CN111746296B - Electronic parking brake system re-clamping control method - Google Patents

Electronic parking brake system re-clamping control method Download PDF

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Publication number
CN111746296B
CN111746296B CN202010440868.9A CN202010440868A CN111746296B CN 111746296 B CN111746296 B CN 111746296B CN 202010440868 A CN202010440868 A CN 202010440868A CN 111746296 B CN111746296 B CN 111746296B
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China
Prior art keywords
clamping
vehicle
module
pbc
hydraulic
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CN202010440868.9A
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CN111746296A (en
Inventor
郭金花
曹江辉
阮立振
陈犄
尹汉琪
郭新民
刘耀辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Automotive Brake Systems Co Ltd
Continental Brake Systems Shanghai Co Ltd
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Shanghai Automotive Brake Systems Co Ltd
Continental Brake Systems Shanghai Co Ltd
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Application filed by Shanghai Automotive Brake Systems Co Ltd, Continental Brake Systems Shanghai Co Ltd filed Critical Shanghai Automotive Brake Systems Co Ltd
Priority to CN202010440868.9A priority Critical patent/CN111746296B/en
Publication of CN111746296A publication Critical patent/CN111746296A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions
    • B60L2240/642—Slope of road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/60—Navigation input
    • B60L2240/66—Ambient conditions
    • B60L2240/662—Temperature
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)

Abstract

The invention relates to the technical field of braking systems, in particular to a re-clamping control method of an electronic parking braking system. A re-clamping control method of an electronic parking brake system is characterized by comprising the following steps of: the specific control method comprises the following steps: an ESC module in the vehicle acquires current vehicle wheel speed, ambient temperature and wheel cylinder pressure signals of the whole vehicle during parking and transmits the signals to a PBC module, and the PBC module calculates the current brake disc temperature of the vehicle; an ESC module in the vehicle acquires a longitudinal acceleration signal of the whole vehicle and transmits the longitudinal acceleration signal to a PBC module, and the PBC module calculates the road gradient of the current position of the vehicle; judging whether the current temperature of the brake disc is greater than a threshold value and whether the road gradient of the current position of the vehicle is greater than the threshold value, if so, waiting for the arrival of the project-calibrated re-clamping time, and simultaneously alarming to prompt a driver; otherwise no re-clamping operation is required. Compared with the prior art, whether the clamping action is performed again is judged and executed in real time according to the current situation of the vehicle, so that the safety of the vehicle and personnel is ensured.

