction frequency is greater than the threshold value and the right release instruction frequency is less than the threshold value, it is determined that the left side of the vehicle is on the low adhesion side of the split road surface and the right side of the vehicle is on the high adhesion side of the split road surface;

[0030] If the left release instruction frequency is less than the threshold value and the right release instruction frequency is greater than the threshold value, it is determined that the left side of the vehicle is on the high adhesion side of the split road surface and the right side of the vehicle is on the low adhesion side of the split road surface.

[0031] Preferably, step S4 specifically includes the following steps:

[0032] The road condition is input into the control braking model, and the control braking model is used to identify the road condition of the current road, and then a braking strategy is output.

[0033] The method of the system of the single-side wheel anti-lock braking method based on the dual MCU chip EPB system comprises the following steps:

[0034] A wheel speed sensor is arranged to collect real-time wheel speed information of each wheel.

[0035] An EPB switch is arranged to generate a braking request signal.

[0036] A first MCU is arranged to, after receiving the braking request signal, determine a real-time slip ratio of the left side of the vehicle and a road condition according to real-time wheel speed information of the left rear wheel and the left front wheel, and then generate a parking instruction.

[0037] A second MCU is arranged to, after receiving the braking request signal, determine a real-time slip ratio of the right side of the vehicle and a road condition according to real-time wheel speed information of the right rear wheel and the right front wheel, and then generate a parking instruction.

[0038] A left EPB caliper is arranged to brake the left rear wheel according to the generated parking instruction.

[0039] A right EPB caliper is arranged to brake the right rear wheel according to the generated parking instruction.

[0040] An automobile storage battery power supply is arranged to supply power to the above-mentioned components.

[0041] The EPB controller is electrically connected with the first MCU, the second MCU and the EPB switch, the first MCU and the second MCU are electrically connected with the left EPB caliper and the right EPB caliper respectively, and the left EPB caliper and the right EPB caliper are installed on the left rear wheel and the right rear wheel respectively.

[0042] The wheel speed sensors arranged on the left rear wheel and the left front wheel are electrically connected with the first MCU through CAN lines, and the wheel speed sensors arranged on the right rear wheel and the right front wheel are electrically connected with the second MCU through CAN lines.

[0043] Preferably, the first MCU and the second MCU exchange information through an SPI communication protocol.

[0044] Preferably, the working voltage of the automobile storage battery power supply is 9V-16V.

[0045] The present application has the following advantages:

[0046] The single-side wheel anti-lock control can be performed according to real-time wheel speed information, and the road surface working condition can be recognized, so that the out-of-control situation of the vehicle body side deflection or rotation caused by the single-side wheel skidding when the two rear wheels are on the opposite road surfaces is avoided, and the accuracy, stability and functional safety of the EPB brake control are further improved, so that the vehicle and the passengers are maximally protected.

[0047] The technical solutions of the present application will be further described in detail below with the aid of the accompanying drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0048] Fig. 1 is a flow chart of the single-side wheel anti-lock method based on the dual-MCU chip EPB system of the present application.

[0049] Fig. 2 is a structural block diagram of the system of the single-side wheel anti-lock method based on the dual-MCU chip EPB system of the present application. DETAILED DESCRIPTION

[0050] In order to make the purposes, technical solutions and advantages of the embodiments of the present application more clear, the embodiments of the present application will be further described in detail below with the aid of the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present application and not to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application. The examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout.

[0051] It should be noted that the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or server comprising a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0052] Similar reference signs and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0053] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present application is usually placed, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0054] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "arrange", "mount", "connect" should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrally connected, it can be mechanically connected, or electrically connected, it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0055] In order to meet the increasing requirements of EPB (Electrical Park Brake) braking stability and functional safety, the present application is designed on the basis of a double-MCU-chip EPB anti-lock braking system: a single-side wheel anti-lock method based on a double-MCU-chip EPB system, comprising the following steps:

[0056] S1, after receiving the braking request signal, based on the real-time wheel speed information of each wheel, the driving speed of the vehicle is calculated, and it is judged whether the driving speed of the vehicle is greater than the set speed, if yes, the static parking instruction is executed, otherwise the dynamic parking instruction is executed, at this time the single-side real-time slip rate is calculated, including left real-time slip rate and right real-time slip rate;

