CN110539738A - electronic parking control method and device, storage medium and vehicle - Google Patents
electronic parking control method and device, storage medium and vehicle Download PDFInfo
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- CN110539738A CN110539738A CN201810525448.3A CN201810525448A CN110539738A CN 110539738 A CN110539738 A CN 110539738A CN 201810525448 A CN201810525448 A CN 201810525448A CN 110539738 A CN110539738 A CN 110539738A
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- caliper
- motor
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- release stroke
- calculating
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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
Abstract
The present disclosure provides an electronic parking control method and apparatus, a storage medium, and a vehicle to solve the problem of insufficient reliability of control of a caliper release stroke in an electronic parking system in the related art. The method comprises the following steps: collecting working voltage and working current of a caliper motor in real time; calculating to obtain the real-time rotating speed of the caliper motor according to the working voltage and the working current; calculating the release stroke of the caliper according to the real-time rotating speed; and when the release stroke of the caliper reaches the target caliper release stroke, controlling the caliper motor to stop rotating.
Description
Technical Field
the present disclosure relates to the field of vehicle engineering, and in particular, to an electronic parking control method and apparatus, a storage medium, and a vehicle.
background
In the related technology, the electronic parking system monitors the rotating speed of a caliper motor through an external sensor and further determines the release stroke of the caliper. However, external sensors may increase the number of nodes in the system that may fail. When the sensor fails, the obtained rotating speed information is inaccurate, so that the determined caliper release stroke is also inaccurate. Thus, there is a possibility that the caliper is over-released, increasing the time period when the next caliper performs a braking operation, and degrading the braking performance of the vehicle. Or, the release of the caliper is insufficient, in this case, the caliper is not completely separated from the brake disc, the conditions of drag braking, heating of the brake disc and the like can occur, and a large amount of friction heat generated in severe cases can cause the vehicle to catch fire.
Disclosure of Invention
The present disclosure provides an electronic parking control method and apparatus, a storage medium, and a vehicle to solve the problem of insufficient reliability of control of a caliper release stroke in an electronic parking system in the related art.
in order to achieve the above object, in a first aspect, an embodiment of the present disclosure provides an electronic parking control method, including:
collecting working voltage and working current of a caliper motor in real time;
Calculating to obtain the real-time rotating speed of the caliper motor according to the working voltage and the working current;
Calculating the release stroke of the caliper according to the real-time rotating speed;
And when the release stroke of the caliper reaches the target caliper release stroke, controlling the caliper motor to stop rotating.
optionally, the calculating the real-time rotation speed of the caliper motor according to the working voltage and the working current includes:
Calculating the current rotating speed N' of the caliper motor by the following formula:
N'＝(V-K*I)*K；
vop is the current working voltage of the caliper motor, Iop is the current working current of the caliper motor, and K1 and K2 are calibrated motor characteristic parameters;
K＝V/I；K＝N/(V-I*K)；
vtest Is the test voltage of calliper motor, Is for the stifled commentaries on classics current of calliper motor under supply voltage Is Vtest, N0 Is the rotational speed of calliper motor when supply voltage Is idle running under Vtest, I0 Is the current of calliper motor when idle running under supply voltage Is Vtest.
Optionally, the calculating the release stroke of the caliper according to the real-time rotation speed includes:
Calculating the number of turns of the caliper motor which has rotated according to the integral of the rotating speed to time;
And determining the release stroke of the caliper according to the number of turns and the ratio relation between the preset number of turns of the motor and the stroke of the caliper.
