2012 results about "Brake force" patented technology

The invention belongs to the technical field of automatic control, and particularly relates to a digital control system for strip coiling equipment, which comprises the following steps of: firstly, comprehensively acquiring strip tension data and state characteristic information by combining a tension sensing assembly and image acquisition equipment, dynamically adjusting a braking torque parameter, and then, acquiring a dynamic control signal by taking the linear speed of a coiling machine as a target signal; the speed of the uncoiling machine and the speed of the traction roller are synchronously aligned through a following strategy, then a taper tension control mode is adopted, the tension value is dynamically adjusted in combination with real-time coiling diameter parameters, the tension stability and the coiling regularity in the coiling process are ensured, and finally the strip deviation problem is detected and processed in real time according to a closed-loop deviation correction mechanism. The equipment control strategy in the strip coiling process is deeply bound with uncoiling control, synchronous coordination, coiling control and a deviation correction core module, and the integrated control capability of multivariable coordination and self-adaptive optimization is achieved, so that the automation and intelligence level of the strip coiling process is effectively improved.

The invention discloses an intelligent control method and system for motorcycle calipers. According to the method, multi-modal data such as vehicle speed, wheel speed, piston displacement, brake disc temperature, inclination angle and transverse acceleration are collected in real time through a multi-source sensor and are preprocessed; calculating a braking demand and an adhesion coefficient according to the data, and recognizing a straight line, a curve or an emergency braking scene in combination with the inclination angle and the transverse acceleration; inputting the data into a pre-trained brake control machine learning model to generate a target brake force change curve; controlling the driving motor and the calipers to brake based on the curve, and regularly optimizing the model according to brake feedback and historical data; predicting a braking efficiency attenuation trend by combining a part degradation model, and compensating the braking force to update the model; the motor current is adjusted in real time through closed-loop control so as to follow the target braking force; and continuously monitoring the temperature of the brake disc, and triggering thermal attenuation compensation when the temperature exceeds a threshold value. According to the invention, self-adaptive, accurate and reliable intelligent braking of the motorcycle is realized.

The invention discloses a braking control optimization method and system combined with vehicle multi-state perception, and belongs to the technical field of vehicle intelligent control, and the method comprises five steps of multi-source data acquisition, data preprocessing, multi-state risk modeling, multi-target braking force distribution and braking control optimization. Based on a tire dynamic model and a semantic physical double-source weighting mechanism, generating high-precision vehicle multi-state sensing feature data; a multi-state risk modeling method based on path prediction and a physical constraint model is combined with a dynamic risk weight adjustment mechanism to calculate a comprehensive target deceleration; a multi-objective optimization function including the braking distance, the stability and the tire reliability is constructed, and four-wheel braking force distribution and coaxial cooperative control are carried out; and pressure control is executed according to the optimization result, and brake control optimization is achieved. According to the method, real-time self-adaptive adjustment of the brake control strategy can be achieved under the complex environment and multiple working conditions, and the safety, stability and response precision of braking are improved.

The invention discloses a high-temperature protection control method of a vehicle braking system and a vehicle, belongs to the technical field of vehicle control, and aims to solve the problems that an existing vehicle braking system lacks high-temperature trend prediction capacity and a dynamic braking force adjusting mechanism, heat accumulation is prone to occurring under the high-load working condition, braking performance declines, and the service life is poor. And therefore, the technical problem of insufficient braking stability and safety is solved. The method comprises the following steps: constructing a generative diffusion model; constructing a temperature control trend prediction model; training the temperature control trend prediction model through the high-temperature time sequence and the braking heat data sample set; constructing a multi-target reinforcement learning strategy model; performing multi-model fusion processing on the generative diffusion model, the temperature control trend prediction model and the multi-target reinforcement learning strategy model to obtain a high-temperature protection control system; and inputting the real-time braking heat data of the target vehicle into a high-temperature protection control system to obtain a corresponding control action vector so as to carry out high-temperature protection control on a vehicle braking system.