[0057] In step S1, the set speed is 3km / h, that is, according to the real-time wheel speed collected by the wheel speed sensor, it is judged whether the vehicle speed is greater than 3km / h at this time, if the vehicle speed is less than 3km / h, it is judged as static, and the static parking instruction is generated and transmitted to the left EPB caliper and the right EPB caliper, if the vehicle speed is greater than 3km / h, it is judged as dynamic driving, and the dynamic parking instruction is generated and transmitted to the left EPB caliper and the right EPB caliper, and then the single-side slip rate is calculated;

[0058] The left real-time slip rate calculation formula is as follows:

[0059] (1)

[0060] In the formula, is the left real-time slip rate of the left rear wheel relative to the left front wheel during braking; is the real-time wheel speed of the left front wheel of the vehicle; is the real-time wheel speed of the left rear wheel of the vehicle;

[0061] The right real-time slip rate calculation formula is as follows:

[0062] (2)

[0063] wherein, is the right-side real-time slip ratio of the right rear wheel relative to the right front wheel during braking; is the real-time wheel speed of the vehicle right front wheel; is the real-time wheel speed of the vehicle right rear wheel.

[0064] S2, comparing the unilateral real-time slip ratio with the preset locked slip ratio, adjusting the clamping force and clamping step of the rear wheel based on the comparison result to prevent the rear wheel from locking;

[0065] Step S2 specifically comprises the following steps:

[0066] S21, if the left-side real-time slip ratio is greater than the preset locked slip ratio, executing the release instruction, otherwise executing the clamping instruction;

[0067] if the right-side real-time slip ratio is greater than the preset locked slip ratio, executing the release instruction, otherwise executing the clamping instruction;

[0068] S22, returning to step S1 to calculate the unilateral real-time slip ratio;

[0069] S23, returning to step S21 based on the updated unilateral real-time slip ratio, adjusting the clamping force and clamping step of the left EPB caliper or the right EPB caliper to prevent the left rear wheel or the right rear wheel from locking.

[0070] Step S23 specifically comprises the following steps:

[0071] if the left-side real-time slip ratio is greater than the preset locked slip ratio for a time of , the clamping force is , the left EPB caliper is released until the clamping force is 0; if the left-side real-time slip ratio is less than the preset locked slip ratio for a time of , the left EPB caliper is continuously clamped with the clamping force of , the clamping step is , that is, the clamping and release operations are alternately performed at a time interval of ;

[0072] if the right-side real-time slip ratio is greater than the preset locked slip ratio for a time of , the clamping force is , the right EPB caliper is released until the clamping force is 0; if the right-side real-time slip ratio is less than the preset locked slip ratio for a time of , the right EPB caliper is continuously clamped with the clamping force of the clamping force of the right EPB caliper, and the clamping step is , that is, the clamping and releasing operations are alternately performed at a time interval of , so as to continuously adjust the clamping force and the clamping step of the corresponding side according to the calculated unilateral real-time slip rate, thereby preventing unilateral wheel lock and improving control stability.

[0073] S3, comparing the number of unilateral release instructions in the set time with a threshold value, and determining the road condition based on the comparison result;

[0074] In step S3, if the number of left release instructions and the number of right release instructions are both greater than the threshold value, it is determined that the left side and the right side of the vehicle are both on low adhesion road surfaces;

[0075] If the number of left release instructions and the number of right release instructions are both less than the threshold value, it is determined that the left side and the right side of the vehicle are both on high adhesion road surfaces;

[0076] If the number of left release instructions is greater than the threshold value and the number of right release instructions is less than the threshold value, it is determined that the left side of the vehicle is on the low adhesion side of the split road surface and the right side of the vehicle is on the high adhesion side of the split road surface;

[0077] If the number of left release instructions is less than the threshold value and the number of right release instructions is greater than the threshold value, it is determined that the left side of the vehicle is on the high adhesion side of the split road surface and the right side of the vehicle is on the low adhesion side of the split road surface.

[0078] S4, executing a braking strategy based on the determined road condition.

[0079] Step S4 specifically includes the following steps:

[0080] The road condition is input into a control braking model, and after the control braking model identifies the current road condition, a braking strategy is output.

[0081] In this embodiment, the braking model includes clamping force and clamping step parameters preset according to the road condition, wherein the clamping force is a preset value estimated by the caliper supplier according to the vehicle weight and the brake performance parameters, that is, and in step S23; and the clamping step is a preset value generated by a machine self-learning algorithm, including the time, number of times and interval time of clamping operation with a clamping force of or , which can maintain stability on the premise that the deceleration meets the requirements; and because the braking parameters (clamping force and clamping step parameters) are different under different road conditions, after the specific condition is identified in step S3, the braking model switches to the corresponding braking parameters for braking control, and at the same time monitors the real-time slip rate, cooperates with the anti-lock algorithm, and prevents the rear wheel from locking.

