CN103373337B - The control method of electronic brake - Google Patents
The control method of electronic brake Download PDFInfo
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- CN103373337B CN103373337B CN201310058938.4A CN201310058938A CN103373337B CN 103373337 B CN103373337 B CN 103373337B CN 201310058938 A CN201310058938 A CN 201310058938A CN 103373337 B CN103373337 B CN 103373337B
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- brake
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/301—Sensors for position or displacement
- B60Y2400/3012—Sensors for position or displacement using Hall effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/303—Speed sensors
- B60Y2400/3032—Wheel speed sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/308—Electric sensors
- B60Y2400/3084—Electric currents sensors
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Braking Systems And Boosters (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention provides a kind of control method of electronic brake.The invention is characterized in and comprise: when meeting braking force condition subsequent, control part controls motor driving part, is forced into the step in necessity interval preset; Control part based on the drive current of the motor at necessary interval measure and position of rotation, the step of presumption reference position; And control part controls described motor driving part according to reference position, the step of brake off power.According to the present invention, based on drive current and the position of rotation of the motor at pressurization interval measure, presumption relieves the position of rotation of the motor of braking force, thus the gap that can accurately control between brake facing and brake disc, resisting moment can be made to realize minimizing, when being applied to electrodynamic type drg, can force snesor be removed, thus can save manufacturing cost.
Description
Technical field
The present invention relates to the control method of electronic brake, particularly relate to a kind of drive current and position of rotation of the motor based on the pressurization interval measure in electronic brake, control the control method of the electronic brake in the gap between brake facing and brake disc.
Background technology
Recently, day by day universal along with hybrid power (hybrid) automobile and electronlmobil, the electronic brake (ElectronicBrake) that brake equipment also is being carried out braking to the driving along with motor by original hydraulic brake develops.
As this electronic brake, there are electrodynamic type drg (Electro-MechnicalBrake:EMB) and electronic type parking vehicle brake (ElectronicParkingBrake:EPB), in nearest vehicle, trend towards installing electrodynamic type drg (EMB) additional as main brake use, install electronic type parking vehicle brake (EPB) additional and use as braking during standstill.
This electrodynamic type drg (EMB) and electronic type parking vehicle brake (EPB) are all motor is driven produce rotational force, this rotational force is distributed to gear, the main shaft of bolt/nut structure is utilized to pressurize to piston in terminal, therefore, say from this respect, in two, the driving mechanism of drg is similar.
Electrodynamic type drg (EMB), in order to accurately control braking force, can possess the force snesor (forcesensor) measuring braking force, but according to circumstances, force snesor also can not be used to control braking force.
That is, due to rigidity (stiffness) value of known brake facing in advance, so, by measuring the drive current of motor and position of rotation and carrying out the position control of motor, thus can braking force be controlled.
In addition, because electronic type parking vehicle brake (EPB) does not possess force snesor usually, so utilize the rotative speed of motor and opening time to estimate the position of rotation of motor, carry out the position control of motor according to it, thus can braking force be controlled.
But, in the electrodynamic type drg (EMB) not possessing force snesor or electronic type parking vehicle brake (EPB), the drive current of motor non-linearly measures, and therefore exists and be difficult to accurately grasp the problem of braking force for the position of rotation of the motor of " 0 ".
As mentioned above, if the position of rotation of motor that braking force is " 0 " accurately cannot be grasped, be then difficult to the gap accurately controlling brake facing and brake disc, therefore, there is the problem that resisting moment increases along with the contact of brake facing and brake disc.
Summary of the invention
Technical matters
The present invention researches and develops to improve foregoing problems just, its object is to the control method that a kind of electronic brake is provided, make it possible to according at the drive current of the motor of the pressurization interval measure of electronic brake and position of rotation, gap between accurate control brake facing and brake disc, makes resisting moment reduce.
Technical scheme
The feature of the control method of the electronic brake of one aspect of the invention is, comprises the following steps: when meeting braking force condition subsequent, and control part controls motor driving part, is forced into the necessity preset interval; Described control part based on the drive current of the motor at described necessary interval measure and position of rotation, presumption reference position; And described control part controls described motor driving part according to described reference position, brake off power; Wherein, in the step of the described reference position of presumption, described control part is according to the rigidity of brake facing, the position of rotation of described motor is reduced linearly, calculate the approximate value relative to described reference position, in described approximate value, reflect the compensation value of the nonlinear characteristic according to described brake facing, estimate described reference position.