The invention discloses a redundant braking control method of an automatic driving vehicle and a storage medium, which are applied to a vehicle control unit. According to the method, when it is detected that an automatic driving module, anti-collision early warning or remote monitoring triggers a braking demand, the target deceleration is calculated in combination with the vehicle speed and the obstacle distance. By collecting the actual acceleration, the parking air chamber air pressure and the motor torque, the total braking force is estimated, the electronic parking braking force is separated out, and then the road adhesion coefficient is calculated. And in the redundant braking mode, according to the target deceleration, the attachment condition and the capacity upper limit of the two systems, performance indexes including deceleration deviation and a parking penalty term are constructed, and the target motor deceleration and the target electronic parking deceleration are obtained through joint distribution. And finally, the target parking deceleration is converted into target air pressure through the deceleration air pressure mapping table containing the online correction amount, the air pressure is adjusted through closed-loop control, and accurate and stable redundant service braking is achieved.

The invention discloses a comfortable braking cooperative control method capable of preventing slope sliding, which comprises the following steps of: firstly, preliminarily obtaining information of a slope where a vehicle is located, and then synchronously carrying out related compensation of a slope difference value and compensation of a vehicle attitude; and the minimum target deceleration required for preventing the vehicle from sliding on the slope and the damping force required for restraining pitching motion in the vehicle braking process are calculated, and the comfortable braking grade is selected. In the whole process, the ramp acceleration of the vehicle needs to be calculated in real time to obtain compensation, longitudinal and vertical control strategies are used for cooperative control, a brake-by-wire product is utilized, a non-adhesion coefficient is analyzed, braking force is distributed, load transfer is weakened through rear braking force during ramp parking, the pitching characteristic of the vehicle can be weakened under the non-emergency working condition, and the vehicle safety is improved. And the riding comfort of a driver and passengers is improved.

The invention relates to a cooperative braking control method and device based on a road adhesion coefficient and energy recovery. The method comprises the steps that vehicle state parameters of a current control period are obtained, and the vehicle state parameters comprise the vehicle longitudinal speed, the vehicle transverse speed, the vehicle yaw velocity and the angular velocity of each wheel; a preset prediction model is solved according to the vehicle state parameters and the constraint conditions, and the control quantity of each wheel in the next control period is obtained; wherein the prediction model takes closer actual longitudinal speed to expected longitudinal speed, maximization of regenerated energy, stable change of controlled quantity and convergence of slip rate of each wheel as targets, and the constraint conditions comprise a wheel constraint condition, a motor hydraulic system constraint condition, a battery charging power constraint condition and a braking force constraint condition. The wheel constraint condition is related to the road adhesion coefficient corresponding to each wheel. By the adoption of the method, the energy recovery efficiency can be maximized, and the stability and safety of the vehicle are guaranteed.

The invention belongs to the technical field of intelligent automobiles, and particularly relates to a load estimation method and system for a vehicle electronic braking system. The method aims at solving the core problems that an existing vehicle load estimation technology seriously depends on specific ideal working conditions such as uniform acceleration and uniform deceleration, so that estimation lags behind, and results are not accurate. The method comprises the following steps of: judging parameters such as accelerator pedal opening, vehicle speed, steering wheel angle, acceleration and road slope condition to confirm that the vehicle is in an estimation triggering condition of stable acceleration, and then calculating theoretical acceleration corresponding to all assumed weights in parallel in a no-load to full-load mass interval; and finally, matching the theoretical acceleration with a measured value and selecting a solution with the minimum error as a load result, so that the real-time performance and accuracy of load estimation are remarkably improved, and the precision of self-adaptive braking force adjustment of the electronic braking system is further improved.

The invention discloses an electronic mechanical brake preset time control method based on disturbance estimation, which comprises the following steps that a dynamic model of an electronic mechanical brake is constructed, and the dynamic model of the electronic mechanical brake takes a braking force and a braking force change rate as state variables and takes q-axis current as control input; designing a predetermined time disturbance observer through the dynamical model of the electromechanical brake, and estimating lumped disturbance within a predetermined time based on the predetermined time disturbance observer; and designing a preset time sliding mode controller, compensating lumped disturbance of the system based on preset time, solving a control rate, and tracking the reference braking force. The transient and steady-state performance of braking force tracking control is improved.

The embodiment of the invention discloses a vehicle anti-lock braking control method, a medium, equipment and a product. The vehicle anti-lock braking control method comprises the steps that the braking pressure difference of a vehicle in the braking process and multi-modal data used for representing the current road surface where the vehicle is located are obtained; determining a pavement adhesion coefficient of a pavement where the vehicle is currently located, load data of the vehicle and an actual slip rate of the vehicle according to the multi-modal data; calculating a target slip rate of the vehicle according to the road adhesion coefficient, the load data and a preset load; a braking force distribution instruction is generated according to the road adhesion coefficient, the target slip rate, the actual slip rate and the braking pressure difference of the vehicle in the braking process; a brake pressure for anti-lock braking of the vehicle is controlled based on the braking force distribution command. The limitation that a traditional method depends on a single wheel speed signal can be broken through, the control target is dynamically adjusted according to the real-time road surface and the vehicle state, and the problem that traditional fixed slip rate control is insufficient in performance under the complex working condition is solved.