Optionally, before the controlling the caliper motor to stop rotating, the method further includes:
and determining the release stroke of the target caliper according to the current parking state of the vehicle and the corresponding relation between the preset parking state and the release stroke of the caliper.
in a second aspect, an embodiment of the present disclosure provides an electronic parking control apparatus, including:
the acquisition module is used for acquiring the working voltage and the working current of the caliper motor in real time;
the calculating module is used for calculating the real-time rotating speed of the caliper motor according to the working voltage and the working current and calculating the release stroke of the caliper according to the real-time rotating speed;
And the control module is used for controlling the caliper motor to stop rotating when the release stroke of the caliper reaches the target caliper release stroke.
optionally, the calculating module is configured to calculate the current rotation speed N' of the caliper motor by using the following formula:
N'＝(V-K*I)*K；
Vop is the current working voltage of the caliper motor, Iop is the current working current of the caliper motor, and K1 and K2 are calibrated motor characteristic parameters;
K＝V/I；K＝N/(V-I*K)；
Vtest Is the test voltage of calliper motor, Is for the stifled commentaries on classics current of calliper motor under supply voltage Is Vtest, N0 Is the rotational speed of calliper motor when supply voltage Is idle running under Vtest, I0 Is the current of calliper motor when idle running under supply voltage Is Vtest.
Optionally, the apparatus further comprises:
and the determining module is used for determining the target caliper release stroke according to the current parking state of the vehicle and the corresponding relation between the preset parking state and the caliper release stroke before controlling the caliper motor to stop rotating.
optionally, the calculation module is configured to:
calculating the number of turns of the caliper motor which has rotated according to the integral of the rotating speed to time;
And determining the release stroke of the caliper according to the number of turns and the ratio relation between the preset number of turns of the motor and the stroke of the caliper.
In a third aspect, embodiments of the present disclosure provide a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps of the electronic parking control method according to the first aspect.
In a fourth aspect, an embodiment of the present disclosure provides an electronic parking control apparatus including:
A memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the electronic parking control method of the first aspect.
In a fifth aspect, an embodiment of the present disclosure provides a vehicle including the electronic parking control apparatus of the second or fourth aspect.
the technical scheme can at least achieve the following technical effects:
the method comprises the steps of acquiring working voltage and working current of a caliper motor in real time, calculating to obtain real-time rotating speed of the caliper motor according to the working voltage and the working current, and calculating to obtain release stroke of the caliper according to the real-time rotating speed, so that when the release stroke of the caliper reaches a target caliper release stroke, the caliper motor is controlled to stop rotating. Therefore, the problem that the motor rotating speed of the caliper is possibly invalid when the caliper is measured by using an external sensor is avoided, the reliability of controlling the release stroke of the caliper is improved, and the safety performance of electronic parking is improved.
additional features and advantages of the disclosure will be set forth in the detailed description which follows.
drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating an electronic parking control method according to an exemplary embodiment.
Fig. 2 is a block diagram illustrating an electronic parking control apparatus according to an exemplary embodiment.
fig. 3 is a block diagram illustrating an electronic parking control apparatus according to an exemplary embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
FIG. 1 is a flow chart illustrating an electronic parking control method according to an exemplary embodiment. The method comprises the following steps:
and S11, acquiring the working voltage and the working current of the caliper motor in real time.
specifically, the execution subject of the method may be an electronic parking control unit. After the electronic parking control unit receives an instruction of indicating to release the calipers, the electronic parking control unit controls the calipers to rotate, the calipers motor drives the calipers to move through the transmission mechanism so as to release a brake disc of a tire, and the moving distance of the calipers is the release stroke of the calipers.
And S12, calculating the real-time rotating speed of the caliper motor according to the working voltage and the working current.
specifically, the calculating the real-time rotation speed of the caliper motor according to the working voltage and the working current includes:
Calculating the current rotating speed N' of the caliper motor by the following formula:
N'＝(V-K*I)*K；
vop is the current working voltage of the caliper motor, Iop is the current working current of the caliper motor, and K1 and K2 are calibrated motor characteristic parameters.