According to the present invention, described braking force condition subsequent is receiving decompression order from brake pedal sensor, meets when vehicle is in halted state.
According to the present invention, described braking force condition subsequent meets when have input closing signal from the input part of electronic type parking vehicle brake.
According to the present invention, the position of rotation of to be the power that described brake facing pressurizes to brake disc be in the described reference position motor of " 0 (zero) ".
According to the present invention, the rigidity of described brake facing upgrades again according to the drive current of described motor and position of rotation.
Technique effect
According to the present invention, can based on the drive current of the motor of the pressurization interval measure in electronic brake and position of rotation, presumption brake facing is the position of rotation of the motor of " 0 " to the power that brake disc applies, and thus just accurately can control the gap between brake facing and brake disc without the need to other force snesor.
In addition, according to the present invention, by according to the rigidity upgrading brake facing at the drive current of motor of pressurization interval measure and position of rotation, thus can reflect because brake facing weares and teares the stiffness change caused, thus can realize clearance control more accurately.
As mentioned above, according to the present invention, clearance control accurately can be realized in electronic brake, thus can make the contact because of brake facing and brake disc and the resisting moment (Dragtorque) occurred realizes minimizing.
In addition, when being applied to electrodynamic type drg (EMB), can force snesor be removed, thus can save manufacturing cost.
Accompanying drawing explanation
Fig. 1 implements the block diagram of the formation of device needed for the control method of the electronic brake of one embodiment of the invention for display;
Fig. 2 is the diagram of circuit of the action of the control method of the electronic brake of display one embodiment of the invention;
Fig. 3 is the chart of the drive current variations determined by motor position of rotation in the control method of the electronic brake being presented at one embodiment of the invention;
Fig. 4 implements the block diagram of the formation of device needed for the control method of the electronic brake of another embodiment of the present invention for display;
Fig. 5 is the diagram of circuit of the action of the control method of the electronic brake of display another embodiment of the present invention.
Description of reference numerals
10: brake pedal sensor 20: wheel speed sensors
30: motor driving part 40: motor
Detailed description of the invention
With reference to the accompanying drawings, the control method of the electronic brake of one embodiment of the invention is described in detail.In these processes, the thickness of the line shown in accompanying drawing and the size etc. of inscape, may show turgidly for the clear property illustrated and facility.In addition, term described later is the term considered function in the present invention and define, may be different because of the intention of user, fortune user etc. or convention etc.Therefore, should carry out based on the complete disclosure in this specification sheets the definition of these terms.
The control method of electronic brake of the present invention can be applied to electrodynamic type drg (EMB) and electronic type parking vehicle brake (EPB) in an identical manner.
First, referring to figs. 1 through Fig. 3, the situation control method of electronic brake of the present invention being applied to electrodynamic type drg (EMB) is described.
Fig. 1 be display implement the electronic brake of one embodiment of the invention control method needed for the block diagram of formation of device.
As shown in Figure 1, implement one embodiment of the invention electronic brake control method needed for device comprise brake pedal sensor (brakepedalsensor) 10, wheel speed sensors (wheelspeedsensor) 20, motor driving part 30, motor 40, driving condition sense part 50, pressurization part 60 and control part 70.
The brake pedal signal that brake pedal sensor 10 perception is inputted by chaufeur, passes to control part 70.
The wheel velocity of wheel speed sensors 20 measuring vehicle, passes to control part 70.This wheel speed sensors 20 can comprise: form and the rotor rotated (rotor, not shown) with wheel (wheel, not shown) one; And perception is because of the rotation of the gear (not shown) of zigzag fashion that formed at the outer peripheral face of rotor and the changes of magnetic field produced, produce the pole shoe (polepiece, not shown) of speed clock signal (speedclocksignal).
Motor driving part 30 makes motor 40 rotate and produces moment of torsion (torque), and its action is controlled portion 70 and controls.