Description

Electronic parking brake system re-clamping control method
Technical Field
The invention relates to the technical field of braking systems, in particular to a re-clamping control method of an electronic parking braking system.
Background
When the vehicle is parked, the conditions of cooling of the temperature of the brake disc, excessive gradient of the road and the like can cause the vehicle to slide down, so that the vehicle or personnel is damaged, and a unique rechecking scheme is required to ensure the parking safety.
Disclosure of Invention
The invention provides a re-clamping control method of an electronic parking brake system, which aims to overcome the defects of the prior art, and judges and executes the re-clamping action in real time according to the current situation of a vehicle after the vehicle is parked, so that the safety of the vehicle and personnel is ensured.
In order to achieve the above purpose, the electronic parking brake system re-clamping control method is designed, and comprises an ESC module and a PBC module, and is characterized in that: the specific control method comprises the following steps:
(1) An ESC module in the vehicle acquires current vehicle wheel speed, ambient temperature and wheel cylinder pressure signals of the whole vehicle during parking and transmits the signals to a PBC module, and the PBC module calculates the current brake disc temperature of the vehicle; an ESC module in the vehicle acquires a longitudinal acceleration signal of the whole vehicle and transmits the longitudinal acceleration signal to a PBC module, and the PBC module calculates the road gradient of the current position of the vehicle;
(2) Judging whether the current temperature of the brake disc is greater than a threshold value and whether the road gradient of the current position of the vehicle is greater than the threshold value, if so, waiting for the arrival of the project-calibrated re-clamping time, and simultaneously alarming to prompt a driver; otherwise, no clamping operation is needed;
(3) The re-clamping time of project calibration arrives;
(4) The PBC module judges whether the last parking clamping requests hydraulic assistance, if so, the PBC module judges whether the hydraulic assistance is supported; otherwise, the executor executes re-clamping;
(5) The PBC module judges whether hydraulic assistance is supported or not, if so, the PBC module requests hydraulic assistance; otherwise, the hydraulic assistance fails and the warning prompts the driver;
(6) The PBC module requests hydraulic assistance;
(7) The ESC module judges whether the hydraulic assistance is completed or not, if yes, the executor executes re-clamping; otherwise, the hydraulic assistance fails and the warning prompts the driver;
(8) The actuator performs re-clamping;
(9) The PBC module judges whether the clamping force clamped again reaches the defined clamping force or not, and if so, the hydraulic auxiliary request is stopped; otherwise, continuing to execute the step (8);
(10) The PBC module stops the hydraulic auxiliary request, and simultaneously the executor executes clamping again and ends;
(11) The hydraulic assistance fails and the warning prompts the driver;
(12) The actuator performs re-clamping;
(13) Judging whether the clamping force of the re-clamping reaches the defined clamping force or not, if so, executing the re-clamping by the actuator and ending; otherwise, continuing to execute the step (12);
(14) The actuator performs re-clamping;
(15) The PBC module judges whether the clamping force of the actuator for clamping again reaches the defined clamping force, if so, the actuator executes the clamping again and ends; otherwise, continuing to execute the step (5).
The calculation formula of the temperature of the brake disc is thatk v ＝f(V speed ,P wheel ) Wherein T is evn At ambient temperature, K v For cooling coefficient, f is a function, V speed For the wheel speed of the vehicle, P wheel Wheel cylinder pressure, t is time, +.>Is an index.
The calculation formula of the road gradient is% slope ＝f(a acc T), wherein f is a functional relationship, a acc Is the longitudinal acceleration.
The calculation formula of the clamping force is F=f (i Motor /η Motor ) Where f is a function, i Motor Is the current of two ends of the EPB motor, eta Motor Is the efficiency of the EPB motor.
The i is Motor The calculation formula of (1) is i Motor ＝i PbcInmotorcurrent+f (u, T), wherein i Pbclnmotorcurrent The current at two ends of the motor transmitted by the ESC module is represented by u, the voltage and the ambient temperature.
The hydraulic auxiliary process is characterized in that when the PBC module sends a hydraulic auxiliary request to the ESC module, the ESC module informs the required hydraulic pressure to the ESC module through an interface signal, the ESC module starts hydraulic auxiliary after receiving the request and informs the PBC module that the required hydraulic pressure is reached through the interface signal, and the PBC module stops building the hydraulic auxiliary request; the hydraulic pressure is 60bar.
And the re-clamping time of the project calibration is pre-confirmed according to the whole vehicle calibration.
Compared with the prior art, the invention provides a re-clamping control method of an electronic parking brake system, which is used for judging and executing whether to re-clamp according to the current situation of a vehicle in real time, so as to ensure the safety of the vehicle and personnel.
Drawings
FIG. 1 is a flow chart of the present invention.
FIG. 2 is a graph of project calibration re-clamping time.
Fig. 3 is a signal transmission diagram of the ESC module and the PBC module.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, a method for controlling re-clamping of an electronic parking brake system includes an ESC module and a PBC module, and the specific control method is as follows:
(1) An ESC module in the vehicle acquires current vehicle wheel speed, ambient temperature and wheel cylinder pressure signals of the whole vehicle during parking and transmits the signals to a PBC module, and the PBC module calculates the current brake disc temperature of the vehicle; an ESC module in the vehicle acquires a longitudinal acceleration signal of the whole vehicle and transmits the longitudinal acceleration signal to a PBC module, and the PBC module calculates the road gradient of the current position of the vehicle;
