阅读说明：本技术 主动可调式线控制动系统及其控制方法 (Active adjustable brake-by-wire system and control method thereof ) 是由 刘宏伟 于 2021-08-31 设计创作，主要内容包括：本发明公开了一种主动可调式线控制动系统、控制方法、存储介质及终端,包括踏板感比例控制阀和主控制器,主控制器被设置为设定踏板力-电流特性表和踏板行程-踏板力特性表,踏板力-电流特性表用于设定踏板力和电流的转换比例,踏板行程-踏板力特性表用于设定踏板行程和踏板力的转换比例；踏板感比例控制阀包括依次设置的压力反馈腔、调压腔、弹簧预紧腔和比例电磁铁；调压腔通过模拟器控制阀连接制动主缸；踏板感比例控制阀被设置为根据踏板行程-踏板力特性表确定目标踏板力。本发明通过踏板模拟器电子控制单元任意设定踏板感,利用踏板感比例控制阀实现不同车型和驾驶风格对踏板感调节的需求。(The invention discloses an active adjustable brake-by-wire system, a control method, a storage medium and a terminal, which comprise a pedal sensing proportional control valve and a main controller, wherein the main controller is set to set a pedal force-current characteristic table and a pedal stroke-pedal force characteristic table, the pedal force-current characteristic table is used for setting the conversion ratio of pedal force and current, and the pedal stroke-pedal force characteristic table is used for setting the conversion ratio of pedal stroke and pedal force; the pedal sensing proportional control valve comprises a pressure feedback cavity, a pressure regulating cavity, a spring pre-tightening cavity and a proportional electromagnet which are sequentially arranged; the pressure regulating cavity is connected with a brake master cylinder through a simulator control valve; the pedal feel proportional control valve is configured to determine a target pedal force according to a pedal stroke-pedal force characteristic table. The pedal feeling is set arbitrarily by the electronic control unit of the pedal simulator, and the pedal feeling proportional control valve is utilized to meet the requirements of different vehicle types and driving styles on pedal feeling adjustment.)

1. An active adjustable brake-by-wire system comprises a brake pedal, a brake master cylinder and a simulator control valve; it is characterized by also comprising a pedal sensing proportional control valve and a main controller,

the main controller is configured to set a pedal force-current characteristic table for setting a conversion ratio of pedal force and current and a pedal stroke-pedal force characteristic table for setting a conversion ratio of pedal stroke and pedal force;

the pedal sensing proportional control valve comprises a pressure feedback cavity, a pressure regulating cavity, a spring pre-tightening cavity and a proportional electromagnet which are sequentially arranged;

the pressure regulating cavity is connected with the brake master cylinder through the simulator control valve;

the pedal sensing proportional control valve is arranged to adjust the balance of the feedback cavity, the pressure regulating cavity and the spring pre-tightening cavity according to the pedal force-current characteristic table and the pedal stroke-pedal force characteristic table set by the main controller system, and determine the electromagnetic valve force of the proportional electromagnet so as to convert a pedal force target value into a required target pedal force.

2. The system of claim 1, wherein the master cylinder includes a pedal travel sensor for sensing a change in position of the brake pedal to form a brake travel signal.

3. The system of claim 1 or 2, wherein the master controller is further configured to convert the brake stroke signal to the pedal force target value.

4. The system of claim 1, further comprising a servo cylinder circuit, a servo cylinder isolation valve, and a brake cylinder;

the servo cylinder loop comprises a servo motor, a transmission piece and a servo main cylinder, the servo motor is connected with the transmission piece, an output shaft of the transmission piece is in transmission connection with a piston of the servo main cylinder, and the servo main cylinder is used for supplying brake oil to the brake wheel cylinder;

the servo cylinder isolation valve is arranged between the servo cylinder loop and the brake wheel cylinder, and is used for controlling the connection or disconnection of the loop between the servo cylinder loop and the brake wheel cylinder.

5. A control method of an actively tunable brake-by-wire system applied to the actively tunable brake-by-wire system according to any one of claims 1 to 4, comprising:

acquiring a braking travel signal acquired by a travel sensor;

converting the brake stroke signal into a pedal force target value according to a pedal stroke-pedal force characteristic table;

inputting a corresponding control current value to a pedal feel proportional control valve according to a pedal force-current characteristic table and the pedal force target value;

determining the electromagnetic valve force and the spring pretightening force of the pedal sensing proportional control valve according to the control current;

and determining a target pedal force according to the electromagnetic valve force and the spring pretightening force.

