WO2022165636A1 - Redundant electrical park brake system and control method therefor, and vehicle - Google Patents
Redundant electrical park brake system and control method therefor, and vehicle Download PDFInfo
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- WO2022165636A1 WO2022165636A1 PCT/CN2021/074889 CN2021074889W WO2022165636A1 WO 2022165636 A1 WO2022165636 A1 WO 2022165636A1 CN 2021074889 W CN2021074889 W CN 2021074889W WO 2022165636 A1 WO2022165636 A1 WO 2022165636A1
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- parking brake
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- parking
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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
Definitions
- the present application relates to the technical field of vehicles, and in particular, to a redundant electronic parking brake system, a control method and a vehicle.
- the electronic parking brake gradually replaces the traditional manual pull-wire parking brake.
- the electronic parking brake can realize automatic parking in traffic jams, waiting for red lights, etc.; Greater convenience.
- a single electronic parking brake solution has a certain risk of failure and failure, which may affect the safety of the vehicle parking brake.
- the traditional automatic transmission vehicle mainly adopts the electronic parking brake module (Electrical Park Brake, EPB), coupled with the P-lock (P-Lock) mechanical structure inside the automatic transmission, To achieve the redundant design of the parking brake. Under normal circumstances, the two work at the same time. When one is invalid, the parking brake system of the other can still ensure that it meets the regulatory requirements.
- EPB Electronic Park Brake
- P-Lock P-lock mechanical structure inside the automatic transmission
- the technical problems to be solved by the present invention are the problems of complex mechanical structure, heavy weight, high cost and relatively large failure probability in the existing parking brake redundancy design scheme.
- a redundant electronic parking brake system comprising:
- a first electronic parking brake module configured to receive a first parking instruction, and perform parking braking on the first wheel group of the vehicle according to the first parking instruction;
- a second electronic parking brake module configured to receive a second parking command, and configured to perform a parking brake on the second wheel set of the vehicle according to the second parking command;
- a vehicle dynamic domain manager configured to send the first parking instruction according to the parking brake request
- a brake control module configured to send the second parking instruction according to the parking brake request.
- the brake control module is a brake booster module or a vehicle controller.
- the electronic parking brake system further includes a wheel speed sensor, and the wheel speed sensor is used to obtain the wheel speed of the vehicle.
- the vehicle dynamic domain manager is further configured to receive the wheel speed signal obtained by the wheel speed sensor, and calculate the vehicle speed of the vehicle according to the wheel speed signal.
- the wheel speed signal includes the wheel speed of the first wheel group
- the vehicle dynamic domain manager is configured to, when the wheel speed of the first wheel group and the vehicle speed signal meet a preset condition, according to the parking A braking request sends the first parking command.
- the wheel speed signal includes the wheel speed of the second wheel group
- the brake control module is further configured to receive the wheel speed of the second wheel group and the vehicle speed signal sent by the vehicle dynamic domain manager, And when the wheel speed of the second wheel group and the vehicle speed signal meet preset conditions, the second parking instruction is sent according to the parking brake request.
- the electronic parking brake system further includes a central motor control module, and the central motor control module is used to obtain the rotational speed signal of the driving motor.
- the brake control module is further configured to receive the rotational speed signal, and when the rotational speed signal meets a preset condition, send the second parking instruction according to the parking brake request.
- the electronic parking brake system further includes an energy module, and the energy module is used to provide power supply for the vehicle dynamic domain manager and the brake control module.
- the energy module includes a power battery and a DC converter, and the power battery is connected in parallel with the DC converter.
- the electronic parking brake system further includes a parking brake request sending module, and the parking brake request sending module is configured to send the parking brake request.
- an embodiment of the present application discloses a control method for a redundant electronic parking brake system, the method comprising:
- the parking brake is applied to the first wheel set of the vehicle according to the first parking command; and/or the parking brake is applied to the second wheel set of the vehicle according to the second parking command.