A vehicle control method and apparatus, and a storage medium, which belong to the technical field of vehicle control. The method comprises: in response to the fault level being a target level and a first detection result indicating that an engine and an ISG are in a series operation mode, setting a target charging power of a traction battery to be 0, and performing rotational speed closed-loop control on the ISG by using a first rotational speed as a target rotational speed; in response to an actual torque of the engine being less than 0 and the current of a direct-current bus being less than a current threshold value, controlling the traction battery to disconnect from a high-voltage loop, performing rotational speed closed-loop control on the engine, and performing voltage closed-loop control on the ISG; and supplying power to a traction motor (TM) by means of the ISG. Therefore, the stability of the voltage of a direct-current bus can still be ensured when a traction battery is disconnected, thereby ensuring that a TM can still stably drive a vehicle to safely travel when the traction battery has a fault.

The invention discloses an electronic brake system of a fishing reel, and belongs to the technical field of fishing gears. The system comprises a side cover, an adjusting drive plate, a brake adjusting execution assembly, a supporting cover plate, a coil base, an electric control board and a wire cup assembly, wherein the electric control board integrates an optical detection module, a conductive detection module and a control unit; a stop block of the brake adjusting execution assembly and an adjusting drive plate move synchronously, a conducting circuit and a conducting contact can be selectively conducted through a conducting layer on the bottom face of the brake adjusting execution assembly, discrete electric signals identifying gears are output, meanwhile, the shielding degree of the stop block on an optical path of the optical detection module changes continuously, and continuous light sensation analog signals are formed. And the control unit locks the gear according to the discrete electric signal, and responds to the light sensation analog signal to realize stepless regulation of the braking force in the same gear. The device adopts dual-mode cooperative detection, has the characteristics of no mechanical wear, high precision and strong interference resistance, is compact in structure and controllable in cost, effectively improves the casting stability of the fishing reel and the user experience, and is suitable for various fishing reels with precise brake requirements.

The invention discloses a hydraulic anchor and mooring equipment braking force test bracket and a using method thereof.The hydraulic anchor and mooring equipment braking force test bracket comprises an adapter plate, an oil cylinder, a pressure hose, a pressure gauge and a hand pump, one side of the adapter plate is detachably and fixedly connected with a baffle of a cable winding drum of an anchor and mooring equipment, and the other side of the adapter plate is hinged to the output end of the oil cylinder; the hand pump is communicated with a cylinder body of the oil cylinder through the pressure hose, and the pressure gauge is arranged on the pressure hose in series. The using method comprises the following steps: preparing before testing; the bracket main body is switched to a moving state; preliminarily positioning the bracket main body; the bracket main body is finally positioned and switched to a storage supporting state; completing the braking force test of the anchor and mooring equipment; the bracket main body is switched to the moving state again; and the bracket main body is hoisted and stored. When the bracket is used for testing, the switching of the walking mechanism is efficient and safe, the driving assembly is convenient to disassemble and assemble, the base is simple to fix, the operation difficulty of the test is reduced, and the test efficiency is improved.

The invention relates to a housing part for a clamping and / or braking device and to a clamping and / or braking device having such a housing part. The housing part comprises: a first edge of the housing part and a second edge of the housing part opposite the first edge; an annular recess arranged between the second edge and the first edge for clamping an annular spring plate between a first bearing surface of the housing part defined by the recess and a second bearing surface of the housing part defined by the recess; a clamping element having a clamping surface which is designed, when the spring plate is clamped in the recess between the first bearing surface and the second bearing surface in such a way that a first end of the spring plate is supported on the first bearing surface and a second end of the spring plate presses onto the second bearing surface, to transmit a clamping and / or braking force to an object to be clamped and / or braked; a first housing contact surface which extends between the first edge and the first bearing surface; wherein at least one groove for receiving a sealing means is arranged on the first housing contact surface.