The driving condition of the motor 40 that driving condition sense part 50 perception rotates by means of motor driving part 30, passes to control part 70.Driving condition sense part 50 can comprise the position transduser (not shown) of the current sensor (not shown) of the drive current measuring motor 40 and the position of rotation of measurement motor 40.
Herein, position transduser can comprise Hall element (hallSensor, not shown) and the coder (encoder, not shown) of the position of rotation for measuring motor 40 rotor.
Pressurization part 60 is pushed brake disc D side to brake facing 80 according to the rotational force of motor 40 or makes it retreat.Pressurization part 60 can have the screw shaft (screwshaft, not shown) that rotates by means of rotational force and according to the hand of rotation of screw shaft and the piston (not shown) promoting brake facing 80 or make it retreat.
Control part 70 judges whether braking force condition subsequent meets, when braking force condition subsequent meets, pressurize, until the necessity preset is interval, necessary interval, based on drive current and the position of rotation of the motor 40 inputted from driving condition sense part 50, the braking force that presumption brake facing 80 puts on brake disc D is the reference position of " 0 (zero) ".Subsequently, the presumptive reference position of control part 70, controls motor driving part 30, brake off power.
So, control part 70 based on the drive current of motor 40 and position of rotation presumption reference position and the detailed process of brake off power, after be described in detail with reference to Fig. 2 and Fig. 3.
On the other hand, with regard to braking force condition subsequent, under vehicle stop state, when the braking intention of chaufeur reduces, as remove electronic brake braking force needed for condition, diversely can define according to the intention etc. of the specification of electronic brake or designer.
Such as, for the situation of electrodynamic type drg (EMB), braking force condition subsequent can be defined as, and under vehicle stop state, meets when receiving from brake pedal sensor 10 the decompression order making braking force reduce.
As a reference, for the situation of electronic type parking vehicle brake (EPB), braking force condition subsequent can be defined as, and when meeting from when chaufeur input closing signal (offsignal), will be described this below with reference to Fig. 4 and Fig. 5.
Fig. 2 is the diagram of circuit of the action of the control method of the electronic brake of display one embodiment of the invention, and Fig. 3 is the chart of the drive current variations determined by motor position of rotation in the control method of the electronic brake being presented at one embodiment of the invention.
Referring to Fig. 2 and Fig. 3, concrete action of the present invention is described.
First, in step s 102, control part 70 is confirmed whether to have input brake pedal signal from brake pedal sensor 10, if having input brake pedal signal, then in step S104, the position of rotation of the motor 40 in this moment is recorded as initial position D
0and store.
Subsequently, in step s 106, control part 70, based on the brake pedal signal inputted from brake pedal sensor 10, judges whether to have received decompression order.
Wherein, decompression order means the order that braking force is reduced, if reduced from the size of the brake pedal signal of brake pedal sensor 10 input than the brake pedal signal inputted before, control part 70 can be judged as have received decompression order.
When not receiving decompression order, be the situation that requirement adds braking force, therefore, in step S108, control part 70 does not carry out braking force releasing of the present invention, but controls motor driving part 30, makes it add and produces braking force.
On the contrary, when have received decompression order, in step s 110, control part 70, based on the speed clock signal inputted from wheel speed sensors 20, judges whether vehicle is in halted state.
When being judged as that vehicle is in halted state, in step S112, control part 70 controls motor driving part 30, pressurizes, until the necessity preset is interval.
That is, control part 70 is when vehicle is in halted state, independently pressurizes with the chaufeur braking intention based on brake pedal signal, until the necessity preset is interval.
Wherein, necessary interval means the interval of the high braking force of more than the access given level between the pressor areas of input brake pedal signal, diversely can select according to the specification of the intention of designer and the system applied.
Such as, necessary interval can be chosen as the interval of more than 5% braking force of access maximum braking force or the interval of access 500 [N] above braking force.
In step S114, so pressurizeing, until behind necessary interval, control part 70 accepts the drive current of motor 40 and position of rotation input and record from driving condition sense part 50.
Herein, as shown in Figure 3, control part 70 can be recorded in the maximum drive current I in necessary interval
maxand maximum position of rotation D
maxwith minimum drive current I
minand minimum position of rotation D
min.