- the method before sending the first parking instruction and/or the second parking instruction according to the parking brake request, the method further includes:
- the wheel speed signal is calculated by the vehicle dynamic domain manager to obtain the vehicle speed of the vehicle.
- the wheel speed signal includes the wheel speed of the first wheel group
- the sending of the first parking instruction according to the parking brake request includes:
- the first parking instruction is sent according to the parking brake request.
- the wheel speed signal includes the wheel speed of the second wheel group
- the sending of the second parking instruction according to the parking brake request includes:
- the brake control module In the case that the brake control module is in a normal working state and the vehicle speed is less than the first preset value, if the wheel speed of the second wheel group is less than the second threshold value, send the first 2. Parking instruction.
- the sending of the second parking instruction according to the parking brake request includes:
- the second parking instruction is sent according to the parking brake request.
- an embodiment of the present application discloses a vehicle including the redundant electronic parking brake system as described above.
- the redundant electronic parking brake system, control method, and vehicle provided by the embodiments of the present application have the following technical effects:
- FIG. 1 is a schematic structural diagram of a redundant electronic parking brake system provided by an embodiment of the present application.
- FIG. 2 is a schematic structural diagram of a redundant electronic parking brake system provided by an embodiment of the present application.
- FIG. 3 is a schematic structural diagram of an energy module provided by an embodiment of the present application.
- FIG. 4 is a flowchart of a control method of a redundant electronic parking brake system according to an embodiment of the present application.
- EPB has been adopted in many modern motor vehicles. Such EPB systems typically include two electrical actuation units on different wheels and an EPB control unit associated with the actuation units.
- the left EPB-L and the right EPB-R are both controlled by the vehicle dynamic domain manager (Vehicle Dynamics Domain Master, VDDM) independent module, and the internal P-Lock of the shift mechanism is used as the parking brake.
- VDDM Vehicle Dynamics Domain Master
- the vehicle brake redundancy design the P-Lock command is directly issued by the automatic transmission controller module (Auto-transmission Control Model, ATCM) shift control module.
- ATCM Automatic transmission Control Model
- This solution needs to set up P-gear mechanical structural components inside the automatic transmission, which is complicated in mechanical structure, heavy in weight, high in cost of components, and has a relatively high probability of failure. Due to cost pressures in the automotive industry, it is desirable to reduce vehicle costs through economical means. At the same time, the safety of the vehicle cannot be compromised by the relevant economic factors. These regulations also apply in particular to brake systems installed in vehicles
- FIG. 1 is a schematic structural diagram of a redundant electronic parking brake system provided by an embodiment of the present application.
- the redundant electronic parking brake system includes: a first electronic parking brake module for receiving a first parking instruction and performing parking braking on the first wheel group of the vehicle according to the first parking instruction; a second electronic parking brake The dynamic module is used to receive the second parking command and use it to perform parking braking on the second wheel group of the vehicle according to the second parking command; the vehicle dynamic domain manager is used to send according to the parking brake request.
- the first parking instruction; the brake control module is used for sending the second parking instruction according to the parking brake request.
- the EPB brake caliper is divided into two parts, namely, a first electronic parking brake module and a second electronic parking brake module.
- the first electronic parking brake module includes a brake caliper of the front wheel of the vehicle
- the second electronic parking brake module includes a brake caliper of the rear wheel of the vehicle.
- the first electronic parking brake module includes the brake caliper on the left side of the vehicle, namely EPB-L
- the second electronic parking brake module includes the brake caliper of the rear wheel of the vehicle, Namely EPB-R.
- the first electronic parking brake module and the second electronic parking brake module are controlled by the VDDM and the brake control module, respectively.
- the first electronic parking brake module is communicatively connected to the VDDM
- the second electronic parking brake module is communicatively connected to the brake control module.
- the brake control module may be a brake booster module (Brake Booster module, BBM) or a vehicle controller (Vehicle control unit, VCU).