(2) Judging whether the current temperature of the brake disc is greater than a threshold value and whether the road gradient of the current position of the vehicle is greater than the threshold value, if so, waiting for the arrival of the project-calibrated re-clamping time, and simultaneously alarming to prompt a driver; otherwise, no clamping operation is needed;
(3) The re-clamping time of project calibration arrives;
(4) The PBC module judges whether the last parking clamping requests hydraulic assistance, if so, the PBC module judges whether the hydraulic assistance is supported; otherwise, the executor executes re-clamping;
(5) The PBC module judges whether hydraulic assistance is supported or not, if so, the PBC module requests hydraulic assistance; otherwise, the hydraulic assistance fails and the warning prompts the driver;
(6) The PBC module requests hydraulic assistance;
(7) The ESC module judges whether the hydraulic assistance is completed or not, if yes, the executor executes re-clamping; otherwise, the hydraulic assistance fails and the warning prompts the driver;
(8) The actuator performs re-clamping;
(9) The PBC module judges whether the clamping force clamped again reaches the defined clamping force or not, and if so, the hydraulic auxiliary request is stopped; otherwise, continuing to execute the step (8);
(10) The PBC module stops the hydraulic auxiliary request, and simultaneously the executor executes clamping again and ends;
(11) The hydraulic assistance fails and the warning prompts the driver;
(12) The actuator performs re-clamping;
(13) Judging whether the clamping force of the re-clamping reaches the defined clamping force or not, if so, executing the re-clamping by the actuator and ending; otherwise, continuing to execute the step (12);
(14) The actuator performs re-clamping;
(15) The PBC module judges whether the clamping force of the actuator for clamping again reaches the defined clamping force, if so, the actuator executes the clamping again and ends; otherwise, continuing to execute the step (5).
The calculation formula of the temperature of the brake disc isk v ＝f(V speed ,P wheel ) Wherein T is evn At ambient temperature, K v For cooling coefficient, f is a function, V speed For the wheel speed of the vehicle, P wheel Is the wheel cylinder pressure, t is the time,is an index.
The calculation formula of the road gradient is% slope ＝f(a acc T), wherein f is a functional relationship，a acc Is the longitudinal acceleration.
The calculation formula of the clamping force is f=f (i Motor /η Motor ) Where f is a function, i Motor Is the current of two ends of the EPB motor, eta Motor Is the efficiency of the EPB motor.
i Motor The calculation formula of (1) is i Motor ＝i PbcInmotorcurrent+f (u, T), wherein i Pbclnmotorcurrent The current at two ends of the motor transmitted by the ESC module is represented by u, the voltage and the ambient temperature.
The hydraulic auxiliary process is that when the PBC module sends a hydraulic auxiliary request to the ESC module, the ESC module is informed of the required hydraulic pressure through an interface signal, the ESC module starts hydraulic auxiliary after receiving the request and informs the PBC module that the required hydraulic pressure is reached through the interface signal, and the pressure building is stopped, and then the PBC module stops the hydraulic auxiliary request; the hydraulic pressure is 60bar.
As shown in fig. 2, the re-clamping time of the project calibration is pre-confirmed according to the whole vehicle calibration.
The ESC module is a vehicle electronic body stabilization system, the EPB module is a vehicle electronic parking brake system, and the PBC module is an electronic parking brake software control module integrated in the ESC module.
The technical scheme adopted for solving the technical problems is as follows: and executing a re-clamping control method according to different brake disc temperatures and road ramps, and simultaneously giving an alarm to prompt a driver. The specific control method comprises the following steps: after the vehicle is parked, the temperature of a brake disc of the vehicle is calculated according to the current environment temperature of the whole vehicle, the wheel speed signal of the vehicle and the wheel cylinder pressure signal, meanwhile, the gradient of the current road is calculated according to the longitudinal acceleration signal of the whole vehicle, and when the temperature of the brake disc is larger than a threshold value or when the gradient of the road is larger than the threshold value, the vehicle is warned to prompt a driver. Waiting for project calibration reclassification time, and judging whether the last clamping parking requests hydraulic auxiliary support.
If the hydraulic auxiliary support is requested for the last time, judging whether the hydraulic auxiliary support is supported at the moment, if the hydraulic auxiliary support is supported, requesting the hydraulic auxiliary, waiting for the completion of the hydraulic auxiliary, starting the execution of the re-clamping by the actuator, and ending the re-clamping when the clamping force of the actuator is reached. If the hydraulic assistance is detected not to be supported in the process, a failure fault of the hydraulic assistance is reported, an alarm is given to a driver, and meanwhile, the actuator clamps again under the clamping force generated by the motor at the moment, and then the clamping is ended.
If hydraulic auxiliary support is not requested for the last clamping, the actuator starts to execute re-clamping, and when the clamping force of the actuator is reached, the re-clamping is ended.
Example 1: as shown in fig. 2, after the vehicle is parked, if the brake disc temperature is greater than 150 degrees celsius and less than 350 degrees celsius while the road gradient is greater than 20%, the re-clamping is started once when the time is equal to 20s, the re-clamping is started once again after the time is equal to 180s, and the re-clamping is performed once again when the time is equal to 570 s.