[0082] The method of the single-wheel anti-locking method based on the dual-MCU-chip EPB system comprises: a wheel speed sensor for collecting real-time wheel speed information of each wheel; an EPB switch for generating a braking request signal; a first MCU for determining real-time slip rates and road conditions of the left side of the vehicle according to real-time wheel speed information of the left rear wheel and the left front wheel after receiving the braking request signal, and then generating a parking instruction; a second MCU for determining real-time slip rates and road conditions of the right side of the vehicle according to real-time wheel speed information of the right rear wheel and the right front wheel after receiving the braking request signal, and then generating a parking instruction; a left EPB caliper for braking the left rear wheel according to the generated parking instruction; a right EPB caliper for braking the right rear wheel according to the generated parking instruction; an automobile storage battery power supply for supplying power to the above-mentioned components; an EPB controller electrically connected with the first MCU, the second MCU and the EPB switch, the first MCU and the second MCU electrically connected with the left EPB caliper and the right EPB caliper respectively, the left EPB caliper and the right EPB caliper respectively installed on the left rear wheel and the right rear wheel; the wheel speed sensors arranged on the left rear wheel and the left front wheel electrically connected with the first MCU through CAN lines, and the wheel speed sensors arranged on the right rear wheel and the right front wheel electrically connected with the second MCU through CAN lines.

[0083] The first MCU and the second MCU exchange information through an SPI communication protocol. The working voltage of the automobile storage battery power supply is 9V-16V.

[0084] Through the above structure, the real-time slip rate is calculated according to the real-time wheel speed in the process of dynamic braking or emergency braking of the vehicle, and then the clamping force and clamping step of the single-wheel are controlled respectively, so as to control the anti-locking of the single-wheel, and the current road condition can be accurately identified according to the adjustment strategy, the out-of-control situation of the vehicle body side deviation or rotation caused by the single-wheel slip when the two rear wheels are on the opposite open road is avoided, the driving braking stability is further improved, the functional safety requirement is met, and the vehicle and passengers are protected.

[0085] It should be noted that since the above-mentioned electronic components are mature products on the market, the embodiment only needs to connect them according to the instructions after purchasing, and does not improve them, so the circuit connection structure and principle thereof will not be described here.

[0086] Therefore, the single-side wheel anti-locking method and system based on the dual-MCU chip EPB system can adjust the single-side clamping force and clamping step according to the real-time state of the four wheels, accurately identify the road conditions, especially in complex braking conditions such as split road surfaces, the control is more flexible, the identification is more accurate, the functional safety level is higher, and the safety hazards caused by the single-side rear wheel locking due to the difference between the left and right sides in the driving braking process are avoided, and the stability and functional safety requirements of the driving braking are further ensured.

[0087] Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present application and not to limit them. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can still be modified or replaced by equivalents, and these modifications or replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present application.

Claims

1. A single-wheel anti-lock braking method based on a dual-MCU chip EPB system, characterized in that: The method comprises the following steps: S1, when receiving a brake request signal, calculating the driving speed of the vehicle based on the real-time wheel speed information of each wheel, and determining whether the driving speed of the vehicle is greater than the set speed, if yes, executing a static parking instruction, otherwise executing a dynamic parking instruction, at this time, calculating the real-time unilateral slip rate, which includes the left real-time slip rate and the right real-time slip rate; S2, comparing the real-time unilateral slip rate with the preset locked slip rate, and adjusting the locking force and the locking step of the rear wheel based on the comparison result to prevent the rear wheel from being locked; S3, comparing the number of unilateral release instructions in the set time with the threshold value, and determining the road condition based on the comparison result; S4, executing the brake strategy based on the determined road condition.

2. The single-side wheel anti-locking braking method based on the dual-MCU chip EPB system according to claim 1, characterized in that: In step S1, the set speed is 3 km / h; The left real-time slip rate is calculated according to the following formula: （1） In the formulae, for the left side real-time slip rate of the left rear wheel relative to the left front wheel during braking; real-time wheel speed for the vehicle's left front wheel; is the real-time wheel speed of the left rear wheel of the vehicle; The right real-time slip rate is calculated according to the following formula: （2） In the formulae, for the right side real-time slip rate of the right rear wheel relative to the right front wheel during braking; real-time wheel speed for the vehicle's right front wheel; is the real-time wheel speed of the right rear wheel of the vehicle.

