CN113682279B - Intelligent grading method for electronic parking braking force - Google Patents
Intelligent grading method for electronic parking braking force Download PDFInfo
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- CN113682279B CN113682279B CN202111110074.7A CN202111110074A CN113682279B CN 113682279 B CN113682279 B CN 113682279B CN 202111110074 A CN202111110074 A CN 202111110074A CN 113682279 B CN113682279 B CN 113682279B
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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
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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
- B60T13/741—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 acting on an ultimate actuator
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- Regulating Braking Force (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The invention discloses an intelligent classification method for electronic parking braking force.A static parking braking system of an electronic parking braking system is divided into a common mode and a hub rotating mode according to different conditions; in the normal mode, the current gradient is determined from the output value of the longitudinal acceleration sensor inside the vehicle. Selecting a corresponding path according to the gradient value, and determining the level of the output parking braking force; in a common mode, the output parking braking force is divided into 3 sections, the specific force value is calculated by theory while considering the limit condition and safety redundancy presetting, and the current characteristic of the corresponding actuator is calibrated. Under a hub rotating mode, intelligently identifying the working condition of the vehicle through a program, and outputting parking braking force meeting the requirements of regulations; after the hub rotating mode is entered, the EPB switch is pulled up and is not released, the parking braking force is output in two sections, and the time interval Ts is equal to 0.5 s.
Description
Technical Field
The invention relates to the technical field of electronic parking, in particular to an intelligent grading method for electronic parking braking force.
Background
The parking brake force of the existing electronic parking system generally outputs only a single maximum parking brake force. Namely, the parking braking force with the maximum fixed output is unified without distinguishing the use working conditions. This kind of mode, to parking under the frequent hillside of daily use, parking braking force surpasss more than the vehicle actual need, causes the slow comfortable nature of parking braking response to experience subalternation problem, and actuating mechanism works under the biggest parking braking force for a long time simultaneously, and life is shorter relatively. Therefore, effective solutions to solve the above problems need to be proposed.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide an intelligent electronic parking brake force grading method, the electronic parking brake force is divided into a common mode and a hub rotating mode according to different conditions, and the output of the parking brake force by adopting the method is smaller than the output of a single maximum parking brake force, so that the parking brake response is faster, the comfort experience is better, and the service life of a parking actuating mechanism can be prolonged.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent grading method for electronic parking braking force comprises the following steps:
s001: pulling up the EPB switch to identify a trigger mode, wherein a specific trigger signal is an EPB switch state signal;
s002: judging whether the EPB is in a release state; if yes, entering S003; if not, the operation goes to S013; at the moment, the vehicle is in a parking state, and the parking is not required to be executed again, so that the process is finished directly;
s003: judging whether the vehicle is in a static state or not, and if so, entering S004; if not, the process goes to S012, the vehicle is dynamic, and is processed by the logic of other modules;
s004: judging whether the vehicle is in a hub rotating mode or not; if yes, entering S104 hub rotating mode, and outputting the parking force according to the logic output of the hub rotating mode; if not, the vehicle is in a parking operation of normal running at the moment, the normal mode is entered in S005, the mode is a daily use mode, and the output of the parking braking force is output according to the logic of the normal mode.
Further, the S005 normal mode includes three gradient values of S006, S008, and S011, and according to the gradient values, a corresponding path is selected, and a level of outputting the parking braking force is determined.
Further, the slope corresponding to S006 is 0 ≦ S10%, and the corresponding S007 outputs the parking brake force F1.
Further, the slope corresponding to S008 is 10% ≦ S ≦ 20%, and the corresponding S009 output parking brake force is F2.
Further, the slope corresponding to S011 is S ≧ 20%, and the corresponding S010 outputs the parking brake force of F3.