Claims (7)

1. The electronic parking brake system re-clamping control method comprises an ESC module and a PBC module, and is characterized in that: the specific control method comprises the following steps:
(1) An ESC module in the vehicle acquires current vehicle wheel speed, ambient temperature and wheel cylinder pressure signals of the whole vehicle during parking and transmits the signals to a PBC module, and the PBC module calculates the current brake disc temperature of the vehicle; an ESC module in the vehicle acquires a longitudinal acceleration signal of the whole vehicle and transmits the longitudinal acceleration signal to a PBC module, and the PBC module calculates the road gradient of the current position of the vehicle;
(2) Judging whether the current temperature of the brake disc is greater than a threshold value and whether the road gradient of the current position of the vehicle is greater than the threshold value, if so, waiting for the arrival of the project-calibrated re-clamping time, and simultaneously alarming to prompt a driver;
otherwise, no clamping operation is needed;
(3) The re-clamping time of project calibration arrives;
(4) The PBC module judges whether the last parking clamping requests hydraulic assistance, if so, the PBC module judges whether the hydraulic assistance is supported; otherwise, the executor executes re-clamping;
(5) The PBC module judges whether hydraulic assistance is supported or not, if so, the PBC module requests hydraulic assistance; otherwise, the hydraulic assistance fails and the warning prompts the driver;
the hydraulic auxiliary support is carried out according to the following steps:
(6) The PBC module requests hydraulic assistance;
(7) The ESC module judges whether the hydraulic assistance is completed or not, if yes, the executor executes re-clamping; otherwise, the hydraulic assistance fails and the warning prompts the driver;
(8) The actuator performs re-clamping;
(9) The PBC module judges whether the clamping force clamped again reaches the defined clamping force or not, and if so, the hydraulic auxiliary request is stopped; otherwise, continuing to execute the step (8);
(10) The PBC module stops the hydraulic auxiliary request, and simultaneously the executor executes clamping again and ends;
when the hydraulic assistance is not supported, the method comprises the following steps:
(11) The hydraulic assistance fails and the warning prompts the driver;
(12) The actuator performs re-clamping;
(13) Judging whether the clamping force defined by the actuator is reached, if so, executing re-clamping by the actuator and ending; otherwise, continuing to execute the step (12).
2. The electronic parking brake system re-clamping control method according to claim 1, wherein: the calculation formula of the temperature of the brake disc is thatk v ＝f(V speed ,P wheel ) Wherein T is evn At ambient temperature, K v For cooling coefficient, f is a function, V speed For the wheel speed of the vehicle, P wheel Is the wheel cylinder pressure, t is the time,is an index.
3. The electronic parking brake system re-clamping control method according to claim 1, wherein: the calculation formula of the road gradient is% slope ＝f(a acc T), wherein f is a functional relationship, a acc Longitudinal acceleration, t is time.
4. The electronic parking brake system re-clamping control method according to claim 1, wherein: the calculation formula of the clamping force is F=f (i Motor /η Motor ) Where f is a function, i Motor Is the current of two ends of the EPB motor, eta Motor Is the efficiency of the EPB motor.
5. The electronic parking brake system re-clamping control method according to claim 4, wherein: the i is Motor The calculation formula of (1) is i Motor ＝i PbcInmotorcurrent +f (u, T), where i Pbclnmotorcurrent The current at two ends of the motor transmitted by the ESC module is represented by u, the voltage and the ambient temperature.
6. The electronic parking brake system re-clamping control method according to claim 1, wherein: the hydraulic auxiliary process is characterized in that when the PBC module sends a hydraulic auxiliary request to the ESC module, the ESC module informs the required hydraulic pressure to the ESC module through an interface signal, the ESC module starts hydraulic auxiliary after receiving the request and informs the PBC module that the required hydraulic pressure is reached through the interface signal, and the PBC module stops building the hydraulic auxiliary request; the hydraulic pressure is 60bar.
7. The electronic parking brake system re-clamping control method according to claim 1, wherein: and the re-clamping time of the project calibration is pre-confirmed according to the whole vehicle calibration.
CN202010440868.9A 2020-05-22 2020-05-22 Electronic parking brake system re-clamping control method Active CN111746296B (en)