Subsequently, in step S116, control part 70 can utilize maximum drive current I
maxand maximum position of rotation D
maxwith minimum drive current I
minand minimum position of rotation D
min, according to following mathematical expression 1, again upgrade the rigidity of brake facing 80.
[mathematical expression 1]
Wherein, K
nmean the rigidity of the brake facing 80 again upgraded, F
maxand F
minrepresent respectively by maximum drive current I
maxwith minimum drive current I
minthe maximum braking force in necessary interval determined and minimum braking force.Can confirm, the value that the rigidity so upgraded tilts for the straight line corresponding to chart shown in Fig. 3.
Generally speaking, brake facing 80 weares and teares, so rigidity changes because repeatedly rubbing with brake disc D.But, the present invention upgrades rigidity (then, rigidity information) again by the drive current according to the motor 40 in necessary interval like this and position of rotation, can carry out clearance control more accurately.
After the rigidity that so have updated brake facing 80, in step S118, control part 70 is confirmed whether the brake request from brake pedal sensor 10.Now, if not from brake pedal sensor 10 input brake pedal signal, control part 70 can be judged as brakeless requirement.
When being judged as brake request, in the step s 120, control part 70 is based on maximum drive current I
max, maximum position of rotation D
maxand the new values of stiffness K upgraded
n, the braking force that presumption brake facing 80 couples of brake disc D pressurize is the reference position of " 0 ".
As shown in Figure 3, first, control part 70 according to following mathematical expression 2, can make maximum position of rotation D
maxwhile reducing linearly, the approximate value of the reference position relative to motor 40 is calculated according to the rigidity of brake facing 80.
[mathematical expression 2]
Wherein, x
0mean the approximate value of the reference position relative to motor 40, F
maxrepresentative is by maximum drive current I
maxthe maximum braking force in necessary interval determined.
But as shown in a of Fig. 3, in whole interval not linearly, therefore, control part 70 can at the approximate value x so calculated for actual rigidity curve
0middle reflection compensation value L, presumption actual braking force is the reference position x of " 0 ".
When estimating reference position x by this way, as shown in (b) of Fig. 3, even if when the non-Measurement accuracy of the drive current of motor 40, also reference position can be estimated exactly.
Then, in step S122, control part 70 utilizes the reference position of presumption, controls motor driving part 30, brake off power S122.That is, control part 70 makes motor 40 rotate, and brake facing 80 is retreated from brake disc D, to make the position of rotation of motor 40 corresponding to reference position, thus can brake off power.
On the other hand, when when being judged as that vehicle is not in halted state, also independently carry out pressurizeing with the braking intention of chaufeur until when necessity is interval, can be detrimental to driving safety.
Therefore, judging whether vehicle is in the step S110 of halted state, if be judged as that vehicle is not in halted state, so, in step S124, control part 70 is confirmed whether the brake request from brake pedal sensor 10.
When there being brake request, in step S126, control part 70, according to the brake pedal signal inputted from brake pedal sensor 10, carries out common brake-power control.
On the contrary, when brakeless requires, in step S128, control part 70 is according to the initial position D at brake pedal signal input time record
0, control motor driving part 30, brake off power.
That is, when vehicle is not in halted state, even if brakeless requirement, control part 70 does not also carry out reference position of the present invention presumption, but according to the initial stage record initial position D
0, brake off power.
So, can based on the drive current of the motor 40 of the pressurization interval measure at electrodynamic type drg (EMB) and position of rotation, the power that presumption brake facing 80 puts on brake disc D be the position of rotation of the motor of " 0 ", thus just accurately can control the gap of brake facing 80 and brake disc D without the need to other force snesor.
In addition, can force snesor be removed in electrodynamic type drg (EMB), thus can save manufacturing cost.
Fig. 4 be display implement the electronic brake of another embodiment of the present invention control method needed for the block diagram of structure of device, Fig. 5 is the diagram of circuit of the action of the control method of the electronic brake of display another embodiment of the present invention.
In the aforementioned embodiment, be illustrated for the method for control gap in electrodynamic type drg (EMB), and in electronic type parking vehicle brake (EPB), also can in a like fashion.
Referring to Fig. 4 and Fig. 5, based on the difference with previous embodiment, illustrate that the control method of electronic brake of the present invention is applied to the situation of electronic type parking vehicle brake (EPB).
