WO2022165636A1

WO2022165636A1 - Redundant electrical park brake system and control method therefor, and vehicle

Info

Publication number: WO2022165636A1
Application number: PCT/CN2021/074889
Authority: WO
Inventors: 李伟强; 羊军; 李俊海; 姚定平; 黄荣立; 杨明宇; 李兴元; 赵勇智
Original assignee: 智马达汽车有限公司
Priority date: 2021-02-02
Filing date: 2021-02-02
Publication date: 2022-08-11
Also published as: CN116583448A

Abstract

A redundant electrical park brake system, which relates to the technical field of vehicles. The redundant electrical park brake system comprises: a first electrical park brake module, which is used for receiving a first park instruction and performing park braking on a first wheel group of a vehicle according to the first park instruction; a second electrical park brake module, which is used for receiving a second park instruction and performing park braking on a second wheel group of the vehicle according to the second park instruction; a vehicle dynamic domain manager, which is used for sending the first park instruction according to a park brake request; and a brake control module, which is used for sending the second park instruction according to the park brake request. An EPB caliper is divided into two parts, which are separately controlled by a VDDM and a BBM, such that a redundant design is achieved without changing an original operation state, and only power supply and signal transmission paths of a controller are adjusted after a P-lock mechanism in a transmission is reduced, thereby reducing vehicle components, achieving a light weight and also greatly reducing costs. Further disclosed are a control method for a redundant electrical park brake system, and a vehicle.

Description

A redundant electronic parking brake system, control method and vehicle

technical field

The present application relates to the technical field of vehicles, and in particular, to a redundant electronic parking brake system, a control method and a vehicle.

Background technique

In recent years, the electronic and intelligent level of automobiles has become higher and higher. For the convenience of automobile operation and the safety of parking, the electronic parking brake gradually replaces the traditional manual pull-wire parking brake. On the one hand, the electronic parking brake can realize automatic parking in traffic jams, waiting for red lights, etc.; Greater convenience. In the vehicle electronic parking brake system, a single electronic parking brake solution has a certain risk of failure and failure, which may affect the safety of the vehicle parking brake.

According to the requirements of the redundant design of the parking brake in the regulations, the traditional automatic transmission vehicle mainly adopts the electronic parking brake module (Electrical Park Brake, EPB), coupled with the P-lock (P-Lock) mechanical structure inside the automatic transmission, To achieve the redundant design of the parking brake. Under normal circumstances, the two work at the same time. When one is invalid, the parking brake system of the other can still ensure that it meets the regulatory requirements. However, this solution needs to set the P-gear mechanical structural components inside the automatic transmission, which is complicated in mechanical structure, heavy in weight, high in cost of components and relatively high in failure probability.

SUMMARY OF THE INVENTION

The technical problems to be solved by the present invention are the problems of complex mechanical structure, heavy weight, high cost and relatively large failure probability in the existing parking brake redundancy design scheme.

In order to solve the above-mentioned technical problem, in the first aspect, the embodiment of the present application discloses a redundant electronic parking brake system, comprising:

a first electronic parking brake module, configured to receive a first parking instruction, and perform parking braking on the first wheel group of the vehicle according to the first parking instruction;

a second electronic parking brake module, configured to receive a second parking command, and configured to perform a parking brake on the second wheel set of the vehicle according to the second parking command;

a vehicle dynamic domain manager, configured to send the first parking instruction according to the parking brake request;

A brake control module, configured to send the second parking instruction according to the parking brake request.

Further, the brake control module is a brake booster module or a vehicle controller.

Further, the electronic parking brake system further includes a wheel speed sensor, and the wheel speed sensor is used to obtain the wheel speed of the vehicle.

Further, the vehicle dynamic domain manager is further configured to receive the wheel speed signal obtained by the wheel speed sensor, and calculate the vehicle speed of the vehicle according to the wheel speed signal.