- BBM brake booster module
- VCU vehicle controller
- VDDM, BBM, and VCU are all common controllers on existing vehicles. Therefore, the redundant electronic parking brake system described in the embodiments of the present application does not need to develop a new control module, which greatly reduces research and development costs and vehicle manufacturing costs.
- the electronic parking brake system further includes a wheel speed sensor, and the wheel speed sensor is used to acquire the wheel speed of the vehicle.
- each wheel of the vehicle is provided with at least one wheel speed sensor.
- the wheel speed sensor sends a wheel speed signal (WSS) after measuring the wheel speed of each wheel.
- WSS wheel speed signal
- the vehicle dynamic domain manager is also used to receive the wheel speed signal obtained by the wheel speed sensor, and calculate the vehicle speed according to the wheel speed signal.
- VDDM acts as the domain control leader
- the VDDM is directly connected to the wheel speed sensor for communication.
- VDDM receives the original vehicle speed signal WSS (LL/LR/RL/RR) from the four wheel-end wheel speed sensors, and then filters the single wheel signal, and after calculating and checking the vehicle speed, VDDM corresponds to the four wheels.
- WSS original vehicle speed signal
- VDDM corresponds to the four wheels.
- the vehicle speed signal and the vehicle speed signal are published on the controller area network (CAN) of the vehicle.
- CAN controller area network
- the wheel speed signal includes the wheel speed of the first wheel group and the wheel speed of the second wheel group.
- the vehicle dynamic domain manager is used to send the first wheel group according to the parking brake request when the wheel speed and vehicle speed signals of the first wheel group meet the preset conditions. Park instruction.
- the brake control module is also used to receive the wheel speed and vehicle speed signals of the second wheel group sent by the vehicle dynamic domain manager, and send the signal according to the parking brake request when the wheel speed and vehicle speed signals of the second wheel group meet the preset conditions Second parking command.
- the brake control module receives the wheel speed of the second wheel group sent by the VDDM and the vehicle speed calculated by the VDDM. Under normal circumstances, each functional unit in the redundant electronic parking brake system operates normally, and there is no functional unit that fails.
- the electronic parking brake system further includes a parking brake request sending module, and the parking brake request sending module is used to send a parking brake request. When the parking brake is required, the parking brake request sending module sends the parking brake request.
- the parking brake request sending module can be triggered by the Human-Computer Interface (HMI) soft switch, the instruction to shift the gear shift mechanism into P gear, and the power off of the whole vehicle. Send a parking brake request.
- HMI Human-Computer Interface
- the VDDM and the brake control module When the VDDM and the brake control module receive the parking brake request sent by the vehicle, the VDDM and the brake control module judge the vehicle speed and the wheel speed information of the EPB module in charge of them. When the target is reached, the VDDM sends a first parking command to the first electronic parking brake module, and the brake control module sends a second parking command to the second electronic parking brake module. The EPB brake calipers then apply the parking brake according to the parking command.
- the electronic parking brake system also includes a central motor control module, which is used to obtain the speed signal of the drive motor.
- the brake control module is further configured to receive a rotational speed signal, and when the rotational speed signal meets a preset condition, send a second parking instruction according to a parking brake request.
- the brake control module when the VDDM fails, the brake control module cannot obtain the vehicle speed and the wheel speed signals of the second wheel group in this case. At this time, the brake control module obtains the speed signal of the drive motor end through the central motor control module (Central Electronic Module, CEM) to determine whether the vehicle currently meets the parking brake conditions, and then controls the second electronic parking brake controlled by the brake control module.
- the car brake module sends a second parking command to implement the EPB electronic parking brake.
- FIG. 2 is a schematic structural diagram of a redundant electronic parking brake system provided by an embodiment of the present application.
- VDDM is communicatively connected to EPB-L, and VDDM independently controls EPB-L. L.
- the brake control module is the BBM, the BBM is connected to the EPB-R in communication, and the BBM controls the EPB-R independently. Under normal circumstances, each system operates normally, and there are no failed modules.