It Is worth to be noted that the characteristic parameters K1 and K2 of different caliper motors are different, and when parameter calibration Is specifically implemented, a test voltage Vtest Is applied to the caliper motor, a locked-rotor current Is of the caliper motor under the condition that the power supply voltage Vtest Is obtained, and the characteristic parameter K1 Is calculated according to the test voltage Vtest and the locked-rotor current Is:
K＝V/I；
Further, acquiring the rotating speed N0 when the caliper motor idles under the condition that the power supply voltage is Vtest and the current I0 when the caliper motor idles under the condition that the power supply voltage is Vtest, and calculating the characteristic parameter K2 according to the following formula:
K＝N/(V-I*K)；
specifically, a motor characteristic curve of the caliper motor may be plotted in combination with the calibrated motor characteristic parameters K1 and K2, and the motor characteristic curve may be stored in the electronic parking control unit. The electronic parking control unit brings the collected current working voltage Vop and working current Iop into the motor characteristic curve to obtain the current rotating speed N' of the caliper motor.
And S13, calculating the release stroke of the caliper according to the real-time rotating speed.
Optionally, the calculating the release stroke of the caliper according to the real-time rotation speed includes: calculating the number of turns of the caliper motor which has rotated according to the integral of the rotating speed to time; and determining the release stroke of the caliper according to the number of turns and the ratio relation between the preset number of turns of the motor and the stroke of the caliper.
and acquiring the rotating speed of the caliper motor at each time point from the rotating moment of the caliper motor according to the steps, and determining the number of rotating circles of the caliper motor by calculating the integral of the rotating speed to time. In an alternative embodiment, the caliper motor rotates the stud to drive the caliper, which is connected to the screw via a nut structure, forward or backward. The number of turns of the screw rod and the moving distance of the calipers form a preset ratio relation, so that the release stroke of the calipers can be determined according to the number of turns and the preset ratio relation between the number of turns of the motor and the stroke of the calipers.
and S14, when the release stroke of the caliper reaches the target caliper release stroke, controlling the caliper motor to stop rotating.
the technical scheme can at least achieve the following technical effects:
the method comprises the steps of acquiring working voltage and working current of a caliper motor in real time, calculating to obtain real-time rotating speed of the caliper motor according to the working voltage and the working current, and calculating to obtain release stroke of the caliper according to the real-time rotating speed, so that when the release stroke of the caliper reaches a target caliper release stroke, the caliper motor is controlled to stop rotating. Therefore, the problem that the motor rotating speed of the caliper is possibly invalid when the caliper is measured by using an external sensor is avoided, the reliability of controlling the release stroke of the caliper is improved, and the safety performance of electronic parking is improved.
Optionally, before the controlling the caliper motor to stop rotating, the method further includes: and determining the release stroke of the target caliper according to the current parking state of the vehicle and the corresponding relation between the preset parking state and the release stroke of the caliper.
it is worth noting that the amount of pressure applied by the caliper to the brake disc is related to the travel of the caliper in advance. The more the caliper is advanced during braking, the greater the pressure exerted on the disc. To stop the vehicle on a graded road, the caliper is required to advance more travel to tighten the brake pads to prevent the wheels from rolling during braking. When the vehicle stops on a relatively flat road, the wheel can be prevented from rolling by the caliper moving forward by a relatively small stroke during braking. Therefore, the caliper release stroke required to release the caliper to the initial position is different for different parking states. For example, if the current parking state is hill parking, determining that the target caliper release stroke is a first value; if the current parking state is flat parking, determining that the release stroke of the target caliper is a second value; wherein the first value is greater than the second value. The target caliper release stroke is determined according to the current parking state of the vehicle, and whether the caliper stops rotating or not is judged according to the target caliper release stroke, so that the release stroke of the caliper can be controlled more accurately, the safety risk caused by excessive release or drag brake is reduced, and the safety performance of electronic parking is improved.
Fig. 2 is a block diagram illustrating an electronic parking control apparatus 200 according to an exemplary embodiment. The apparatus 200 comprises:
the acquisition module 210 is used for acquiring the working voltage and the working current of the caliper motor in real time;
The calculating module 220 is configured to calculate a real-time rotation speed of the caliper motor according to the working voltage and the working current, and calculate a release stroke of the caliper according to the real-time rotation speed;
And the control module 230 is used for controlling the caliper motor to stop rotating when the release stroke of the caliper reaches the target caliper release stroke.
