阅读说明：本技术 一种集成线控制动系统、控制方法、存储介质和终端 (Integrated brake-by-wire system, control method, storage medium and terminal ) 是由 刘宏伟 于 2021-08-31 设计创作，主要内容包括：本发明公开了一种集成线控制动系统、控制方法、存储介质及终端,所述系统包括踏板模拟器电子控制单元、模拟器调压阀、电机和泵；电机和泵连接,泵通过模拟器控制阀与制动主缸相连；踏板模拟器电子控制单元分别与制动主缸中行程传感器、模拟器控制阀和电机电连接,踏板模拟器电子控制单元被设置为根据预设的踏板行程-踏板力特性表计算踏板力目标值,并根据踏板力目标值计算模拟器调压阀的控制电流和电机的转速；模拟器调压阀被设置为根据控制电流输出目标踏板力,本发明通过踏板模拟器电子控制单元任意设定踏板感,实现踏板感可依据车型或驾驶者需求调节,提高脚感模拟质量。(The invention discloses an integrated brake-by-wire system, a control method, a storage medium and a terminal, wherein the system comprises a pedal simulator electronic control unit, a simulator pressure regulating valve, a motor and a pump; the motor is connected with the pump, and the pump is connected with the brake master cylinder through the simulator control valve; the pedal simulator electronic control unit is respectively electrically connected with the stroke sensor, the simulator control valve and the motor in the brake master cylinder, and is configured to calculate a pedal force target value according to a preset pedal stroke-pedal force characteristic table and calculate the control current of the simulator pressure regulator and the rotating speed of the motor according to the pedal force target value; the simulator pressure regulating valve is set to output the target pedal force according to the control current, and the pedal feeling is set at will through the electronic control unit of the pedal simulator, so that the pedal feeling can be regulated according to the requirements of the vehicle type or the driver, and the foot feeling simulation quality is improved.)

1. An integrated brake-by-wire system comprises a brake pedal, a brake master cylinder and a simulator control valve; the electronic control system is characterized by further comprising a pedal simulator electronic control unit, a simulator pressure regulating valve, a motor and a pump;

the motor is connected with the pump, the pump is connected with the brake master cylinder through the simulator control valve, a branch line is arranged on a connecting line of the pump and the brake master cylinder, and the simulator pressure regulating valve is arranged on the branch line;

the pedal simulator electronic control unit is respectively electrically connected with the stroke sensor in the brake master cylinder, the simulator control valve and the motor, and is configured to receive a brake stroke signal sent in the brake master cylinder, calculate a pedal force target value according to a preset pedal stroke-pedal force characteristic table, control the simulator control valve to be electrified according to the pedal force target value, and calculate the control current of the simulator pressure regulating valve and the rotating speed of the motor according to the pedal force target value;

the simulator pressure regulating valve is configured to output a target pedal force according to the control current, the target pedal force being linearly positively correlated with the control current.

2. The system of claim 1, further comprising a regulated accumulator,

the pressure stabilizing energy accumulator is arranged between the motor and the pump and the brake master cylinder;

the pressure stabilizing accumulator is used for storing brake fluid.

3. The system of claim 1, wherein the pedal simulator electronic control unit is further configured to preset a pedal stroke-pedal force characteristic table for setting a conversion ratio of pedal stroke and pedal force.

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 integrated brake-by-wire system applied to the integrated brake-by-wire apparatus according to any one of claims 1 to 4, comprising:

acquiring a brake stroke signal acquired by a stroke sensor in a brake master cylinder;

calculating a pedal force target value using the brake stroke signal;

calculating the control current of the simulator pressure regulating valve and the control rotating speed of the motor according to the pedal force target value;

and determining a target pedal force according to the control current and the control rotating speed.

6. The control method according to claim 5, further comprising presetting the pedal stroke-pedal force characteristic table for setting a conversion ratio of pedal stroke and pedal force.

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 a simulator pressure regulating 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 or 7, 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 depressurized.

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 integrated brake-by-wire system, a control method, a storage medium and a terminal.