6. The control method according to claim 5, further comprising presetting the pedal force-current characteristic table and the pedal stroke-pedal force characteristic table.

7. The control method according to claim 5, characterized in that the method further comprises,

electrifying a simulator control valve according to the brake stroke signal so as to communicate a brake master cylinder with the pedal feel proportional control valve;

and electrifying the servo cylinder isolation valve according to the brake stroke signal so as to enable the brake wheel cylinder to be communicated with the servo main cylinder.

8. The control method according to claim 5, further comprising, if an electrical fault is detected, controlling the simulator control valve to be de-energized and inputting the oil of the master cylinder to a wheel cylinder to generate a braking force, and controlling the servo cylinder isolation valve to be de-energized to allow the master cylinder to be de-pressurized.

9. A storage medium, characterized in that it stores instructions which, when executed by a processor, implement the steps of the control method according to any one of claims 5 to 8.

10. A terminal comprising a memory storing instructions and a processor loading the instructions to perform the steps of the control method according to any one of claims 5 to 8.

Technical Field

The invention relates to the technical field of vehicle brake-by-wire, in particular to an active adjustable brake-by-wire system, a control method, a storage medium and a terminal.

Background

As shown in fig. 1, in the conventional art, a driver inputs a braking request by stepping on a brake pedal, a brake-by-wire system powers on a simulator control valve (normally closed valve) according to a pedal stroke signal of a pedal stroke sensor (installed in a brake-by-wire master cylinder assembly), so that a brake master cylinder loop 1 is communicated with a pedal simulator, oil in the brake master cylinder smoothly enters the pedal simulator along with the input of pedal force to complete the simulation of set pedal force characteristics, and simultaneously, the brake-by-wire system converts the received pedal stroke signal into a braking force target requirement, powers on a servo cylinder isolation valve (normally closed valve), and pushes a servo master cylinder by controlling a servo motor to smoothly enter a wheel cylinder, so that the wheel cylinder is pressurized and finally reaches the braking force target request value through control. The brake-by-wire system comprises a pedal simulator electromagnetic valve, a pedal simulator main cylinder, a spring and other parts, wherein the simulation electromagnetic valve is mainly responsible for controlling the on-off of a pedal simulator loop, the simulation of pedal feeling mainly depends on the pedal simulator main cylinder and the spring for feedback, the integration level is low, the weight and the occupied space are large, and the space arrangement and the cost control are not facilitated; and the spring characteristic is solidified, the pedal feel is single and can not be adjusted, and the requirements of different vehicle types or different driving styles on the adjustment of the pedal feel can not be met.

Disclosure of Invention

The invention aims to provide an active adjustable brake-by-wire system, a control method, a storage medium and a terminal, which can be used for setting pedal feel at will through a main controller, and solving the technical problems that the existing simulation of the pedal feel of an electric automobile mainly depends on a main cylinder of a pedal simulator and a spring thereof for feedback, the integration level is low, and the pedal feel cannot be actively adjusted.

In order to solve the technical problems, the invention provides an active adjustable brake-by-wire system, a control method, a storage medium and a terminal in a first aspect, wherein the system comprises a brake pedal, a brake master cylinder and a simulator control valve; also comprises a pedal sensing proportional control valve and a main controller,

the main controller is configured to set a pedal force-current characteristic table for setting a conversion ratio of pedal force and current and a pedal stroke-pedal force characteristic table for setting a conversion ratio of pedal stroke and pedal force;

the pedal sensing proportional control valve comprises a pressure feedback cavity, a pressure regulating cavity, a spring pre-tightening cavity and a proportional electromagnet which are sequentially arranged;

the pressure regulating cavity is connected with the brake master cylinder through the simulator control valve;

the pedal sensing proportional control valve is arranged to adjust the balance of the feedback cavity, the pressure regulating cavity and the spring pre-tightening cavity according to the pedal force-current characteristic table and the pedal stroke-pedal force characteristic table set by the main controller system, and determine the electromagnetic valve force of the proportional electromagnet so as to convert a pedal force target value into a required target pedal force.

In some possible embodiments, the master cylinder includes a pedal travel sensor for sensing a change in position of the brake pedal to form a brake travel signal.