The technical scheme can at least achieve the following technical effects:
the method comprises the steps of acquiring working voltage and working current of a caliper motor in real time, calculating to obtain real-time rotating speed of the caliper motor according to the working voltage and the working current, and calculating to obtain release stroke of the caliper according to the real-time rotating speed, so that when the release stroke of the caliper reaches a target caliper release stroke, the caliper motor is controlled to stop rotating. Therefore, the problem that the motor rotating speed of the caliper is possibly invalid when the caliper is measured by using an external sensor is avoided, the reliability of controlling the release stroke of the caliper is improved, and the safety performance of electronic parking is improved.
Optionally, the calculating module 220 is configured to calculate the current rotation speed N' of the caliper motor by using the following formula:
N'＝(V-K*I)*K；
vop is the current working voltage of the caliper motor, Iop is the current working current of the caliper motor, and K1 and K2 are calibrated motor characteristic parameters;
K＝V/I；K＝N/(V-I*K)；
Vtest Is the test voltage of calliper motor, Is for the stifled commentaries on classics current of calliper motor under supply voltage Is Vtest, N0 Is the rotational speed of calliper motor when supply voltage Is idle running under Vtest, I0 Is the current of calliper motor when idle running under supply voltage Is Vtest.
optionally, the apparatus 200 further includes: and the determining module is used for determining the target caliper release stroke according to the current parking state of the vehicle and the corresponding relation between the preset parking state and the caliper release stroke before controlling the caliper motor to stop rotating.
optionally, the calculating module 220 is configured to:
Calculating the number of turns of the caliper motor which has rotated according to the integral of the rotating speed to time;
And determining the release stroke of the caliper according to the number of turns and the ratio relation between the preset number of turns of the motor and the stroke of the caliper.
the disclosed embodiments provide a computer-readable storage medium having stored thereon a computer program, which when executed by a processor, implements the steps of the electronic parking control method.
The disclosed embodiment provides an electronic parking control device, including:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the electronic parking control method.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Fig. 3 is a block diagram illustrating an electronic parking control apparatus 300 according to an exemplary embodiment. As shown in fig. 3, the electronic parking control apparatus 300 may include: a processor 301 and a memory 302. The electronic parking control apparatus 300 may further include one or more of a multimedia component 303, an input/output (I/O) interface 304, and a communication component 305.
the processor 301 is configured to control the overall operation of the electronic parking control apparatus 300, so as to complete all or part of the steps in the electronic parking control method. The memory 302 is used to store various types of data to support the operation of the electronic parking control device 300, which may include, for example, instructions for any application program or method operating on the electronic parking control device 300, as well as application program related data, such as caliper motor model data, caliper motor characteristic parameters, caliper motor test voltages, and the like. The Memory 302 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. The multimedia component 303 may include an audio component. The audio component is used for outputting and/or inputting audio signals. For example, the audio assembly may include a buzzer for sounding an alarm in the event of a fault. The audio assembly also includes at least one speaker for outputting audio signals. The received audio signal may further be stored in the memory 302 or transmitted through the communication component 305. The I/O interface 304 provides an interface between the processor 301 and other interface modules. These buttons may be virtual buttons or physical buttons. The communication module 305 is used for wired or wireless communication between the electronic parking control apparatus 300 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so that the corresponding Communication component 305 may include: Wi-Fi module, bluetooth module, NFC module.
in an exemplary embodiment, electronic parking control Device 300 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-described electronic parking control method.
In another exemplary embodiment, there is also provided a computer readable storage medium including program instructions which, when executed by a processor, implement the steps of the electronic parking control method described above. For example, the computer readable storage medium may be the above-mentioned memory 302 including program instructions executable by the processor 301 of the electronic parking control apparatus 300 to perform the above-mentioned electronic parking control method.