Background

Referring to 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 pedal force input, the set pedal force characteristic simulation is completed, meanwhile, the brake-by-wire system converts a 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, so that the oil in the servo cylinder loop smoothly enters a wheel cylinder, the wheel cylinder is pressurized, and the braking force target request value is finally achieved through control. The pedal simulation system comprises a pedal simulator electromagnetic valve, a pedal simulator main cylinder, a spring and other parts, wherein the 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, and the foot feeling simulation quality is low; and the pedal feeling simulation mainly depends on the simulator main cylinder and the spring feedback, the spring characteristic is solidified, the pedal feeling is single and cannot be adjusted, and the requirements of different vehicle models or different driving styles on the pedal feeling adjustment cannot be met.

Disclosure of Invention

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

In order to solve the technical problem, the invention provides an integrated brake-by-wire system in a first aspect, which comprises a brake pedal, a brake master cylinder and a simulator control valve; the pedal simulator comprises a pedal simulator electronic control unit, a simulator pressure regulating valve, a motor and a pump;

the motor is connected with the pump, the pump is connected with the brake master cylinder through the simulator control valve, a branch line is arranged on a connecting line of the pump and the brake master cylinder, and the simulator pressure regulating valve is arranged on the branch line;

the pedal simulator electronic control unit is respectively electrically connected with the stroke sensor in the brake master cylinder, the simulator control valve and the motor, and is configured to receive a brake stroke signal sent in the brake master cylinder, calculate a pedal force target value according to a preset pedal stroke-pedal force characteristic table, control the simulator control valve to be electrified according to the pedal force target value, and calculate the control current of the simulator pressure regulating valve and the rotating speed of the motor according to the pedal force target value;

the simulator pressure regulating valve is configured to output a target pedal force according to the control current, the target pedal force being linearly positively correlated with the control current.

In some possible embodiments, the system further comprises a regulated accumulator,

the pressure stabilizing energy accumulator is arranged between the motor and the pump and the brake master cylinder;

the pressure stabilizing accumulator is used for storing brake fluid.

In some possible embodiments, the pedal simulator electronic control unit is further configured to preset a pedal stroke-pedal force characteristic table, and the pedal stroke-pedal force characteristic table is configured to set a conversion ratio of the pedal stroke and the pedal force.

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 integrated brake-by-wire system, which is applied to the integrated brake-by-wire apparatus described above, and includes:

acquiring a brake stroke signal acquired by a stroke sensor in a brake master cylinder;

calculating a pedal force target value using the brake stroke signal;

calculating the control current of the simulator pressure regulating valve and the control rotating speed of the motor according to the pedal force target value;

and determining a target pedal force according to the control current and the control rotating speed.

In some possible embodiments, the method further includes presetting the pedal stroke-pedal force characteristic table, and the pedal stroke-pedal force characteristic table is used for setting the conversion ratio of the pedal stroke and the pedal force.

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 a simulator pressure regulating 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 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.

The present invention also provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the control method of an integrated 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 integrated brake-by-wire system as described above.

The implementation of the invention has the following beneficial effects: a user calculates a control current in a pressure regulating valve of the simulator and a motor control rotating speed according to a pedal force target value, cancels a pedal feeling main cylinder and a spring and improves the foot feeling simulation quality; the pedal feeling is set arbitrarily through the electronic control unit of the pedal simulator, and different pedal force driving styles are preset in the electronic control unit of the pedal simulator, so that the pedal simulation requirements of various vehicle types and various driving styles are met.

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 the integrated brake-by-wire system of the present invention;

FIG. 3 is a flow chart schematic of a control method of the integrated 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 simulator electronic control unit; 5. a simulator pressure regulating valve; 6. a motor; 7. a pump; 8. a regulated pressure accumulator; 9. a servo motor; 10. a transmission member; 11. a servo master cylinder; 12. a servo cylinder isolation valve; 13. a brake wheel cylinder; 14. 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 integrated brake-by-wire system, comprising a brake pedal 1, a brake master cylinder 2 connected with the brake pedal 1 and a simulator control valve 3; the pedal simulator comprises a pedal simulator electronic control unit 4, a simulator pressure regulating valve 5, a motor 6 and a pump 7;

the motor 6 is connected with the pump 7, the pump 7 is connected with the brake master cylinder 2 through the simulator control valve 3, a branch line is arranged on a connecting line of the pump 7 and the brake master cylinder 2, and the simulator pressure regulating valve 5 is arranged on the branch line;

the pedal simulator electronic control unit 4 is respectively electrically connected with a stroke sensor in the brake master cylinder 2, the simulator control valve 3 and the motor 6, and the pedal simulator electronic control unit 4 is arranged for receiving a brake stroke signal sent in the brake master cylinder 2, calculating a pedal force target value according to a preset pedal stroke-pedal force characteristic table, controlling the simulator control valve 3 to be electrified according to the pedal force target value, and calculating the control current of a simulator pressure regulating valve 5 and the rotating speed of the motor 6 according to the pedal force target value;

the simulator pressure regulating valve 5 is provided to output a target pedal force according to the control current, the target pedal force being linearly positively correlated with the control current.