In some possible embodiments, the master controller is further configured to convert the brake stroke signal to the pedal force target value.

In some possible embodiments, the system further comprises a servo cylinder circuit, a servo cylinder isolation valve, and a brake cylinder;

the servo cylinder loop comprises a servo motor, a transmission piece and a servo main cylinder, the servo motor is connected with the transmission piece, an output shaft of the transmission piece is in transmission connection with a piston of the servo main cylinder, and the servo main cylinder is used for supplying brake oil to the brake wheel cylinder;

the servo cylinder isolation valve is arranged between the servo cylinder loop and the brake wheel cylinder, and is used for controlling the connection or disconnection of the loop between the servo cylinder loop and the brake wheel cylinder.

The second aspect of the present invention provides a control method for an active adjustable brake-by-wire system, which is applied to the active adjustable brake-by-wire system, and includes:

acquiring a braking travel signal acquired by a travel sensor;

converting the brake stroke signal into a pedal force target value according to a pedal stroke-pedal force characteristic table;

inputting a corresponding control current value to a pedal feel proportional control valve according to a pedal force-current characteristic table and the pedal force target value;

determining the electromagnetic valve force and the spring pretightening force of the pedal sensing proportional control valve according to the control current;

and determining a target pedal force according to the electromagnetic valve force and the spring pretightening force.

In some possible embodiments, the method further includes presetting the pedal force-current characteristic table and the pedal stroke-pedal force characteristic table.

In some possible embodiments, the method further comprises,

electrifying a simulator control valve according to the brake stroke signal so as to communicate a brake master cylinder with the pedal feel proportional control valve;

and electrifying the servo cylinder isolation valve according to the brake stroke signal so as to enable the brake wheel cylinder to be communicated with the servo main cylinder.

In some possible embodiments, the method further includes, if an electrical fault is detected, controlling the simulator control valve to be de-energized and inputting the oil of the master cylinder to the wheel cylinders to generate braking force, and controlling the servo cylinder isolation valve to be de-energized to allow the master cylinder to be de-pressurized.

The invention also provides a storage medium on which a computer program is stored which, when being executed by a processor, implements a control method of an actively tunable brake-by-wire system as described above.

The invention also provides a terminal comprising one or more processors and memory. A memory coupled to the processor for storing one or more programs; when executed by the one or more processors, cause the one or more processors to implement a control method of an actively tunable brake-by-wire system as described above.

The implementation of the invention has the following beneficial effects:

according to the active adjustable brake-by-wire system and the control method thereof, the pedal feel is set arbitrarily through the main controller, the pedal stroke-pedal force characteristic table is preset in the main controller according to needs, and the pedal force meeting the requirements of users is obtained by utilizing the characteristics of the proportional solenoid valve, so that the pedal feel can be adjusted according to the requirements of vehicle types or drivers; and a simulator main cylinder and a spring in the original system are eliminated, the integration level is improved, and the space occupation is reduced.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a brake-by-wire system of the prior art;

FIG. 2 is a schematic structural diagram of an actively adjustable brake-by-wire system according to the present invention;

FIG. 3 is a schematic flow chart of a control method of the actively tunable brake-by-wire system of the present invention;

FIG. 4 is a schematic diagram of a pedal travel-pedal force characteristic of the present invention;

fig. 5 is a schematic structural diagram of a computer terminal device according to an embodiment of the present invention.

Wherein the reference numerals in the figures correspond to: 1. a brake pedal; 2. a brake master cylinder; 3. a simulator control valve; 4. a pedal sensing proportional control valve; 41. a pressure feedback chamber; 42. a pressure regulating cavity; 43. a spring pre-tightening cavity; 44. a proportional electromagnet; 5. a servo motor; 6. a transmission member; 7. a servo master cylinder; 8. a servo cylinder isolation valve; 9. a brake wheel cylinder; 10. a servo cylinder circuit.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.