Further, the wheel speed signal includes the wheel speed of the first wheel group, and the vehicle dynamic domain manager is configured to, when the wheel speed of the first wheel group and the vehicle speed signal meet a preset condition, according to the parking A braking request sends the first parking command.

Further, the wheel speed signal includes the wheel speed of the second wheel group, and the brake control module is further configured to receive the wheel speed of the second wheel group and the vehicle speed signal sent by the vehicle dynamic domain manager, And when the wheel speed of the second wheel group and the vehicle speed signal meet preset conditions, the second parking instruction is sent according to the parking brake request.

Further, the electronic parking brake system further includes a central motor control module, and the central motor control module is used to obtain the rotational speed signal of the driving motor.

Further, the brake control module is further configured to receive the rotational speed signal, and when the rotational speed signal meets a preset condition, send the second parking instruction according to the parking brake request.

Further, the electronic parking brake system further includes an energy module, and the energy module is used to provide power supply for the vehicle dynamic domain manager and the brake control module.

Further, the energy module includes a power battery and a DC converter, and the power battery is connected in parallel with the DC converter.

Further, the electronic parking brake system further includes a parking brake request sending module, and the parking brake request sending module is configured to send the parking brake request.

In a second aspect, an embodiment of the present application discloses a control method for a redundant electronic parking brake system, the method comprising:

receive a parking brake request;

sending a first parking command and/or a second parking command according to the parking brake request;

The parking brake is applied to the first wheel set of the vehicle according to the first parking command; and/or the parking brake is applied to the second wheel set of the vehicle according to the second parking command.

Further, before sending the first parking instruction and/or the second parking instruction according to the parking brake request, the method further includes:

If the vehicle dynamic domain manager is in normal working state, obtain the wheel speed signal;

The wheel speed signal is calculated by the vehicle dynamic domain manager to obtain the vehicle speed of the vehicle.

Further, the wheel speed signal includes the wheel speed of the first wheel group, and the sending of the first parking instruction according to the parking brake request includes:

When the vehicle speed is less than a first preset value, if the wheel speed of the first wheel group is less than a first threshold value, the first parking instruction is sent according to the parking brake request.

Further, the wheel speed signal includes the wheel speed of the second wheel group, and the sending of the second parking instruction according to the parking brake request includes:

In the case that the brake control module is in a normal working state and the vehicle speed is less than the first preset value, if the wheel speed of the second wheel group is less than the second threshold value, send the first 2. Parking instruction.

Further, the sending of the second parking instruction according to the parking brake request includes:

If the vehicle dynamic domain manager is in an abnormal working state, obtain the speed signal of the drive motor;

Determine the rotational speed of the drive motor according to the rotational speed signal;

When the rotational speed is less than the second preset value, if the brake control module is in a normal working state, the second parking instruction is sent according to the parking brake request.

In a third aspect, an embodiment of the present application discloses a vehicle including the redundant electronic parking brake system as described above.

The redundant electronic parking brake system, control method, and vehicle provided by the embodiments of the present application have the following technical effects:

In the redundant electronic parking brake system described in the embodiment of the present application, by dividing the EPB brake caliper into two parts, the vehicle dynamic domain manager and the brake control module, the two modules issue commands and control independently, Redundant design is realized without changing the original working state. By simplifying the transmission design, the mechanical part of the shift lock mechanism is eliminated. After reducing the P-gear lock mechanism in the transmission, no other hardware was added, only the power supply and signal transmission path of the controller were adjusted, which reduced the weight of the whole vehicle and greatly reduced the cost.

Description of drawings

In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or in the prior art, the following briefly introduces the accompanying drawings used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description The drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

1 is a schematic structural diagram of a redundant electronic parking brake system provided by an embodiment of the present application;

2 is a schematic structural diagram of a redundant electronic parking brake system provided by an embodiment of the present application;

3 is a schematic structural diagram of an energy module provided by an embodiment of the present application;

FIG. 4 is a flowchart of a control method of a redundant electronic parking brake system according to an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present application.