A method for controlling anti-skid braking in civil aircraft involves constructing an anti-skid braking model and flight dynamics and kinematics models of the aircraft to analyze the forces acting on the aircraft system and obtain the corresponding forces and torques. For the anti-skid braking system, a BSMC controller is designed to control the braking coefficient μ. Brake This invention controls the braking force to ultimately control the anti-skid braking system of civil aircraft. It uses a backstepping slip mode controller (BSMC) to control the aircraft's braking commands, ensuring the system maintains the optimal slip ratio during braking, maximizing braking efficiency, reducing wheel wear, and minimizing the cost of the aircraft's braking system.

The invention provides a vehicle controller for tire burst detection, an electric vehicle for tire burst control and a method, and relates to the field of new energy automobiles. An electric vehicle includes a drive system and a brake system. In the running process that the vehicle speed of the electric vehicle is larger than the preset vehicle speed, any one of the four wheels has tire burst, and in response to sudden change of the wheel speed of any one of the four wheels, the vehicle controller is used for controlling the driving system to adjust the driving force or controlling the braking system to adjust the braking force. Wherein the sudden change of the wheel speed of any one of the four wheels means that the wheel speed increase value of any one of the four wheels is larger than the wheel speed increase values of the other three wheels within the preset duration. According to the scheme, tire burst detection is carried out based on the rotating speeds of the multiple wheels, the tire burst fault can be rapidly detected, fault wheel positioning is carried out, the misjudgment rate is reduced, control intervention is timely, the control difficulty is reduced, and the vehicle safety is improved.

The invention relates to the technical field of hydraulic capstan, in particular to a hydraulic capstan for cableway laying and a method for achieving cableway laying through the hydraulic capstan. Lateral supporting frames are fixedly arranged on the front side and the rear side of the top of the machine connecting rack correspondingly. A first winch unit and a second winch unit are installed on the left side and the right side of the top of the connecting machine frame respectively, a driving unit is arranged between the first winch unit and the second winch unit, and the first winch unit and the second winch unit are matched to achieve winding of a steel wire rope. The two winch units are synchronously driven by the single driving unit, and a built-in braking system is matched, so that the problems of asynchronous driving and insufficient braking force of the traditional double winches are solved from the double dimensions of power transmission and braking guarantee, and the safety and stability of large-load cableway laying operation are greatly improved.

The utility model discloses a water drop reel magnetic brake system which comprises a brake bowl arranged on a winding wheel shaft, a magnet assembly arranged outside the brake bowl and an adjusting assembly for adjusting the radial distance between the magnet assembly and the brake bowl, and the brake bowl is arranged on one side of a winding wheel and rotates along with the winding wheel shaft. The adjusting assembly comprises a retarding cam and a retarding rotary knob driving the retarding cam to rotate, the retarding rotary knob is connected with the winding wheel cover, the magnet assembly comprises two magnet mounting seats and two arc-shaped magnets, the arc-shaped magnets are assembled on the magnet mounting seats, positioning columns are arranged on the magnet mounting seats, and the arc-shaped magnets are arranged on the positioning columns. The positioning column penetrates through a linear positioning groove formed in the winding wheel cover and then falls into a spiral groove in the retarding cam. The water drip wheel magnetic brake system has the advantages of being stable in brake force, large in brake force adjusting range, high in adjusting precision and the like.

The invention discloses a braking energy recovery self-adaptive control system based on a multi-agent cooperative game. The braking energy recovery self-adaptive control system comprises a human-vehicle-road comprehensive information acquisition module, a braking mode judgment module, a target braking force calculation module and a braking mode smooth transition module. The human-vehicle-road comprehensive information acquisition module acquires driver information, vehicle information and road environment information in real time; the braking mode judgment module calculates a braking energy recovery tendency characterization coefficient and compares the braking energy recovery tendency characterization coefficient with a threshold value, and whether a braking energy recovery mode is started or not is judged in a self-adaptive mode; the target braking force calculation module divides the braking system into a plurality of independent intelligent agents according to axles, and the motor braking force and the friction braking force of all the intelligent agents are distributed in a collaborative optimization mode through a multi-agent cooperative game algorithm; the braking mode smooth transition module adopts a smooth transition function to dynamically adjust the proportion of the motor braking force to the friction braking force, and smooth transition between the two braking force sources is achieved.