As shown in Figure 4, the device implementing the control method of the electronic brake of another embodiment of the present invention comprises input part 15, motor driving part 30, motor 40, driving condition sense part 50, pressurization part 60 and control part 70.
Closedown (OFF) signal of unlatching (ON) signal that input part 15 accepts electronic type parking vehicle brake (EPB) is started from chaufeur or the release that makes electronic type parking vehicle brake (EPB), and pass to control part 70.That is, be different from electrodynamic type drg (EMB), electronic type parking vehicle brake (EPB) carries out action according to the input of chaufeur substantially.
The fundamental operation of motor driving part 30, motor 40, driving condition sense part 50 and pressurization part 60 is identical with the situation of aforesaid electrodynamic type drg (EMB).
But, the motor 40 of electronic type parking vehicle brake EPB is different from electrodynamic type drg (EMB), is to be made up of direct current (DC) motor, therefore, the rotative speed of driving condition sense part 50 based on motor 40 and the driving time of motor 40, measure the position of rotation of motor 40.
Control part 70, after inputting closing signal from input part 15, pressurizes, until the necessity preset is interval, necessary interval, based on drive current and the position of rotation of the motor 40 inputted from driving condition sense part 50, and presumption reference position.
Afterwards, the presumptive reference position of control part 70, controls motor driving part 30, brake off power.
Be specifically described with reference to Fig. 5, in step s 200, control part 70 is confirmed whether to have input from input part 15 closing signal that the electronic type parking vehicle brake (EPB) work is stopped.
When have input closing signal from input part 15, in step S202, control part 70 controls motor driving part 30, pressurize, until the necessity preset is interval, then, in step S204, be recorded in drive current and the position of rotation of the motor 40 that necessary interval inputs from driving condition sense part 50.
Electronic type parking vehicle brake (EPB) as braking during standstill starts when vehicle is in halted state, therefore, is different from electrodynamic type drg (EMB), no matter which kind of situation, all can be forced into necessary interval.
Afterwards, control part 70 is based on the drive current of motor 40 and position of rotation, upgrade the rigidity of brake facing 80, presumption reference position, control motor driving part 30, these step S206, step S208 and step S210 are identical with the action of step S122 with step S116, the step S120 of previous embodiment in fact, thus detailed.
As mentioned above, according to the control method of electronic brake of the present invention, clearance control accurately can be realized in electrodynamic type drg (EMB) or electronic type parking vehicle brake (EPB), thus the resisting moment produced because of brake facing 80 and the contact of brake disc D can be made to realize minimizing, when being applied to electrodynamic type drg (EMP), can force snesor be removed, thus can save manufacturing cost.
Each embodiment is only in order to illustrate technical scheme of the present invention above, is not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (5)
1. a control method for electronic brake, is characterized in that, comprises the following steps:
When meeting braking force condition subsequent, control part controls motor driving part, is forced into the necessity preset interval;
Described control part based on the drive current of the motor at described necessary interval measure and position of rotation, presumption reference position; And
Described control part controls described motor driving part according to described reference position, brake off power; Wherein, in the step of the described reference position of presumption, described control part is according to the rigidity of brake facing, the position of rotation of described motor is reduced linearly, calculate the approximate value relative to described reference position, in described approximate value, reflect the compensation value of the nonlinear characteristic according to described brake facing, estimate described reference position
Wherein, the rigidity of described brake facing is the ratio according to the difference between the maximum position of rotation of the difference between the maximum braking force of the drive current of described motor and minimum braking force and described motor and minimum position of rotation, and described approximate value calculates according to the rigidity of described maximum position of rotation, described maximum braking force and described brake facing.
2. the control method of electronic brake according to claim 1, is characterized in that:
Described braking force condition subsequent is receiving decompression order from brake pedal sensor, meets when vehicle is in halted state.
3. the control method of electronic brake according to claim 1, is characterized in that:
Described braking force condition subsequent meets when have input closing signal from the input part of electronic type parking vehicle brake.
4. the control method of electronic brake according to claim 1, is characterized in that:
The position of rotation of to be the power that described brake facing pressurizes to brake disc be in the described reference position motor of " 0 (zero) ".