Further, the S104 hub rotation mode includes the following steps:
starting from said S003: judging whether the vehicle is in a static state or not; if yes, entering S101; if not, the process goes to S012, the vehicle is dynamic, and is processed by the logic of other modules;
s101: judging whether the engine is in a starting state, if so, entering S102; if not, entering an S005 common mode;
s102: judging whether the gear of the gearbox is neutral or not, and if so, entering S002; if not, entering an S005 common mode;
s002: judging whether the EPB is in a release state; if yes, entering S103; if not, entering S013, wherein the vehicle is in a parking state, the bench test brake test cannot be executed, and the process is finished directly;
s103: judging whether the wheel speed meets the requirement; if yes, entering S104 hub rotating mode; if not, entering the S005 common mode;
s104: entering a hub rotating mode: when the logic judgment of the front end is yes and the duration reaches 3 seconds or more, the program automatically identifies to enter an S104 hub rotating mode, at the moment, the instrument has corresponding prompt, and the parking braking force output on the flat ground in the mode is larger than that in the common mode;
s105: the EPB switch is pulled up, and the parking braking force Fr is output.
Further, the specific wheel speed requirement in S103 is that the front wheel speed is less than 0.25km/h, and the rear wheel speed is more than or equal to 1.9 and less than or equal to 9 km/h; the speed difference of the left wheel and the right wheel is less than 1.8 km/h.
Further, the parking brake force Fr in S105 is larger than the parking brake force F1 output in the normal mode in a flat manner, and the parking brake force Fr is output in two stages with a time interval Ts = 0.5S.
The beneficial effects of the invention are as follows:
the intelligent classification method of the electronic parking braking force is different from the traditional method that only a single maximum parking braking force is output by the electronic parking braking force, estimation is carried out according to the current gradient in a common mode, and a proper parking braking force is output by combining a strategy to meet the parking requirement of a vehicle; parking on a daily frequently-applied small slope, the method is adopted to output the parking braking force to be smaller than the method which only outputs a single maximum parking braking force, so that the parking braking response is faster, the comfort experience is better, and the service life of the parking actuating mechanism can be prolonged; when the parking braking force is checked on the bench test at the time of vehicle offline or annual inspection, the working condition of the vehicle can be intelligently identified through a program, the rotating hub mode is automatically entered, and the parking braking force meeting the standard requirement is output.
Drawings
FIG. 1 is a block diagram of a parking brake force classification strategy in a normal mode according to an embodiment of the present invention;
FIG. 2 is a logic block diagram of the operation of the embodiment of the present invention in the hub rotating mode;
FIG. 3 is a diagram illustrating a parking brake force output strategy in a hub rotating mode according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
According to the requirements of GB 7258-.
The parking braking force of the electronic parking system corresponding to the invention is calculated through the gradient, and the appropriate clamping force is output, so that the parking response speed is improved, and the service life of the parking system is prolonged. And when the braking performance is tested by the bench test required by the national standard, the parking brake is generally arranged on the flat ground, and the parking force output by the electronic parking system according to the gradient is small, so that the national standard requirement cannot be met.
Therefore, the invention provides an intelligent grading method of electronic parking braking force, which estimates according to the current gradient in a common mode and outputs proper parking braking force by combining a strategy to meet the parking requirement of a vehicle; under the hub rotating mode, the working condition of the vehicle is intelligently identified through a program, and the parking braking force meeting the requirements of the regulations is output.
As shown in table 1, the present invention proposes a method for intelligent classification of electronic parking brake force. The parking braking force output under the static condition has two modes, wherein the mode 1 is a common mode, namely the parking braking used by a driver daily, and the parking braking force is divided into 3 sections F1, F2 and F3. Estimating according to the current gradient when parking, and selecting the corresponding parking braking force grade by combining a strategy to meet the parking requirement of the vehicle; and the mode 2 is a hub rotating mode, the working condition of the vehicle is intelligently identified through a program, and the parking braking force meeting the requirements of the regulations is output. Fr of the hub rotating mode is larger than F2, and the force value is a variable force value, and can meet the national standard requirement.