The invention discloses an active suspension control method, a vehicle controller and a vehicle, and belongs to the technical field of vehicles, when a driver steps on a brake pedal to brake the vehicle, target brake pressure can be calculated based on the trampled stroke of the brake pedal, at the moment, a brake system does not control a brake to brake, and the target brake pressure can be calculated based on the trampled stroke of the brake pedal. A front active force of a front suspension is adjusted to a target forward active force in an upward direction, a rear active force of a rear suspension is adjusted to a target rear active force in a downward direction, and the front suspension increases the target forward active force opposite to the sinking movement of the front side of the vehicle before a braking system applies a significant braking force to the vehicle. Meanwhile, the rear suspension increases target rear main power opposite to the lifting motion of the rear side of the vehicle, and resistance is provided for the upcoming forward inclination trend of the vehicle; when the braking system brakes the vehicle, the front side and the rear side of the vehicle are affected by the target front main power and the target rear main power respectively, the initial amplitude and the speed of forward inclination of the vehicle body are restrained, and the comfort of passengers in the vehicle is improved.

The invention discloses a steering-by-wire fault degradation processing method and system, a vehicle, equipment and a medium, and relates to the technical field of vehicle control. The steering-by-wire fault degradation processing method comprises the following steps that the fault state of a steering-by-wire system of a vehicle is obtained; according to the fault state of the steer-by-wire system, whether a braking system of the vehicle needs to provide steering capacity is judged; if the braking system needs to provide the steering capacity, the needed front wheel steering angle is determined according to the steering angle signal and the vehicle speed; four-wheel braking force needed by the vehicle is determined according to the needed front wheel rotation angle; and controlling the braking system to execute the braking force of each wheel according to the required four-wheel braking force so as to realize front wheel steering. Under the condition that the steer-by-wire system breaks down and loses part of or all steering capacity, extra steering capacity can be provided through four-wheel braking force distribution of the braking system, cross-system redundancy safety is achieved, and the safety of the steer-by-wire vehicle is improved.

The present invention relates to methods for pre-diagnosis and online detection of a brake of a conveying device, comprising a method for pre-diagnosis of a brake during a non-working period of a conveying device and a method for online detection of a brake during a working period of a conveying device. According to the present invention, by means of detecting a braking torque of a brake used on an elevator, an escalator, or a cage tower crane before being put into use and during use, faulty conditions of a brake used on a conveying device can be promptly detected, so as to effectively prevent motor brake drag during operation due to an insufficient braking torque of the brake of the conveying device, or due to the brake not being actuated or not being fully actuated. Moreover, a warning prompt can be promptly issued to a brake having a potential risk of failure, so as to effectively prevent a faulty brake during operation, and facilitate targeted maintenance and repair by maintenance personnel, thus eliminating potential safety risks in the brake and preventing the occurrence of a significant safety incident during subsequent operations.

A vehicle speed control method, comprising: when an automatic parking system is operating, an automatic transmission control unit (100a) of a vehicle (100) entering an automatic parking operating condition in response to a torque output from an engine of the vehicle (100); under the automatic parking operating condition, the automatic transmission control unit (100a) acquiring a vehicle speed control signal of the vehicle (100), the vehicle speed control signal comprising a braking force signal or a throttle signal, the braking force signal being issued by an electronic stability system of the vehicle (100) under control of the automatic parking system, and the throttle signal being issued by an engine management system (100b) of the vehicle (100) under control of the automatic parking system; and the automatic transmission control unit (100a) controlling a clutch (100a1) of an automatic transmission of the vehicle (100) on the basis of the vehicle speed control signal, so that the vehicle speed of the vehicle (100) is maintained at a target vehicle speed corresponding to the automatic parking operating condition. A vehicle speed control apparatus, used for implementing the vehicle speed control method. A computer device, used for performing the vehicle speed control method. A computer-readable storage medium, used for implementing the vehicle speed control method. A computer program product, used for implementing the vehicle speed control method. Such a configuration ensures the accuracy of vehicle speed control and improves vehicle speed control performance.

The invention relates to the technical field of vehicle control, in particular to a self-adaptive response control method and system for an automatic driving longitudinal control redundant system of a heavy-duty car, and the method comprises the steps: continuously monitoring main and standby control paths of the system and states of all parts, and judging fault levels in real time, including normal, slight, moderate and serious faults. Executing a grading response strategy according to the grades: performing master control and standby hot standby verification in a normal state; when a slight fault occurs, the master control starts standby resource verification compensation; when a moderate fault occurs, a standby path is quickly switched, and the braking force is kept; when a serious fault occurs, an emergency path is activated immediately, deceleration is limited, an alarm is given, and safe deceleration of the vehicle is ensured. And recording and reporting the total event. The crossing from rigid switching to intelligent grading self-adaption is realized, and the continuity and efficiency of the system are improved while the safety is guaranteed.