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 a voltage-stabilizing energy accumulator 8, a simulator pressure regulating valve 5, a motor 6 and a pump 7 through a simulator control valve 3; a driver inputs a braking request by stepping on a brake pedal 1, a pedal simulator electronic control unit 4 receives a stroke signal of a stroke sensor (arranged in a brake master cylinder 2 assembly by wire) of a brake master cylinder 2, the pedal simulator electronic control unit 4 calculates a corresponding pedal force target value according to a driving style set in advance, and simultaneously powers on a simulator control valve 3 (a normally closed valve), so that a loop of the brake master cylinder 2 is communicated with a simulator pressure regulating valve 5, and calculates a control current of the simulator pressure regulating valve 5 and a control rotating speed of a motor 6 according to the pedal force target value, wherein the simulator pressure regulating valve 5 is a linear proportional electromagnetic valve, and the output pedal force of the simulator pressure regulating valve is linearly and positively correlated with the control current; the S-F characteristics of the selected style can be output by selecting different pedal force driving styles (pedal travel S-pedal force F curves) preset in the pedal simulator electronic control unit 4, so that different pedal force simulation foot feelings are completed, and pedal simulation requirements of various vehicle types and various driving styles are met.

In one embodiment, the system further comprises a regulated accumulator 8,

the pressure stabilizing energy accumulator 8 is arranged between the motor 6 and the pump 7 and the brake master cylinder 2;

the pressure-stabilizing accumulator 8 is used for storing brake fluid.

The pressure stabilizing energy accumulator 8 is arranged between the simulator control valve 3 and the simulator pressure regulating valve 5, the pressure stabilizing energy accumulator 8 can store brake fluid with a certain volume, the response speed of the pedal force can be improved, pressure fluctuation in a loop can be reduced, and the stable response of the pedal force can be ensured.

In one embodiment, the pedal simulator electronic control unit 4 is further configured to preset a pedal stroke-pedal force characteristic table for setting a conversion ratio of the pedal stroke and the pedal force.

A user needs to set a pedal force-current characteristic table and a pedal stroke-pedal force characteristic table through the electronic control unit 4 of the pedal simulator in advance 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 system further comprises a servo cylinder circuit 14, a servo cylinder isolation valve 12 and a brake cylinder 13;

the servo cylinder loop 14 comprises a servo motor 9, a transmission piece 10 and a servo main cylinder 11, wherein the servo motor 9 is connected with the transmission piece 10, an output shaft of the transmission piece 10 is in transmission connection with a piston of the servo main cylinder 11, and the servo main cylinder 11 is used for supplying brake oil to a brake wheel cylinder 13;

the servo cylinder isolation valve 12 is provided between the servo cylinder circuit 14 and the brake cylinder 13, and the servo cylinder isolation valve 12 is used to control the connection or disconnection of the circuit between the servo cylinder circuit 14 and the brake cylinder 13.

In the brake-by-wire system, the servo motor 9 is a motor 6 capable of rotating, an output shaft of the servo motor 9 is connected with a piston of a servo main cylinder 11 through a transmission member 10, the rotation of the output shaft of the servo motor 9 is converted into the movement of the piston of the servo main cylinder 11 by the transmission member 10, and the transmission member 10 is a gear rack structure, a nut screw structure or a worm gear structure, and the like, which will not be described in detail herein.

The servo master cylinder 11 is connected with the servo cylinder loop 14 through the servo cylinder isolation valve 12, when the master controller powers on the servo cylinder isolation valve 12 according to a braking force target request signal, the servo cylinder loop 14 is communicated with the brake wheel cylinder 13, the servo master cylinder 11 is the same as the brake wheel cylinder 13, and brake oil is provided for the brake wheel cylinder 13 through the servo master cylinder 11, so that the brake wheel cylinder 13 is pressurized, and the braking force target request value is finally achieved through controlling the servo motor 9.