TABLE 1
In the normal mode, the parking brake force classification strategy is shown in the following fig. 1, and comprises the following steps: s001: pulling up EPB switch trigger mode identification, wherein a specific trigger signal is an EPB switch state signal;
s002: judging whether the EPB is in a release state; if yes, entering S003; if not, the operation goes to S013; at the moment, the vehicle is in a parking state, and the parking is not required to be executed again, so that the process is directly finished;
s003: judging whether the vehicle is in a static state or not, wherein the specific static judgment can be realized by four-wheel vehicle speed signals; if yes, entering S004; if not, the process goes to S012, the vehicle is dynamic, and is processed by the logic of other modules;
s004: judging whether the vehicle is in a hub rotating mode or not; if yes, entering S104 hub rotating mode, and outputting the parking force according to the logic output of the hub rotating mode; if not, the vehicle is in a parking operation of normal running at the moment, the normal mode is entered in S005, the mode is a daily use mode, and the output of the parking braking force is output according to the logic of the normal mode.
The S005 common mode comprises three gradient values of S006, S008 and S011, wherein the gradient corresponding to S006 is 0 < S < 10%, and the corresponding S007 output parking braking force is F1; s008 corresponds to a gradient of 10% ≦ S < 20%, and corresponding S009 outputs parking braking force F2; s011 corresponds to a gradient S ≧ 20%, and S010 corresponds to an output parking brake force F3.
S006, S008, and S011 determine the current gradient from the output value of the longitudinal acceleration sensor inside the vehicle. And selecting a corresponding path according to the gradient value, and determining the level of the parking braking force.
And S007, S009 and S010 correspond to different parking braking forces according to different slope values, the parking braking forces are calculated theoretically, limit conditions and safety redundancy presetting are considered at the same time, and current characteristics of corresponding actuators are calibrated.
In the hub mode, the logic diagram for operation is shown in FIG. 2. The method comprises the following steps: starting from said S003: judging whether the vehicle is in a static state or not, wherein the specific static judgment can be realized by four-wheel vehicle speed signals; if yes, entering S101; if not, the process goes to S012, the vehicle is dynamic, and is processed by the logic of other modules;
s101: judging whether the engine is in a starting state or not, wherein the starting state can be judged by an ignition switch signal and an engine rotating speed signal; if yes, entering S102; if not, entering an S005 common mode;
s102: judging whether the gear of the gearbox is neutral or not, specifically judging through an internal gear signal, wherein the condition is that a roller reaction type automobile brake inspection bench (meeting GB/T13564) of vehicle offline detection equipment is used for driving tires to rotate by rolling when in work, so that the detected vehicle cannot have driving force or is in a parking gear; if yes, entering S002; if not, entering an S005 common mode;
s002: judging whether the EPB is in a release state; if yes, entering S103; if not, entering S013, wherein the vehicle is in a parking state, the bench test brake test cannot be executed, and the process is finished directly;
s103: judging whether the wheel speed meets the requirement or not; and if the EPB is in a release state according to the judgment result of S002, the front wheels of the vehicle do not rotate, and the rear wheels rotate at the specified rotating speed of the offline detection equipment roller reaction type automobile brake inspection bench. Specific wheel speed conditions were as follows: the speed of the front wheel is less than 0.25km/h, and the speed of the rear wheel is more than or equal to 1.9 and less than or equal to 9 km/h; the speed difference of the left wheel and the right wheel is less than 1.8 km/h. If yes, entering S104 hub rotating mode; if not, entering an S005 common mode;
s104: entering a hub rotating mode: when the logic judgment of the front end is yes and the duration reaches 3 seconds or more, the program automatically identifies to enter an S104 hub rotating mode, at the moment, the instrument has corresponding prompt, and the parking braking force output on the flat ground in the mode is larger than that in the common mode;
s105: the EPB switch is pulled up, the parking braking force Fr is output, the parking braking force F1 output in a flat mode is larger than that in a normal mode, the clamping times are 2 times, the interval time Ts =0.5s of step clamping, namely the parking braking force Fr is output in two stages, and the time interval Ts =0.5 s. The output strategy for Fr is shown below in fig. 3.