The invention discloses a vehicle obstacle avoidance control method and control equipment fusing a stability boundary under a transverse and longitudinal coupling working condition and a vehicle, and the method comprises the steps: firstly, building a stability analysis model under a braking-steering coupling condition based on a phase plane bifurcation theory, and quantifying a driving safety domain boundary; secondly, taking an improved model prediction path integral algorithm as a core, optimizing a control sequence in tire transverse and longitudinal attachment constraints through cost function accumulation, and adjusting a lateral attachment margin through a braking torque to update a stable steering boundary; and finally, under a dangerous working condition, according to real-time vehicle state estimation, a preferable risk avoiding path is generated by adopting steering-braking cooperative guidance, so that the vehicle keeps running stably within a limit control range.

The invention relates to the technical field of new energy automobile braking control, and discloses an electro-hydraulic hybrid electric vehicle braking force coordination control method based on the braking demand change rate, and the method comprises the steps: collecting the opening degree of a brake pedal in real time, and calculating the braking demand torque and the change rate thereof; based on the battery SOC, the braking demand change rate and the vehicle speed, the braking force distribution allowable proportion and the braking torque of the motor / battery power system are determined through a nonlinear mapping module; collecting the pressure state of the hydraulic system and determining the braking torque of the hydraulic system; on the premise that the total braking demand torque is met, the braking torque of a motor / battery power system, a hydraulic system and a mechanical system is distributed in a layered and coordinated mode. The braking intention emergency degree can be dynamically recognized, the braking safety, the response speed and the energy recovery efficiency are considered, and the stability, smoothness and engineering applicability of a braking system are improved.

An electric brake device includes an actuator section. The actuator section applies a braking force to a wheel according to rotation of an electric motor transmitted by a transmission mechanism. The electric brake device includes a circuit section that controls the actuator section. The electric brake device includes a rotation angle sensor configured by a detected section attached to a motor shaft member and a detecting section provided to the circuit section. The electric brake device includes a partition wall that defines a first space in which the transmission mechanism is arranged and a second space in which the circuit section is arranged. The partition wall is provided with a through-hole. The detected section is arranged in the through-hole.

The embodiment of the invention provides torque control of a vehicle, the vehicle and a computer readable storage medium, and relates to the technical field of vehicles. The method comprises the steps that in response to the fact that the vehicle is in an energy recovery mode, target deceleration is determined based on preset deceleration and a road slope value, and the energy recovery mode is used for converting kinetic energy of the vehicle into electric energy; determining a required braking torque of the vehicle based on the target deceleration and the actual deceleration; a torque control instruction is generated based on the required braking torque and the maximum regenerative braking torque, the maximum regenerative braking torque is the maximum value of the regenerative braking torque provided by the motor, and the regenerative braking torque is the reverse torque generated by the motor when the vehicle decelerates; and controlling the output torque of the motor or the friction brake based on the torque control instruction. The technical problem that the energy recovery performance of a sliding energy recovery system in the prior art is unstable under different slope conditions is solved.

According to an aspect, there is provided an elevator parking brake comprising brake pads configured to provide a braking force against a guide rail in a loading and unloading situation of an elevator car; and at least one sensor. The elevator parking brake is configured to allow a predetermined amount of movement within the elevator parking brake in the loading and unloading situation of the elevator car, and the at least one sensor is configured to provide at least one indication associated with the movement within the elevator parking brake in the loading and unloading situation of the elevator car.

A method of controlling an electro-mechanical brake device, includes: switching a central electronic control unit (ECU) to an awake mode based on a wake-up signal; transmitting a signal such that a wheel ECU is switched from a sleep mode to the awake mode; when a braking input is detected, supplying a current to a motor mounted on an electro-mechanical brake (EMB) using current control to generate a braking force; when a parking braking force is less than a required braking force, controlling the wheel ECU to release the parking braking force and generate the required braking force, and when the parking braking force is greater than or equal to the required braking force, releasing the parking braking force and maintaining the braking force generated in a wheel; when the braking force reaches the required braking force or the braking force is maintained, switching the current control to position control.