Mechanical backup working condition of the brake-by-wire system: 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 loop of the simulator pressure regulating valve 5, so that the oil liquid of the brake master cylinder 2 can directly enter the brake wheel cylinder 13 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 12 is closed when power is cut off, so that the servo cylinder loop 14 is isolated from the brake cylinder 13, and the loop between the rest brake master cylinder 13 of the servo master cylinder 11 is disconnected, at the moment, the servo motor 9 is cut off, the servo master cylinder 11 returns to the initial position due to residual pressure and spring restoring force, and the pressure of the servo master cylinder 11 is relieved.

Referring to fig. 3, a second aspect of the present invention provides a control method of an integrated brake-by-wire system, applied to the integrated brake-by-wire apparatus, including:

s101, obtaining a brake stroke signal collected by a stroke sensor in the brake master cylinder 2;

specifically, the driver steps on the brake pedal 1, and when the brake pedal 1 reaches a preset position, the pedal simulator electronic control unit 4 acquires a brake stroke signal acquired by a stroke sensor in the master cylinder 2.

S102, calculating a pedal force target value by using the brake stroke signal;

the pedal simulator electronic control unit 4 inquires a preset pedal travel-pedal force characteristic table and calculates a pedal force target value according to a brake travel signal;

s103, calculating the control current of the simulator pressure regulating valve 5 and the control rotating speed of the motor 6 according to the pedal force target value;

converting the pedal force target value into the control current of the simulator pressure regulating valve 5 and the control rotating speed of the motor 6;

and S104, determining a target pedal force according to the control current and the control rotating speed.

The set target pedal force is output by the control current of the simulator pressure regulating valve 5 and the control rotation speed of the motor 6.

In one embodiment, the method further includes presetting the pedal stroke-pedal force characteristic table, which is used for setting a conversion ratio of the pedal stroke and the pedal force.

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

In one embodiment, the method further comprises,

energizing the simulator control valve 3 according to the brake stroke signal so that the master cylinder 2 and the simulator pressure regulating valve 5 are communicated;

in accordance with the brake stroke signal, the servo cylinder isolation valve 12 is energized so that the brake cylinder 13 communicates with the servo master cylinder 11.

Specifically, the simulator control valve 3 is in a normally closed state, the brake master cylinder 2, the pressure stabilizing energy accumulator 8, the simulator pressure regulating valve 5, the motor 6 and the pump 7 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 powered on, and opens the simulation control valve, so that the brake master cylinder 2, the pressure stabilizing energy accumulator 8, the simulator pressure regulating valve 5, the motor 6 and the pump 7 are communicated;

at the same time, the servo cylinder isolation valve 12 is controlled to be powered on, and the servo cylinder isolation valve 12 is opened, so that the brake wheel cylinder 13 is communicated with the servo master cylinder 11.

In one embodiment, the method further includes, 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 13 to generate braking force, and controlling the servo cylinder isolation valve 12 to be de-energized so that the servo master cylinder 11 is depressurized.

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 communication between the loop of the brake master cylinder 2 and the simulation pressure regulating valve, so that the oil liquid of the brake master cylinder 2 can directly enter the brake wheel cylinder 13 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 12 is closed when the power is cut off, so that the servo cylinder loop 14 is isolated from the servo wheel cylinder, and the loop between the servo main cylinder 11 and the brake main cylinder 13 is disconnected, at the moment, the servo motor 9 is cut off, the servo main cylinder 11 returns to the initial position due to residual pressure and spring restoring force, and the pressure of the servo main cylinder 11 is relieved.

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 control method of the integrated brake-by-wire system as in any one 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 control method of the integrated brake-by-wire system. 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 above-mentioned control method of the integrated brake-by-wire system, and achieve the technical effects consistent with the above-mentioned method.

In another exemplary embodiment, there is also provided a storage medium comprising program instructions which, when executed by a processor, implement the steps of the control method of the integrated brake-by-wire system in any one 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 the processor of the terminal to implement the control method of the integrated brake-by-wire system, and achieve the technical effects consistent with the method.

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.