The embodiment of the present disclosure further provides a vehicle including the electronic parking control device 200 or the electronic parking control device 300, which is described above with reference to fig. 2 or fig. 3, and is not described herein again.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
in addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. an electronic parking control method, characterized by comprising:
collecting working voltage and working current of a caliper motor in real time;
Calculating to obtain the real-time rotating speed of the caliper motor according to the working voltage and the working current;
calculating the release stroke of the caliper according to the real-time rotating speed;
and when the release stroke of the caliper reaches the target caliper release stroke, controlling the caliper motor to stop rotating.
2. the method of claim 1, wherein calculating a real-time rotational speed of the caliper motor from the operating voltage and the operating current comprises:
Calculating the current rotating speed N' of the caliper motor by the following formula:
N'＝(V-K*I)*K；
Vop is the current working voltage of the caliper motor, Iop is the current working current of the caliper motor, and K1 and K2 are calibrated motor characteristic parameters;
K＝V/I；K＝N/(V-I*K)；
vtest Is the test voltage of calliper motor, Is for the stifled commentaries on classics current of calliper motor under supply voltage Is Vtest, N0 Is the rotational speed of calliper motor when supply voltage Is idle running under Vtest, I0 Is the current of calliper motor when idle running under supply voltage Is Vtest.
3. The method according to claim 1 or 2, wherein said calculating a release stroke of said caliper from said real-time rotational speed comprises:
Calculating the number of turns of the caliper motor which has rotated according to the integral of the rotating speed to time;
And determining the release stroke of the caliper according to the number of turns and the ratio relation between the preset number of turns of the motor and the stroke of the caliper.
4. The method of claim 1 or 2, wherein prior to said controlling said caliper motor to stop rotating, said method further comprises:
And determining the release stroke of the target caliper according to the current parking state of the vehicle and the corresponding relation between the preset parking state and the release stroke of the caliper.
5. An electronic parking control apparatus, characterized in that the apparatus comprises:
the acquisition module is used for acquiring the working voltage and the working current of the caliper motor in real time;
The calculating module is used for calculating the real-time rotating speed of the caliper motor according to the working voltage and the working current and calculating the release stroke of the caliper according to the real-time rotating speed;
and the control module is used for controlling the caliper motor to stop rotating when the release stroke of the caliper reaches the target caliper release stroke.
6. The apparatus of claim 5, wherein the calculating module is configured to calculate the current speed N' of the caliper motor by the following formula:
N'＝(V-K*I)*K；
vop is the current working voltage of the caliper motor, Iop is the current working current of the caliper motor, and K1 and K2 are calibrated motor characteristic parameters;
K＝V/I；K＝N/(V-I*K)；
vtest Is the test voltage of calliper motor, Is for the stifled commentaries on classics current of calliper motor under supply voltage Is Vtest, N0 Is the rotational speed of calliper motor when supply voltage Is idle running under Vtest, I0 Is the current of calliper motor when idle running under supply voltage Is Vtest.
7. The apparatus of claim 5 or 6, further comprising:
and the determining module is used for determining the target caliper release stroke according to the current parking state of the vehicle and the corresponding relation between the preset parking state and the caliper release stroke before controlling the caliper motor to stop rotating.
8. a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
9. An electronic parking control apparatus, characterized by comprising:
a memory having a computer program stored thereon;
A processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 4.
10. A vehicle characterized by comprising the electronic parking control apparatus of any one of claims 5 to 7 and claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810525448.3A CN110539738A (en) | 2018-05-28 | 2018-05-28 | electronic parking control method and device, storage medium and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810525448.3A CN110539738A (en) | 2018-05-28 | 2018-05-28 | electronic parking control method and device, storage medium and vehicle |
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| CN110539738A true CN110539738A (en) | 2019-12-06 |
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| CN201810525448.3A Pending CN110539738A (en) | 2018-05-28 | 2018-05-28 | electronic parking control method and device, storage medium and vehicle |
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