It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that data so used may be interchanged under appropriate circumstances so that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having" and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or server comprising a series of steps or units is not necessarily limited to those expressly listed Rather, those steps or units may include other steps or units not expressly listed or inherent to these processes, methods, products or devices.

EPB has been adopted in many modern motor vehicles. Such EPB systems typically include two electrical actuation units on different wheels and an EPB control unit associated with the actuation units. In some parking brake design schemes, the left EPB-L and the right EPB-R are both controlled by the vehicle dynamic domain manager (Vehicle Dynamics Domain Master, VDDM) independent module, and the internal P-Lock of the shift mechanism is used as the parking brake. The vehicle brake redundancy design, the P-Lock command is directly issued by the automatic transmission controller module (Auto-transmission Control Model, ATCM) shift control module. This solution needs to set up P-gear mechanical structural components inside the automatic transmission, which is complicated in mechanical structure, heavy in weight, high in cost of components, and has a relatively high probability of failure. Due to cost pressures in the automotive industry, it is desirable to reduce vehicle costs through economical means. At the same time, the safety of the vehicle cannot be compromised by the relevant economic factors. These regulations also apply in particular to brake systems installed in vehicles.

An embodiment of the present application discloses a redundant electronic parking brake system. FIG. 1 is a schematic structural diagram of a redundant electronic parking brake system provided by an embodiment of the present application. As shown in FIG. 1 , the redundant electronic parking brake system The vehicle braking system includes: a first electronic parking brake module for receiving a first parking instruction and performing parking braking on the first wheel group of the vehicle according to the first parking instruction; a second electronic parking brake The dynamic module is used to receive the second parking command and use it to perform parking braking on the second wheel group of the vehicle according to the second parking command; the vehicle dynamic domain manager is used to send according to the parking brake request. The first parking instruction; the brake control module is used for sending the second parking instruction according to the parking brake request.

In the embodiment of the present application, the EPB brake caliper is divided into two parts, namely, a first electronic parking brake module and a second electronic parking brake module. Optionally, the first electronic parking brake module includes a brake caliper of the front wheel of the vehicle, and the second electronic parking brake module includes a brake caliper of the rear wheel of the vehicle. In order to ensure the safety of the parking brake, preferably, the first electronic parking brake module includes the brake caliper on the left side of the vehicle, namely EPB-L, and the second electronic parking brake module includes the brake caliper of the rear wheel of the vehicle, Namely EPB-R. The first electronic parking brake module and the second electronic parking brake module are controlled by the VDDM and the brake control module, respectively. The first electronic parking brake module is communicatively connected to the VDDM, and the second electronic parking brake module is communicatively connected to the brake control module.

In the embodiment of the present application, the brake control module may be a brake booster module (Brake Booster module, BBM) or a vehicle controller (Vehicle control unit, VCU). VDDM, BBM, and VCU are all common controllers on existing vehicles. Therefore, the redundant electronic parking brake system described in the embodiments of the present application does not need to develop a new control module, which greatly reduces research and development costs and vehicle manufacturing costs.

In the embodiment of the present application, the electronic parking brake system further includes a wheel speed sensor, and the wheel speed sensor is used to acquire the wheel speed of the vehicle. Optionally, each wheel of the vehicle is provided with at least one wheel speed sensor. The wheel speed sensor sends a wheel speed signal (WSS) after measuring the wheel speed of each wheel.

The vehicle dynamic domain manager is also used to receive the wheel speed signal obtained by the wheel speed sensor, and calculate the vehicle speed according to the wheel speed signal.

In the embodiment of the present application, since the VDDM acts as the domain control leader, the VDDM is directly connected to the wheel speed sensor for communication. VDDM receives the original vehicle speed signal WSS (LL/LR/RL/RR) from the four wheel-end wheel speed sensors, and then filters the single wheel signal, and after calculating and checking the vehicle speed, VDDM corresponds to the four wheels. The vehicle speed signal and the vehicle speed signal are published on the controller area network (CAN) of the vehicle.