As shown in fig. 2, the invention discloses an active adjustable brake-by-wire system, which comprises a brake pedal 1, a brake master cylinder 2 connected with the brake pedal 1 and a simulator control valve 3; also comprises a pedal sensing proportional control valve 4 and a main controller,

the main controller is configured to set a pedal force-current characteristic table for setting a conversion ratio of pedal force and current and a pedal stroke-pedal force characteristic table for setting a conversion ratio of pedal stroke and pedal force;

the pedal sensing proportional control valve 4 is sequentially provided with a pressure feedback cavity 41, a pressure regulating cavity 42, a spring pre-tightening cavity 43 and a proportional electromagnet 44;

the pressure regulating cavity is connected with a brake master cylinder 2 through a simulator control valve 3;

the pedal sensing proportional control valve 4 is used for adjusting the balance of the feedback cavity, the pressure regulating cavity and the spring pre-tightening cavity according to the pedal force-current characteristic table and the pedal stroke-pedal force characteristic table set by the main controller system, and determining the electromagnetic valve force of the proportional electromagnet so as to convert a pedal force target value into a required target pedal force.

Specifically, one end of the brake pedal 1 is connected with a pedal transmission assembly in the brake master cylinder 2, the other end of the brake pedal 1 is used for stepping, the output end of the stepping transmission assembly is hinged to the piston of the brake master cylinder 2, the brake pedal 1 is stepped, the brake pedal 1 drives the piston of the brake master cylinder 2 to move in the cylinder body through the transmission assembly, and then brake oil in the brake master cylinder 2 flows out to other connected valves and structural members and the like. The pedal transmission assembly may be a pedal rod, or may be another structure capable of realizing power transmission between the brake pedal 1 and the piston of the brake master cylinder 2, and details thereof are not described herein. A pedal stroke sensor is arranged in the brake master cylinder 2, and a brake stroke signal is formed by sensing the position change of the brake pedal 1 through the pedal stroke sensor; the output end of the brake master cylinder 2 is connected with the pedal sensing proportional control valve 4 through the simulator control valve 3, and the master controller controls the electrification of the simulator control valve 3 according to the brake stroke signal, so that the brake master cylinder 2 is communicated with the pedal sensing proportional control valve 4; the pedal sensing proportional control valve 4 sequentially comprises a pressure feedback cavity 41, a pressure regulating cavity 42, a spring pre-tightening cavity 43 and a proportional electromagnet 44, wherein the spring pre-tightening cavity 43 comprises a spring.

A user inputs a braking request by stepping on the brake pedal 1, and the main controller powers on the simulator control valve 3 according to a braking stroke signal induced by a pedal stroke sensor in the brake master cylinder 2, so that the brake master cylinder 2 is communicated with the proportional control valve, wherein the simulation control valve is a normally closed valve; meanwhile, the main controller inputs a pedal force target value sensed by the pedal stroke sensor into the pedal force proportional control valve 4 according to a preset pedal stroke-pedal force characteristic table, the pedal force proportional control valve 4 inputs corresponding control current I into the proportional electromagnet according to the pedal force target value, the balance of the pressure feedback cavity 41, the pressure regulating cavity 42 and the spring pre-tightening cavity 43 is regulated through the proportional electromagnet, and the proportional electromagnet 44 outputs corresponding electromagnetic valve force F_soleThe target pedal force F, which is the output force of the pedal feel proportional control valve 4, satisfies: f ═ F_sole+F_springIn which F is_springBecause the valve core has a short action stroke, the slight change of the spring pre-tightening force is negligible, and the spring pre-tightening force is regarded as a constant. The force F of the electromagnetic valve is adjusted by a pedal stroke-pedal force characteristic meter and by utilizing the characteristic of a proportional electromagnet_soleFurther, the required pedal force F is output, and the characteristic simulation of the set target pedal force is completed. The pedal travel-pedal force characteristic table is preset in the main controller according to needs, pedal force meeting user requirements is obtained, pedal feeling can be adjusted according to vehicle models or requirements of drivers, and after the pedal feeling proportional control valve 4 receives current, a pedal feeling main cylinder and a spring are omitted, integration level is improved, and space occupation is reduced.

In one embodiment, master cylinder 2 includes a pedal stroke sensor for sensing a change in position of brake pedal 1 to form a brake stroke signal.

When a driver steps on or releases the brake pedal 1, the pedal stroke sensor can form a brake stroke signal to show whether the driver has the operation of braking or braking release, the main controller can receive the brake stroke signal of the pedal stroke detection unit, convert the brake stroke signal into a braking force target request signal and control the simulator control valve 3 or the servo cylinder isolation valve 8 to act according to the braking force target request signal, so that the brake master cylinder 2 is communicated with the pedal sense proportional control valve 4 or brake oil is provided for the brake wheel cylinder 9 to act the brake wheel cylinder 9.