- VDDM and BBM receive the parking brake request sent by the vehicle, they will judge the vehicle speed and the wheel speed information of the EPB module in charge of them. When both the vehicle speed and the wheel speed meet the design target, the EPB parking brake request is issued respectively, and the EPB implements the parking brake.
- the VDDM fails, the vehicle speed and the wheel speed signals of each wheel cannot be obtained.
- the BBM judges whether to implement the EPB electronic parking brake through the speed signal of the CEM motor terminal, so as to realize the redundant design of the judgment information.
- the parking command cannot be sent to the EPB-R electronic parking module.
- the electronic parking brake of the whole vehicle is operated, and the electronic parking brake request can also be implemented by the EPB-L, that is, the VDDM sends the EPB to the electronic parking brake.
- the other implements an electronic parking brake request. Therefore, it can meet the regulatory requirements of the electronic parking brake of the whole vehicle.
- a fault warning message will be sent to the CAN bus, indicating that the electronic parking brake system has been degraded.
- the VDDM as the domain control leader, maintains signal transmission or interaction with the BBM, EPB-L, and various wheel speed sensors, and monitors whether the entire system is running normally or not. You can also set other modules on the vehicle to monitor the VDDM status in real time.
- the BBM serves as a supplement, and the VDDM fault information is published on the CAN bus. The BBM can still meet the needs of the electronic parking brake by controlling the EPB-R.
- the electronic parking brake system further includes an energy module, and the energy module is used to provide power supply for the vehicle dynamic domain manager and the brake control module.
- the energy module includes a power battery and a DC converter, and the power battery is connected in parallel with the DC converter.
- the direct current converter (DCDC) in the power supply system of the new energy vehicle is used to change the series connection of the original power battery and the DCDC to the parallel connection.
- DCDC direct current converter
- FIG. 3 is a schematic structural diagram of an energy module provided by an embodiment of the present application.
- the power supply of the entire vehicle is controlled in series by the original 12V conventional power battery and the DCDC type, and is designed to be supplied in parallel, but the vehicle controller is conventional
- the power supply is mainly based on 12V conventional power, supplemented by the DCDC module.
- the DCDC can supply power to the system.
- the power battery can supply power to the system.
- This energy supply scheme can ensure the normal power supply of the VDDM or BBM power supply when any one of the power supply modules fails, and ensures the power supply redundancy design of the two modules.
- the redundant electronic parking brake system described in the embodiments of the present application fully utilizes the existing new energy power supply control system and the redundant design system scheme of the brake module itself, and does not need to separately develop an electronic parking control module or other redundant Instead of the parking control module, the existing VDDM and BBM are used to develop the control system compatibility.
- the left/right EPB is independently controlled by VDDM and BBM.
- the logic optimization design of the energy system and failure management mode is used to build a new control environment platform, which can ensure that the performance requirements of the parking brake can be met under normal conditions.
- all failure modes are analyzed, and the corresponding redundancy design is carried out.
- the left and right electronic parking control systems are still controlled separately, and the electronic parking performance can still meet the regulatory requirements.
- the control is simple and fully meets the vehicle regulations and implementation needs, which is a true redundant design.
- the energy supply and system control scheme are more economical.
- VDDM and BBM the motors of their own control modules are separately powered and managed.
- the total power supply is applied to the vehicle power backup system to reduce the development of power redundancy management systems and hard-wired interactions. connect.
- no special hardware is added, only the power supply and signal transmission path of the controller are adjusted, and the components and cost of the whole vehicle are greatly reduced.
- FIG. 4 is a flowchart of a control method for a redundant electronic parking brake system provided by an embodiment of the present application, as shown in FIG. 4 . , the method includes:
- the parking brake request is initiated, and the parking brake request can be triggered by a human-computer interface (Human-Computer Interface, HMI) soft switch, an instruction to shift the gear shift mechanism into P gear, power off the whole vehicle, etc.
- HMI Human-Computer Interface
- the sending module sends the parking brake request.