The wheel speed signal includes the wheel speed of the first wheel group and the wheel speed of the second wheel group. The vehicle dynamic domain manager is used to send the first wheel group according to the parking brake request when the wheel speed and vehicle speed signals of the first wheel group meet the preset conditions. Park instruction. The brake control module is also used to receive the wheel speed and vehicle speed signals of the second wheel group sent by the vehicle dynamic domain manager, and send the signal according to the parking brake request when the wheel speed and vehicle speed signals of the second wheel group meet the preset conditions Second parking command.

In the embodiment of the present application, the brake control module receives the wheel speed of the second wheel group sent by the VDDM and the vehicle speed calculated by the VDDM. Under normal circumstances, each functional unit in the redundant electronic parking brake system operates normally, and there is no functional unit that fails. The electronic parking brake system further includes a parking brake request sending module, and the parking brake request sending module is used to send a parking brake request. When the parking brake is required, the parking brake request sending module sends the parking brake request. Optionally, when the parking brake request is initiated, the parking brake request sending module can be triggered by the Human-Computer Interface (HMI) soft switch, the instruction to shift the gear shift mechanism into P gear, and the power off of the whole vehicle. Send a parking brake request. When the VDDM and the brake control module receive the parking brake request sent by the vehicle, the VDDM and the brake control module judge the vehicle speed and the wheel speed information of the EPB module in charge of them. When the target is reached, the VDDM sends a first parking command to the first electronic parking brake module, and the brake control module sends a second parking command to the second electronic parking brake module. The EPB brake calipers then apply the parking brake according to the parking command.

The electronic parking brake system also includes a central motor control module, which is used to obtain the speed signal of the drive motor. The brake control module is further configured to receive a rotational speed signal, and when the rotational speed signal meets a preset condition, send a second parking instruction according to a parking brake request.

In the embodiment of the present application, when the VDDM fails, the brake control module cannot obtain the vehicle speed and the wheel speed signals of the second wheel group in this case. At this time, the brake control module obtains the speed signal of the drive motor end through the central motor control module (Central Electronic Module, CEM) to determine whether the vehicle currently meets the parking brake conditions, and then controls the second electronic parking brake controlled by the brake control module. The car brake module sends a second parking command to implement the EPB electronic parking brake.

As an optional implementation manner, FIG. 2 is a schematic structural diagram of a redundant electronic parking brake system provided by an embodiment of the present application. As shown in FIG. 2 , VDDM is communicatively connected to EPB-L, and VDDM independently controls EPB-L. L. The brake control module is the BBM, the BBM is connected to the EPB-R in communication, and the BBM controls the EPB-R independently. Under normal circumstances, each system operates normally, and there are no failed modules. When VDDM and BBM receive the parking brake request sent by the vehicle, they will judge the vehicle speed and the wheel speed information of the EPB module in charge of them. When both the vehicle speed and the wheel speed meet the design target, the EPB parking brake request is issued respectively, and the EPB implements the parking brake. When the VDDM fails, the vehicle speed and the wheel speed signals of each wheel cannot be obtained. At this time, the BBM judges whether to implement the EPB electronic parking brake through the speed signal of the CEM motor terminal, so as to realize the redundant design of the judgment information. When the BBM fails, the parking command cannot be sent to the EPB-R electronic parking module. At this time, the electronic parking brake of the whole vehicle is operated, and the electronic parking brake request can also be implemented by the EPB-L, that is, the VDDM sends the EPB to the electronic parking brake. -L park command issued. When one of the EPB-R or EPB-L modules fails, the other implements an electronic parking brake request. Therefore, it can meet the regulatory requirements of the electronic parking brake of the whole vehicle. When any fault or failure occurs, a fault warning message will be sent to the CAN bus, indicating that the electronic parking brake system has been degraded.