In one embodiment, the master controller is further configured to convert the brake stroke signal to the pedal force target value.

The main controller converts the pedal braking signal into a required pedal force target value by referring to the pedal stroke-pedal force characteristic table, and then inputs the pedal force target value to the pedal feel proportional control valve 4.

It should be noted that the main controller may be a centralized or distributed controller, for example, it may be a single-chip microcomputer or may be formed by a plurality of distributed single-chip microcomputers, and the single-chip microcomputers may run a control program and perform signal transmission, so as to control each component to implement its function.

In one embodiment, the system further comprises a servo cylinder circuit 10, a servo cylinder isolation valve 8 and a brake cylinder;

the servo cylinder loop 10 comprises a servo motor, a transmission piece and a servo main cylinder, wherein the servo motor is connected with the transmission piece, an output shaft of the transmission piece is in transmission connection with a piston of the servo main cylinder, and the servo main cylinder is used for supplying brake oil to the brake wheel cylinder;

the servo cylinder isolation valve 8 is provided between the servo cylinder circuit 10 and the brake cylinder, and the servo cylinder isolation valve 8 is used to control the connection or disconnection of the circuit between the servo cylinder circuit 10 and the brake cylinder.

The servo motor 5 is a motor capable of rotating, an output shaft of the servo motor 5 is connected with a piston of the servo main cylinder 7 through a transmission member 6, the rotation of the output shaft of the servo motor 5 is converted into the movement of the piston of the servo main cylinder 7 by using the transmission member 6, and the transmission member 6 is a gear rack structure, a nut screw structure or a worm and gear structure, and the details are not repeated herein.

The servo main cylinder 7 is connected with the brake wheel cylinder 9 through the servo cylinder isolation valve 8, when the main controller powers on the servo cylinder isolation valve 8 according to a braking force target request signal, the servo main cylinder 7 is communicated with the brake wheel cylinder 9, and braking oil is provided for the brake wheel cylinder 9 through the servo main cylinder 7, wherein the servo cylinder isolation valve 8 is a normally closed valve.

When the brake-by-wire system encounters serious electrical fault, the brake-by-wire system enters a pure mechanical backup state, at the moment, the simulator control valve 3 is powered off and cuts off the loop of the brake master cylinder 2 and the pedal sensing proportional control valve 4, so that oil liquid in the brake master cylinder 2 can directly enter the brake wheel cylinder 9 through other loops of the brake-by-wire system to generate a certain braking force, and the safety redundancy of the braking force of the vehicle is ensured; meanwhile, the servo cylinder isolation valve 8 is closed when the power is cut off, so that the servo cylinder loop 10 is isolated from the brake wheel cylinder 9, namely, the loop between the servo main cylinder 7 and the brake wheel cylinder 9 is disconnected, the servo motor 5 is cut off at the moment, the servo main cylinder 7 returns to the initial position due to residual pressure and spring restoring force, and the pressure of the servo main cylinder 7 is relieved.

Referring to fig. 3, a second aspect of the present invention provides a control method for an active adjustable brake-by-wire system, which is applied to the active adjustable brake-by-wire system, and includes:

s101, obtaining a braking travel signal acquired by a travel sensor;

when a user steps on the brake pedal 1 to reach a preset position, the main controller acquires a brake stroke signal acquired by the stroke sensor;

s102, converting the brake stroke signal into a pedal force target value according to a pedal stroke-pedal force characteristic table;

the main controller inquires a preset pedal stroke-pedal force characteristic table and converts the brake stroke signal into a pedal force target value;

s103, inputting a corresponding control current value to the pedal feel proportional control valve 4 according to the pedal force-current characteristic table and the pedal force target value;

the preset pedal force-current characteristic table is inquired according to the pedal force target value, the pedal force target value is converted into corresponding control current, the control current is input into the pedal feeling proportional control valve 4,

s104, determining the electromagnetic valve force and the spring pretightening force of the pedal sense proportional control valve 4 according to the control current;

after the pedal sensing proportional control valve 4 receives the current, the balance of the pressure feedback cavity 41, the pressure regulating cavity 42 and the spring pre-tightening cavity 43 is regulated through the proportional electromagnet, and the proportional electromagnet 44 is determined to output the corresponding electromagnetic valve force F_soleAnd a spring preload F_spring；

And S105, determining a target pedal force according to the electromagnetic valve force and the spring pre-tightening force.