- S403 Send the first parking command and/or the second parking command according to the parking brake request;
- the method before sending the first parking instruction and/or the second parking instruction according to the parking brake request, the method further includes judging the working state of the VDDM.
- VDDM is used to obtain the wheel speed signal, and then the vehicle speed is obtained by calculating the wheel speed. Wheel speed and vehicle speed are used to determine whether the vehicle meets the conditions for sending the parking command.
- the redundant electronic parking brake system will adopt different braking schemes.
- the VDDM can implement and control the vehicle to perform parking braking.
- VDDM judges whether the vehicle speed of the whole vehicle and the wheel speed of the EPB module in charge of VDDM meet the design target. Send the first parking command.
- Both the first preset value and the first threshold value are speed control values that meet vehicle safety requirements.
- the working state of the VDDM is normal and the working state of the brake control module is normal, and the vehicle speed is less than the first preset value
- the wheel speed of the second wheel group is less than the second threshold value
- the second parking command is sent according to the parking brake request.
- the second threshold is a speed control value that meets vehicle safety requirements.
- the brake control module when the vehicle dynamic domain manager is in an abnormal working state, the brake control module cannot obtain the vehicle speed and the wheel speed of the second wheel group. At this time, the brake control module obtains the rotational speed signal of the driving motor through the CEM, and then determines the rotational speed of the driving motor according to the rotational speed signal. When the rotational speed of the driving motor is less than the second preset value, if the brake control module is in a normal working state , the second parking command is sent according to the parking brake request.
- the second preset value is a speed control value that meets vehicle safety requirements.
- S405 Perform the parking brake on the first wheel group of the vehicle according to the first parking instruction; and/or perform the parking brake on the second wheel group of the vehicle according to the second parking instruction.
- the first electronic parking brake module and the second electronic parking brake module work independently.
- the first electronic parking brake module receives the first parking instruction sent by the VDDM
- the first electronic parking brake module controls the brake calipers of the first wheel group to perform parking braking.
- the second electronic parking brake module receives the second parking instruction sent by the VDDM
- the second electronic parking brake module controls the brake calipers of the first wheel group to perform parking braking.
- Embodiments of the present application also provide a vehicle, which includes the redundant electronic parking brake system as described above.
- the vehicle described in the embodiment of the present application is provided with a redundant electronic parking brake system.
- the system supplies power to the two brake modules, VDDM and BBM, respectively through the vehicle power supply system, and simultaneously divides the left and right EPB brake calipers into two parts. , and then the two modules, VDDM and BBM, issue commands and control separately, and realize the redundant design without changing the original working state.
- the system optimizes power supply and signal monitoring (transmission) logic through electronic redundancy design, and redesigns and defines the entire device and system. On the basis of meeting regulations, it can reduce the internal P-gear mechanical structural components of the automatic transmission, and provide the complete vehicle. The factory saves more parts costs and reduces the probability of mechanical failure.
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Description
Claims (17)
- 一种冗余电子驻车制动系统,其特征在于,包括:A redundant electronic parking brake system, comprising:第一电子驻车制动模块,用于接收第一驻车指令,并根据所述第一驻车指令对车辆的第一车轮组进行驻车制动;a first electronic parking brake module, configured to receive a first parking instruction, and perform parking braking on the first wheel group of the vehicle according to the first parking instruction;第二电子驻车制动模块,用于接收第二驻车指令,并根据所述第二驻车指令用于对所述车辆的第二车轮组进行驻车制动;a second electronic parking brake module, configured to receive a second parking command, and configured to perform a parking brake on the second wheel set of the vehicle according to the second parking command;整车动态域管理器,用于根据驻车制动请求发送所述第一驻车指令;a vehicle dynamic domain manager, configured to send the first parking instruction according to the parking brake request;制动控制模块,用于根据所述驻车制动请求发送所述第二驻车指令。A brake control module, configured to send the second parking instruction according to the parking brake request.