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Application Number Priority Date Filing Date Title
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Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112477625B (en) * 2020-11-27 2022-10-14 广州橙行智动汽车科技有限公司 Vehicle control method and device, motor controller and vehicle
CN114013408B (en) * 2021-09-28 2024-05-07 上海汽车制动系统有限公司 Parking clamping force attenuation compensation method of electronic drum brake system
CN114148308A (en) * 2021-12-28 2022-03-08 江西五十铃汽车有限公司 High-temperature re-clamping method for electronic parking system
CN114212063B (en) * 2021-12-31 2023-02-17 中国第一汽车股份有限公司 Method and device for determining electronic parking clamping force
CN114364100A (en) * 2022-01-12 2022-04-15 摩登汽车有限公司 Control method of rear tail lamp of vehicle, vehicle control unit and vehicle
CN114312723A (en) * 2022-01-14 2022-04-12 中国第一汽车股份有限公司 Brake disc temperature determination method and device and vehicle
CN115366856B (en) * 2022-07-29 2023-10-03 中国第一汽车股份有限公司 Parking re-clamping control method and device, vehicle and storage medium

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JPH09168202A (en) * 1995-12-12 1997-06-24 Toyota Motor Corp Electric car with function for indicating braking state
CN101660580A (en) * 2008-08-29 2010-03-03 日立汽车系统株式会社 Electric disk brake
CN106167007A (en) * 2015-05-22 2016-11-30 罗伯特·博世有限公司 For the brake unit of motor vehicles with for the method that the damage of described brake unit is detected
CN210484474U (en) * 2019-07-10 2020-05-08 重庆长安汽车股份有限公司 System for collecting friction plate information and automobile

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Publication number Priority date Publication date Assignee Title
JPH09168202A (en) * 1995-12-12 1997-06-24 Toyota Motor Corp Electric car with function for indicating braking state
CN101660580A (en) * 2008-08-29 2010-03-03 日立汽车系统株式会社 Electric disk brake
CN106167007A (en) * 2015-05-22 2016-11-30 罗伯特·博世有限公司 For the brake unit of motor vehicles with for the method that the damage of described brake unit is detected
CN210484474U (en) * 2019-07-10 2020-05-08 重庆长安汽车股份有限公司 System for collecting friction plate information and automobile

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