In specific implementation, an electronic parking system ECU is integrated in an ESC module, and software is integrated according to VDA 305 and 100 specifications; the static parking is divided into a common mode and a hub rotating mode according to different conditions;
the working logic in the normal mode conforms to fig. 1, and the current gradient is judged according to the output value of the longitudinal acceleration sensor in the vehicle. Selecting a corresponding path according to the gradient value, and determining the level of the output parking braking force;
in a common mode, the output parking braking force is divided into 3 sections, the specific force value is calculated by theory, the limit condition and safety redundancy presetting are considered at the same time, and the current characteristic of the corresponding actuator is calibrated.
In the hub rotating mode, the working logic accords with the figure 2, the working condition of the vehicle is intelligently identified through a program, and the parking braking force meeting the national standard requirement is output;
the bench test brake inspection equipment corresponding to the rotary hub mode is a roller reaction type automobile brake inspection bench, and the specific technical requirements meet GB/T13564;
after the hub rotating mode is entered, the EPB switch is pulled up and is not released, the parking braking force is output in two sections according to the logic of figure 3, and the time interval Ts =0.5 s.
Example one
The electronic parking system ECU is integrated in an ESC module, and software is integrated according to VDA 305 and 100 specifications. The static parking is divided into a common mode and a hub rotating mode according to different conditions;
the working logic in the normal mode conforms to fig. 1, and the current gradient is judged according to the output value of the longitudinal acceleration sensor in the vehicle. Selecting a corresponding path according to the gradient value, and determining the level of the parking braking force; the calculation method is as follows:
when the vehicle is on a slope with a gradient s, and the sensor output value a, the gradient s = tan (arcsin (a/9.8)). Positive values are uphill and negative values are downhill.
In a common mode, the output parking braking force is divided into 3 sections, the specific force value is calculated by theory, the limit condition and safety redundancy presetting are considered at the same time, and the current characteristic of the corresponding actuator is calibrated. The weight of the whole vehicle in the example is 2800kg when the vehicle is fully loaded, and the specification of the wheel is 255/60R 18. The current of the EPB calipers arranged on the rear wheel is controlled, the clamping force output by the calipers is controlled, and the brake disc is clamped to implement parking.
| Clamping force segmentation | Clamping force value (kN) | Current (A) |
| F1 | 7 | 4.7 |
| F2 | 14 | 8.2 |
| F3 | 21 | 12.5 |
The working logic in the hub rotating mode accords with the figure 2, the working condition of the vehicle is intelligently identified through a program, and the parking braking force meeting the requirements of the regulations is output;
the test braking inspection equipment corresponding to the rotary hub mode is a roller counter-force type automobile braking inspection table, the speed per hour of a roller is 5km/h when the parking force of the equipment in the example is detected, the equipment takes 10 numbers per second, and then the maximum value within 5 seconds is taken;
after the hub rotating mode is entered, the EPB switch is pulled up and is not released, the parking braking force is output in two sections according to the logic of figure 3, and the time interval Ts =0.5 s. Corresponding to the parking output force Fr1=14kN, Fr2= 21 kN of fig. 3.
The invention is different from the traditional electronic parking braking force which only outputs single maximum parking braking force, estimates according to the current gradient in the common mode, and outputs proper parking braking force by combining with the strategy to meet the parking requirement of the vehicle. When the parking brake is used for parking on a daily frequently-applied small slope, the method for outputting the parking brake force is smaller than the method for outputting only a single maximum parking brake force, so that the parking brake response is faster, the comfort experience is better, and the service life of the parking actuating mechanism can be prolonged.
Meanwhile, when the parking braking force is subjected to bench test inspection on the condition that the vehicle is off-line or annual inspection, the working condition of the vehicle can be intelligently identified through a program, the rotating hub mode is automatically entered, and the parking braking force meeting the requirements of regulations is output.
The above is an embodiment of the present invention. The embodiments and specific parameters in the embodiments are only for the purpose of clearly illustrating the verification process of the invention and are not intended to limit the scope of the invention, which is defined by the claims, and all equivalent structural changes made by using the contents of the specification and the drawings of the present invention should be covered by the scope of the present invention.