In the embodiment of the present application, the VDDM, as the domain control leader, maintains signal transmission or interaction with the BBM, EPB-L, and various wheel speed sensors, and monitors whether the entire system is running normally or not. You can also set other modules on the vehicle to monitor the VDDM status in real time. When the VDDM fails, the BBM serves as a supplement, and the VDDM fault information is published on the CAN bus. The BBM can still meet the needs of the electronic parking brake by controlling the EPB-R.

As shown in Fig. 2, the electronic parking brake system further includes an energy module, and the energy module is used to provide power supply for the vehicle dynamic domain manager and the brake control module. The energy module includes a power battery and a DC converter, and the power battery is connected in parallel with the DC converter.

In the embodiment of the present application, the direct current converter (DCDC) in the power supply system of the new energy vehicle is used to change the series connection of the original power battery and the DCDC to the parallel connection. When a power supply module fails , it can also ensure that the power supply of the VDDM or the brake control module is normal, and the redundant design of the power supply of the two modules is guaranteed.

FIG. 3 is a schematic structural diagram of an energy module provided by an embodiment of the present application. As shown in FIG. 3 , the power supply of the entire vehicle is controlled in series by the original 12V conventional power battery and the DCDC type, and is designed to be supplied in parallel, but the vehicle controller is conventional The power supply is mainly based on 12V conventional power, supplemented by the DCDC module. In this design, when the power battery fails, the DCDC can supply power to the system. Similarly, when the DCDC fails, the power battery can supply power to the system. This energy supply scheme can ensure the normal power supply of the VDDM or BBM power supply when any one of the power supply modules fails, and ensures the power supply redundancy design of the two modules.

The redundant electronic parking brake system described in the embodiments of the present application fully utilizes the existing new energy power supply control system and the redundant design system scheme of the brake module itself, and does not need to separately develop an electronic parking control module or other redundant Instead of the parking control module, the existing VDDM and BBM are used to develop the control system compatibility. The left/right EPB is independently controlled by VDDM and BBM. At the same time, the logic optimization design of the energy system and failure management mode is used to build a new control environment platform, which can ensure that the performance requirements of the parking brake can be met under normal conditions. In addition, all failure modes are analyzed, and the corresponding redundancy design is carried out. Under various failure conditions, the left and right electronic parking control systems are still controlled separately, and the electronic parking performance can still meet the regulatory requirements. The control is simple and fully meets the vehicle regulations and implementation needs, which is a true redundant design. In addition, the energy supply and system control scheme are more economical. Through VDDM and BBM, the motors of their own control modules are separately powered and managed. At the same time, the total power supply is applied to the vehicle power backup system to reduce the development of power redundancy management systems and hard-wired interactions. connect. Moreover, after reducing the P-gear lock mechanism in the transmission, no special hardware is added, only the power supply and signal transmission path of the controller are adjusted, and the components and cost of the whole vehicle are greatly reduced.

An embodiment of the present application discloses a control method for a redundant electronic parking brake system. FIG. 4 is a flowchart of a control method for a redundant electronic parking brake system provided by an embodiment of the present application, as shown in FIG. 4 . , the method includes:

S401: Receive a parking brake request;

In the embodiment of the present application, the parking brake request is initiated, and the parking brake request can be triggered by a human-computer interface (Human-Computer Interface, HMI) soft switch, an instruction to shift the gear shift mechanism into P gear, power off the whole vehicle, etc. The sending module sends the parking brake request.

S403: Send the first parking command and/or the second parking command according to the parking brake request;

In this embodiment of the present application, before sending the first parking instruction and/or the second parking instruction according to the parking brake request, the method further includes judging the working state of the VDDM. VDDM is used to obtain the wheel speed signal, and then the vehicle speed is obtained by calculating the wheel speed. Wheel speed and vehicle speed are used to determine whether the vehicle meets the conditions for sending the parking command. According to the different working states of each module in the redundant electronic parking brake system, the redundant electronic parking brake system will adopt different braking schemes.