- 根据权利要求1所述的冗余电子驻车制动系统,其特征在于,所述制动控制模块为制动助力模块或整车控制器。The redundant electronic parking brake system according to claim 1, wherein the brake control module is a brake booster module or a vehicle controller.
- 根据权利要求2所述的冗余电子驻车制动系统,其特征在于,所述电子驻车制动系统还包括轮速传感器,所述轮速传感器用于获取所述车辆的轮速。The redundant electronic parking brake system according to claim 2, wherein the electronic parking brake system further comprises a wheel speed sensor, and the wheel speed sensor is used to obtain the wheel speed of the vehicle.
- 根据权利要求3所述的冗余电子驻车制动系统,其特征在于,所述整车动态域管理器还用于接收所述轮速传感器获取的轮速信号,并根据所述轮速信号计算所述车辆的车速。The redundant electronic parking brake system according to claim 3, wherein the vehicle dynamic domain manager is further configured to receive the wheel speed signal obtained by the wheel speed sensor, and to perform the operation according to the wheel speed signal. Calculate the speed of the vehicle.
- 根据权利要求4所述的冗余电子驻车制动系统,其特征在于,所述轮速信号包括第一车轮组轮速,所述整车动态域管理器用于在所述第一车轮组轮速和所述车速信号满足预设条件时,根据所述驻车制动请求发送所述第一驻车指令。The redundant electronic parking brake system according to claim 4, wherein the wheel speed signal includes a wheel speed of a first wheel group, and the vehicle dynamic domain manager is used to detect the wheel speed of the first wheel group. When the vehicle speed and the vehicle speed signal satisfy a preset condition, the first parking instruction is sent according to the parking brake request.
- 根据权利要求5所述的冗余电子驻车制动系统,其特征在于,所述轮速信号包括第二车轮组轮速,所述制动控制模块还用于接收所述整车动态域管理器发送的所述第二车轮组轮速和所述车速信号,并在所述第二车轮组轮速和所述车速信号满足预设条件时,根据所述驻车制动请求发送所述第二驻车指令。The redundant electronic parking brake system according to claim 5, wherein the wheel speed signal includes the wheel speed of the second wheel group, and the brake control module is further configured to receive the vehicle dynamic domain management The second wheel group wheel speed and the vehicle speed signal sent by the device, and when the second wheel group wheel speed and the vehicle speed signal meet preset conditions, the first wheel group is sent according to the parking brake request. 2. Parking instruction.
- 根据权利要求1所述的冗余电子驻车制动系统,其特征在于,所述电子驻车制动系统还包括中央电机控制模块,所述中央电机控制模块用于获取驱动电机的转速信号。The redundant electronic parking brake system according to claim 1, characterized in that, the electronic parking brake system further comprises a central motor control module, and the central motor control module is used to obtain the rotational speed signal of the driving motor.
- 根据权利要求7所述的冗余电子驻车制动系统,其特征在于,所述制动控制模块还用于接收所述转速信号,并在所述转速信号满足预设条件时,根据所述驻车制动请求发送所述第二驻车指令。The redundant electronic parking brake system according to claim 7, wherein the brake control module is further configured to receive the rotational speed signal, and when the rotational speed signal meets a preset condition, according to the The parking brake request sends the second parking command.
- 根据权利要求1所述的冗余电子驻车制动系统,其特征在于,所述电子驻车制动系统还包括能源模块,所述能源模块用于为所述整车动态域管理器和所述制动控制模块提供电源供给。The redundant electronic parking brake system according to claim 1, characterized in that, the electronic parking brake system further comprises an energy module, and the energy module is used for the vehicle dynamic domain manager and all The brake control module provides power supply.
- 根据权利要求9所述的冗余电子驻车制动系统,其特征在于,所述能源模块包括动力电池和直流转换器,所述动力电池与所述直流转换器并联。The redundant electronic parking brake system according to claim 9, wherein the energy module comprises a power battery and a DC converter, and the power battery is connected in parallel with the DC converter.