3. The single-side wheel anti-locking method based on the dual-MCU chip EPB system according to claim 2, characterized in that: Step S2 specifically comprises the following steps: S21, if the left real-time slip rate is greater than the preset locked slip rate, executing a release instruction, otherwise executing a clamping instruction; if the right real-time slip rate is greater than the preset locked slip rate, executing a release instruction, otherwise executing a clamping instruction; S22, returning to step S1 to calculate the real-time unilateral slip rate; S23, returning to step S21 based on the updated real-time unilateral slip rate, adjusting the clamping force and the clamping step of the left EPB caliper or the right EPB caliper to prevent the left rear wheel or the right rear wheel from being locked.

4. The single-side wheel anti-locking method based on the dual-MCU chip EPB system according to claim 3, characterized in that: Step S23 specifically comprises the following steps: If left real slip rate the time greater than the preset lock slip ratio is , the clamping force is If the left EPB caliper is released, the left EPB caliper is released until the clamping force becomes 0; if the left real-time slip rate the time less than the preset lock slip ratio is then continue with the clamping force of the left EPB caliper, and the clamping step is ； If right real-time slip rate the time greater than the preset lock slip ratio is , the clamping force is If the right EPB caliper is released, the right EPB caliper is released until the clamping force is 0; if the right real-time slip rate the time less than the preset lock slip ratio is then continue with the clamping force of the right EPB caliper, and the clamping step is 。 5. The single-side wheel anti-lock method based on the dual-MCU chip EPB system according to claim 4, characterized in that: In step S3, if the number of left release instructions and the number of right release instructions are both greater than the threshold value, it is determined that the left side and the right side of the vehicle are both on the low adhesion side of the road; if the number of left release instructions and the number of right release instructions are both less than the threshold value, it is determined that the left side and the right side of the vehicle are both on the high adhesion side of the road; if the number of left release instructions is greater than the threshold value and the number of right release instructions is less than the threshold value, it is determined that the left side of the vehicle is on the low adhesion side of the split road and the right side is on the high adhesion side of the split road; if the number of left release instructions is less than the threshold value and the number of right release instructions is greater than the threshold value, it is determined that the left side of the vehicle is on the high adhesion side of the split road and the right side is on the low adhesion side of the split road.

6. The single-side wheel anti-locking method based on the dual-MCU chip EPB system according to claim 5, characterized in that: Step S4 specifically comprises the following steps: inputting the road condition into the control brake model, identifying the road condition of the current road by using the control brake model, and outputting the brake strategy.

7. The method of the system of the single-side wheel anti-lock method based on the dual-MCU-chip EPB system according to any one of claims 1-6, characterized in that: It comprises: a wheel speed sensor for collecting real-time wheel speed information of each wheel; an EPB switch for generating a brake request signal; a first MCU for determining the left real-time slip rate and the road condition of the vehicle according to the real-time wheel speed information of the left rear wheel and the left front wheel after receiving the brake request signal, and then generating a parking instruction; a second MCU for determining the right real-time slip rate and the road condition of the vehicle according to the real-time wheel speed information of the right rear wheel and the right front wheel after receiving the brake request signal, and then generating a parking instruction; a left EPB caliper for locking and slowing down the left rear wheel according to the generated parking instruction; a right EPB caliper for locking and slowing down the right rear wheel according to the generated parking instruction; an automobile storage battery power supply for supplying power to the above-mentioned components; The EPB controller is electrically connected with the first MCU, the second MCU and the EPB switch respectively, the first MCU and the second MCU are electrically connected with the left EPB caliper and the right EPB caliper respectively, and the left EPB caliper and the right EPB caliper are installed on the left rear wheel and the right rear wheel respectively. The wheel speed sensors arranged on the left rear wheel and the left front wheel are electrically connected with the first MCU through CAN lines, and the wheel speed sensors arranged on the right rear wheel and the right front wheel are electrically connected with the second MCU through CAN lines. 8.The system of single-side wheel anti-locking method based on the dual-MCU chip EPB system according to claim 7, characterized in that: The first MCU and the second MCU perform information interaction through an SPI communication protocol. 9.The system of single-side wheel anti-locking method based on the dual-MCU-chip EPB system according to claim 8, characterized in that: The working voltage of the automobile storage battery power supply is 9V-16V.

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