5. the control method of electronic brake according to claim 1, is characterized in that:
The rigidity of described brake facing upgrades again according to the drive current of described motor and position of rotation.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2012-0040214 | 2012-04-18 | ||
| KR1020120040214A KR101930694B1 (en) | 2012-04-18 | 2012-04-18 | Control method of electronic brake |
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| Publication Number | Publication Date |
|---|---|
| CN103373337A CN103373337A (en) | 2013-10-30 |
| CN103373337B true CN103373337B (en) | 2015-12-23 |
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ID=49459341
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310058938.4A Active CN103373337B (en) | 2012-04-18 | 2013-02-25 | The control method of electronic brake |
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|---|---|
| KR (1) | KR101930694B1 (en) |
| CN (1) | CN103373337B (en) |
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| CN108928336A (en) * | 2017-05-23 | 2018-12-04 | 现代摩比斯株式会社 | The control device and its method of electric hydaulic brake apparatus |
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| KR102249329B1 (en) * | 2014-06-20 | 2021-05-07 | 주식회사 만도 | Electronic Parking Brake system |
| DE102014226856A1 (en) * | 2014-12-22 | 2016-06-23 | Robert Bosch Gmbh | Method and device for operating a braking device, braking device |
| JP6545988B2 (en) * | 2015-03-26 | 2019-07-17 | Ntn株式会社 | Electric brake device |
| KR102434538B1 (en) * | 2015-05-13 | 2022-08-23 | 현대모비스 주식회사 | Method and apparatus for controlling brake apparatus |
| DE102016208583A1 (en) | 2015-05-22 | 2016-11-24 | Robert Bosch Gmbh | Automated parking brake and method for operating an automated parking brake |
| KR102337338B1 (en) | 2015-07-13 | 2021-12-09 | 현대모비스 주식회사 | Control method for Motor of electronic brake |
| KR101836628B1 (en) | 2016-05-03 | 2018-03-08 | 현대자동차주식회사 | Electro-mechanical brake system and control method thereof |
| KR101928527B1 (en) * | 2016-09-26 | 2019-03-12 | 재단법인대구경북과학기술원 | Electro-Mechanical Brake System by using current control and initiating Method thereof |
| CN107237848B (en) * | 2017-07-03 | 2019-01-25 | 同济大学 | Brake torque based on intelligent driver regulates and controls method |
| CN110550011B (en) * | 2018-05-31 | 2021-11-12 | 比亚迪股份有限公司 | Braking force estimation method and device, storage medium and vehicle |
| CN108995641B (en) * | 2018-07-26 | 2020-03-17 | 中国第一汽车股份有限公司 | Vehicle parking control method based on EPB system |
| CN109159775A (en) * | 2018-08-07 | 2019-01-08 | 安徽工程大学 | A kind of electric mechanical supercharge control system and its control method |
| KR20210011697A (en) * | 2019-07-23 | 2021-02-02 | 주식회사 만도 | Vehicle control apparatus and vehicle control method |
| JP6987197B1 (en) * | 2020-09-07 | 2021-12-22 | 三菱電機株式会社 | Electric brake control device |
| KR102660858B1 (en) * | 2022-05-12 | 2024-04-24 | 현대모비스 주식회사 | Electro-Mechanical Brake And Control Method Thereof |
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| JP2008049800A (en) * | 2006-08-24 | 2008-03-06 | Hitachi Ltd | Electric brake device and its control method |
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2012
- 2012-04-18 KR KR1020120040214A patent/KR101930694B1/en active IP Right Grant
-
2013
- 2013-02-25 CN CN201310058938.4A patent/CN103373337B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102414065A (en) * | 2009-09-18 | 2012-04-11 | 株式会社爱德克斯 | Parking brake control device |
| CN102328649A (en) * | 2010-07-07 | 2012-01-25 | 株式会社万都 | The control method of electromechanical braking system |
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| CN108928336A (en) * | 2017-05-23 | 2018-12-04 | 现代摩比斯株式会社 | The control device and its method of electric hydaulic brake apparatus |
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| Publication number | Publication date |
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| CN103373337A (en) | 2013-10-30 |
| KR101930694B1 (en) | 2018-12-19 |
| KR20130117235A (en) | 2013-10-25 |
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