- 根据权利要求1所述的冗余电子驻车制动系统,其特征在于,所述电子驻车制动系统还包括驻车制动请求发送模块,所述驻车制动请求发送模块用于发送所述驻车制动请求。The redundant electronic parking brake system according to claim 1, wherein the electronic parking brake system further comprises a parking brake request sending module, and the parking brake request sending module is used to send the parking brake request.
- 一种冗余电子驻车制动系统的控制方法,其特征在于,所述方法包括:A control method for a redundant electronic parking brake system, characterized in that the method comprises:接收驻车制动请求;receive a parking brake request;根据所述驻车制动请求发送第一驻车指令和/或第二驻车指令;sending a first parking command and/or a second parking command according to the parking brake request;根据所述第一驻车指令对车辆的第一车轮组进行驻车制动;和/或,根据所述第二驻车指令对所述车辆的第二车轮组进行驻车制动。The parking brake is applied to the first wheel set of the vehicle according to the first parking command; and/or the parking brake is applied to the second wheel set of the vehicle according to the second parking command.
- 根据权利要求12所述的控制方法,其特征在于,所述根据所述驻车制动请求发送第一驻车指令和/或第二驻车指令之前,还包括:The control method according to claim 12, wherein before the sending the first parking instruction and/or the second parking instruction according to the parking brake request, the method further comprises:若整车动态域管理器为正常工作状态,获取轮速信号;If the vehicle dynamic domain manager is in normal working state, obtain the wheel speed signal;通过所述整车动态域管理器对所述轮速信号进行计算,得到所述车辆的车速。The wheel speed signal is calculated by the vehicle dynamic domain manager to obtain the vehicle speed of the vehicle.
- 根据权利要求13所述的控制方法,其特征在于,所述轮速信号包括第一车轮组轮速,所述根据所述驻车制动请求发送第一驻车指令,包括:The control method according to claim 13, wherein the wheel speed signal comprises a wheel speed of a first wheel group, and the sending a first parking instruction according to the parking brake request comprises:在所述车速小于第一预设值的情况下,若所述第一车轮组轮速小于第一阈值,根据所述驻车制动请求发送所述第一驻车指令。In the case that the vehicle speed is less than a first preset value, if the wheel speed of the first wheel group is less than a first threshold value, the first parking instruction is sent according to the parking brake request.
- 根据权利要求14所述的控制方法,其特征在于,所述轮速信号包括第二车轮组轮速,所述根据所述驻车制动请求发送第二驻车指令,包括:The control method according to claim 14, wherein the wheel speed signal includes a wheel speed of a second wheel group, and the sending a second parking command according to the parking brake request comprises:在制动控制模块为正常工作状态,且所述车速小于第一预设值的情况下,若所述第二车轮组轮速小于第二阈值,根据所述驻车制动请求发送所述第二驻车指令。In the case that the brake control module is in a normal working state and the vehicle speed is less than the first preset value, if the wheel speed of the second wheel group is less than the second threshold value, send the first 2. Parking instruction.
- 根据权利要求13所述的控制方法,其特征在于,所述根据所述驻车制动请求发送第二驻车指令,包括:The control method according to claim 13, wherein the sending a second parking instruction according to the parking brake request comprises:若整车动态域管理器为非正常工作状态,获取驱动电机的转速信号;If the vehicle dynamic domain manager is in an abnormal working state, obtain the speed signal of the drive motor;根据所述转速信号确定所述驱动电机的转速;Determine the rotational speed of the drive motor according to the rotational speed signal;在所述转速小于第二预设值的情况下,若制动控制模块为正常工作状态,则根据所述驻车制动请求发送所述第二驻车指令。When the rotational speed is less than the second preset value, if the brake control module is in a normal working state, the second parking instruction is sent according to the parking brake request.
- 一种车辆,其特征在于,所述车辆包括如权利要求1-11任一项所述的冗余电子驻车制动系统。A vehicle, characterized in that the vehicle comprises the redundant electronic parking brake system according to any one of claims 1-11.
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