Claims (3)
1. An intelligent grading method for electronic parking braking force is characterized in that: the method comprises the following steps:
s001: pulling up EPB switch trigger mode identification, wherein a specific trigger signal is an EPB switch state signal;
s002: judging whether the EPB is in a release state; if yes, entering S003; if not, entering S013, wherein the vehicle is in a parking state, the bench test brake test cannot be executed, and the process is finished directly;
s003: judging whether the vehicle is in a static state or not, and if so, entering S004; if not, the process goes to S012, the vehicle is dynamic, and is processed by the logic of other modules;
s004: judging whether the vehicle is in a hub rotating mode or not; if yes, entering S104 hub rotating mode, and outputting the parking braking force according to the logic output of the hub rotating mode; if not, the vehicle is in a parking operation of normal running at the moment, the S005 common mode is entered, the mode is a daily use mode, and the output of the parking braking force is output according to the logic of the common mode;
the method for judging whether the vehicle is in the hub rotating mode comprises the following steps:
judging whether the vehicle is in a static state again; if yes, entering S101; if not, the process goes to S012, the vehicle is dynamic, and is processed by the logic of other modules;
s101: judging whether the engine is in a starting state, if so, entering S102; if not, entering an S005 common mode;
s102: judging whether the gear of the gearbox is a neutral gear or not, if so, judging whether the EPB is in a release state or not again; if not, entering the S005 common mode;
judging whether the EPB is in a release state again; if yes, entering S103; if not, entering S013, wherein the vehicle is in a parking state, the bench test brake test cannot be executed, and the process is finished directly;
s103: judging whether the wheel speed meets the requirement; if yes, entering S104 hub rotating mode; if not, entering an S005 common mode;
s104: entering a hub rotating mode: when the logic judgment of the front end is yes and the duration reaches 3 seconds or more, the program automatically identifies to enter S104 hub rotating mode and then enters S105, at the moment, the instrument has corresponding prompt, and the parking braking force output on the flat ground in the mode is larger than that in the common mode;
s105: the EPB switch is pulled up, and the parking braking force Fr is output.
2. The intelligent classification method for the electronic parking brake force according to claim 1, characterized in that:
the specific wheel speed requirement in S103 is that the front wheel speed is less than 0.25km/h, and the rear wheel speed is less than or equal to 1.9 km/h and less than or equal to 9 km/h; the speed difference of the left wheel and the right wheel is less than 1.8 km/h.
3. The intelligent classification method for the electronic parking brake force according to claim 1, characterized in that:
in S105, the parking brake force Fr is larger than the parking brake force F1 output in the normal mode in a flat manner, and the parking brake force Fr is output in two stages with a time interval Ts = 0.5S.
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| 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 |
| CN114274940B (en) * | 2021-12-30 | 2023-09-15 | 重庆长安汽车股份有限公司 | Parking force testing method and system for vehicle carrying electronic parking system |
| CN114802158B (en) * | 2022-06-22 | 2022-11-11 | 苏州时代新安能源科技有限公司 | Vehicle brake control method and system, storage device and vehicle |
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| DE102010040565A1 (en) * | 2010-09-10 | 2012-03-15 | Robert Bosch Gmbh | Method for adjusting the clamping force exerted by a parking brake |
| DE102014202154A1 (en) * | 2014-02-06 | 2015-08-06 | Robert Bosch Gmbh | Method for providing a clamping force for an automatic parking brake |
| CN105606373B (en) * | 2016-02-26 | 2017-12-22 | 安徽农业大学 | Passenger car parking performance testing device and its application on a kind of revolving drum test table |
| CN112660087A (en) * | 2020-12-30 | 2021-04-16 | 江西江铃集团新能源汽车有限公司 | Intelligent parking system and parking method |
| CN112721897A (en) * | 2021-01-28 | 2021-04-30 | 坤泰车辆系统（常州）有限公司 | Double-control double-drive pull-wire type EPB control system and parking force self-adaptive control method |
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