As an optional implementation manner, when the working state of the VDDM is normal, regardless of whether the working state of the brake control module is normal or not, the VDDM can implement and control the vehicle to perform parking braking. VDDM judges whether the vehicle speed of the whole vehicle and the wheel speed of the EPB module in charge of VDDM meet the design target. Send the first parking command. Both the first preset value and the first threshold value are speed control values that meet vehicle safety requirements.

As an optional implementation manner, when the working state of the VDDM is normal and the working state of the brake control module is normal, and the vehicle speed is less than the first preset value, if the wheel speed of the second wheel group is less than the second threshold value, The second parking command is sent according to the parking brake request. The second threshold is a speed control value that meets vehicle safety requirements.

As an optional implementation manner, when the vehicle dynamic domain manager is in an abnormal working state, the brake control module cannot obtain the vehicle speed and the wheel speed of the second wheel group. At this time, the brake control module obtains the rotational speed signal of the driving motor through the CEM, and then determines the rotational speed of the driving motor according to the rotational speed signal. When the rotational speed of the driving motor is less than the second preset value, if the brake control module is in a normal working state , the second parking command is sent according to the parking brake request. The second preset value is a speed control value that meets vehicle safety requirements.

S405: Perform the parking brake on the first wheel group of the vehicle according to the first parking instruction; and/or perform the parking brake on the second wheel group of the vehicle according to the second parking instruction.

In the embodiment of the present application, the first electronic parking brake module and the second electronic parking brake module work independently. When the first electronic parking brake module receives the first parking instruction sent by the VDDM, the first electronic parking brake module controls the brake calipers of the first wheel group to perform parking braking. When the second electronic parking brake module receives the second parking instruction sent by the VDDM, the second electronic parking brake module controls the brake calipers of the first wheel group to perform parking braking.

Embodiments of the present application also provide a vehicle, which includes the redundant electronic parking brake system as described above.

The vehicle described in the embodiment of the present application is provided with a redundant electronic parking brake system. The system supplies power to the two brake modules, VDDM and BBM, respectively through the vehicle power supply system, and simultaneously divides the left and right EPB brake calipers into two parts. , and then the two modules, VDDM and BBM, issue commands and control separately, and realize the redundant design without changing the original working state. The system optimizes power supply and signal monitoring (transmission) logic through electronic redundancy design, and redesigns and defines the entire device and system. On the basis of meeting regulations, it can reduce the internal P-gear mechanical structural components of the automatic transmission, and provide the complete vehicle. The factory saves more parts costs and reduces the probability of mechanical failure.

It should be noted that: the above-mentioned order of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And the foregoing describes specific embodiments of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that in the embodiments and still achieve desirable results. Additionally, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Each embodiment in this specification is described in a progressive manner, and the same and similar parts between the various embodiments may be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and reference may be made to the partial descriptions of the method embodiments for related parts.

Those of ordinary skill in the art can understand that all or part of the steps of implementing the above embodiments can be completed by hardware, or can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. The storage medium mentioned may be a read-only memory, a magnetic disk or an optical disk, etc.

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection of the present application. within the range.