The target pedal force F, which is the output force of the pedal feel proportional control valve 4, satisfies: f ═ F_sole+F_springIn which F is_springThe target pedal force is determined by the spring pre-tightening force and the electromagnetic valve force, and the valve core is in a short action stroke, so that the slight change of the spring pre-tightening force can be ignored, and the spring pre-tightening force is regarded as a constant.

In one embodiment, the method further includes presetting the pedal force-current characteristic table and the pedal stroke-pedal force characteristic table.

A user needs to preset a pedal force-current characteristic table and a pedal stroke-pedal force characteristic table according to actual requirements, the output relation between pedal stroke and pedal force in the pedal force stroke-pedal force characteristic table is shown in figure 4, and the requirements of different vehicle models and different driving styles on pedal feeling adjustment are met by adjusting the pedal force-current characteristic table and the pedal stroke-pedal force characteristic table according to the driving styles of the user.

In one embodiment, the method further comprises,

energizing the simulator control valve 3 according to the brake stroke signal so as to communicate the master cylinder 2 with the pedal feel proportional control valve 4;

the servo cylinder isolation valve 8 is energized so that the brake wheel cylinder 9 communicates with the servo master cylinder 7 in accordance with the brake stroke signal.

Specifically, the simulator control valve 3 is in a normally closed state, the brake master cylinder 2 and the pedal sensing proportional control valve 4 are in a disconnected state, when a user steps on the brake pedal 1, the master controller receives a brake stroke signal, controls the simulator control valve 3 to be electrified, and opens the simulation control valve, so that the brake master cylinder 2 and the pedal sensing proportional control valve 4 are communicated;

meanwhile, the servo cylinder isolation valve 8 is controlled to be powered on, and the servo cylinder isolation valve 8 is opened, so that the brake wheel cylinder 9 is communicated with the servo main cylinder 7.

In one embodiment, the method further comprises, if an electrical fault is detected, controlling the simulator control valve 3 to be de-energized and inputting the oil of the master cylinder 2 to the wheel cylinders 9 to generate braking force, and controlling the servo cylinder isolation valve 8 to be de-energized to allow the master cylinder 7 to be de-pressurized.

When the brake-by-wire system encounters serious electrical fault, the brake-by-wire system enters a pure mechanical backup state, at the moment, the simulator control valve 3 is powered off and the communication between the main brake cylinder 2 loop and the pedal sensing proportional control valve 4 is cut off, so that the oil liquid of the main brake cylinder 2 can directly enter the brake wheel cylinder 9 through other loops of the brake-by-wire system to generate a certain braking force, and the safety redundancy of the braking force of the vehicle is ensured; meanwhile, the servo cylinder isolation valve 8 is closed when the power is cut off, so that the servo cylinder loop 10 is isolated from the brake wheel cylinder 9, namely, the loop between the servo main cylinder 7 and the brake wheel cylinder 9 is disconnected, the servo motor 5 is powered off at the moment, the servo main cylinder 7 returns to the initial position due to residual pressure and spring restoring force, and the pressure of the servo main cylinder 7 is relieved.

All or part of each module in the active adjustable brake-by-wire system can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

Referring to fig. 5, a terminal according to an embodiment of the present invention includes one or more processors and a memory. The memory is coupled to the processor for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the actively tunable brake-by-wire method as in any of the embodiments described above.

The processor is used for controlling the overall operation of the computer terminal equipment so as to complete all or part of the steps of the active adjustable brake-by-wire method. The memory is used to store various types of data to support the operation at the computer terminal device, which data may include, for example, instructions for any application or method operating on the computer terminal device, as well as application-related data. The Memory may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk.

In an exemplary embodiment, the computer terminal Device may be implemented by one or more Application Specific 1 integrated circuits (AS 1C), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a controller, a microcontroller, a microprocessor or other electronic components, and is configured to perform the active tunable brake-by-wire method, and achieve technical effects consistent with the above-mentioned methods.

In another exemplary embodiment, a storage medium is also provided comprising program instructions which, when executed by a processor, implement the steps of the actively adjustable brake-by-wire method of any of the above embodiments. For example, the storage medium may be the memory including the program instructions, and the program instructions may be executed by a processor of the terminal to implement the active adjustable brake-by-wire method, and achieve the technical effects consistent with the above-mentioned methods.

While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.