Claims

A redundant electronic parking brake system, comprising:

a first electronic parking brake module, configured to receive a first parking instruction, and perform parking braking on the first wheel group of the vehicle according to the first parking instruction;

a second electronic parking brake module, configured to receive a second parking command, and configured to perform a parking brake on the second wheel set of the vehicle according to the second parking command;

a vehicle dynamic domain manager, configured to send the first parking instruction according to the parking brake request;

A brake control module, configured to send the second parking instruction according to the parking brake request.
The redundant electronic parking brake system according to claim 1, wherein the brake control module is a brake booster module or a vehicle controller.
The redundant electronic parking brake system according to claim 2, wherein the electronic parking brake system further comprises a wheel speed sensor, and the wheel speed sensor is used to obtain the wheel speed of the vehicle.
The redundant electronic parking brake system according to claim 3, wherein the vehicle dynamic domain manager is further configured to receive the wheel speed signal obtained by the wheel speed sensor, and to perform the operation according to the wheel speed signal. Calculate the speed of the vehicle.
The redundant electronic parking brake system according to claim 4, wherein the wheel speed signal includes a wheel speed of a first wheel group, and the vehicle dynamic domain manager is used to detect the wheel speed of the first wheel group. When the vehicle speed and the vehicle speed signal satisfy a preset condition, the first parking instruction is sent according to the parking brake request.
The redundant electronic parking brake system according to claim 5, wherein the wheel speed signal includes the wheel speed of the second wheel group, and the brake control module is further configured to receive the vehicle dynamic domain management The second wheel group wheel speed and the vehicle speed signal sent by the device, and when the second wheel group wheel speed and the vehicle speed signal meet preset conditions, the first wheel group is sent according to the parking brake request. 2. Parking instruction.
The redundant electronic parking brake system according to claim 1, characterized in that, the electronic parking brake system further comprises a central motor control module, and the central motor control module is used to obtain the rotational speed signal of the driving motor.
The redundant electronic parking brake system according to claim 7, wherein the brake control module is further configured to receive the rotational speed signal, and when the rotational speed signal meets a preset condition, according to the The parking brake request sends the second parking command.
The redundant electronic parking brake system according to claim 1, characterized in that, the electronic parking brake system further comprises an energy module, and the energy module is used for the vehicle dynamic domain manager and all The brake control module provides power supply.
The redundant electronic parking brake system according to claim 9, wherein the energy module comprises a power battery and a DC converter, and the power battery is connected in parallel with the DC converter.
The redundant electronic parking brake system according to claim 1, wherein the electronic parking brake system further comprises a parking brake request sending module, and the parking brake request sending module is used to send the parking brake request.
A control method for a redundant electronic parking brake system, characterized in that the method comprises:

receive a parking brake request;

sending a first parking command and/or a second parking command according to the parking brake request;

The parking brake is applied to the first wheel set of the vehicle according to the first parking command; and/or the parking brake is applied to the second wheel set of the vehicle according to the second parking command.
The control method according to claim 12, wherein before the sending the first parking instruction and/or the second parking instruction according to the parking brake request, the method further comprises:

If the vehicle dynamic domain manager is in normal working state, obtain the wheel speed signal;

The wheel speed signal is calculated by the vehicle dynamic domain manager to obtain the vehicle speed of the vehicle.
The control method according to claim 13, wherein the wheel speed signal comprises a wheel speed of a first wheel group, and the sending a first parking instruction according to the parking brake request comprises:

In the case that the vehicle speed is less than a first preset value, if the wheel speed of the first wheel group is less than a first threshold value, the first parking instruction is sent according to the parking brake request.
The control method according to claim 14, wherein the wheel speed signal includes a wheel speed of a second wheel group, and the sending a second parking command according to the parking brake request comprises:

In the case that the brake control module is in a normal working state and the vehicle speed is less than the first preset value, if the wheel speed of the second wheel group is less than the second threshold value, send the first 2. Parking instruction.
The control method according to claim 13, wherein the sending a second parking instruction according to the parking brake request comprises:

If the vehicle dynamic domain manager is in an abnormal working state, obtain the speed signal of the drive motor;

Determine the rotational speed of the drive motor according to the rotational speed signal;

When the rotational speed is less than the second preset value, if the brake control module is in a normal working state, the second parking instruction is sent according to the parking brake request.
A vehicle, characterized in that the vehicle comprises the redundant electronic parking brake system according to any one of claims 1-11.