Electronic parking redundancy system and control method thereof

Abstract

The present invention discloses an electronic parking redundancy system and control method thereof. The system includes: a parking switch, a first and a second EPB controller interacting via a CAN bus, and a left and a right EPB motor. The first EPB controller includes a first control unit and a first H-bridge, and the second EPB controller includes a second control unit and a second H-bridge. The first control unit is respectively connected to the parking switch, the first H-bridge, the second control unit, the second H-bridge, the left and the right EPB motors; and the second control unit is connected to the parking switch, the first H-bridge, the second control unit, the second H-bridge, the left and the right EPB motors. The electronic parking redundancy system and control method provided by the present invention, when a single node of an EPB controller fails under different circumstances, the other active EPB controller uses different control strategies to achieve full functionality of the parking system or 100% parking force.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic parking technology, and in particular to an electronic parking redundancy system and a control method thereof. Background Art

[0002] Due to safety requirements, cars must have two independent parking systems. For traditional fuel vehicles that use an electronic parking brake (EPB) system, the two independent systems are generally the transmission's P gear lock + electronic parking brake (EPB) system. The transmission's P gear lock controls the transmission's clutch to lock the transmission; the software for the electronic parking brake (EPB) system is generally located in an independent EPB controller or integrated into other controllers to control the left and right rear EPB calipers for parking. Regardless of which system fails, the other system will have a certain degree of parking capability to ensure the car's parking effect. In the electronic parking brake (EPB) system, the driver operates the EPB parking switch, sending a parking signal to the EPB controller, which then drives the motor on the EPB caliper to rotate, pushing the piston and friction plate to clamp or release the brake disc.

[0003] The disadvantages of this solution are that, firstly, it requires a transmission and a pawl locking mechanism, which is not applicable to pure electric vehicles, which generally do not have a transmission. Furthermore, the additional pawl locking mechanism also increases costs for gasoline-powered vehicles. Secondly, if the EPB controller fails, both the left and right rear EPB calipers will be inoperative, leaving only the transmission locked in P position. This system has limited parking effectiveness and may cause the vehicle to roll away if parked on a steep slope.

[0004] Therefore, there is an urgent need for an electronic parking redundancy system and a control method thereof. Summary of the Invention

[0005] The purpose of the present invention is to provide an electronic parking redundancy system and a control method thereof to solve the problems in the above-mentioned prior art. When a single node of the EPB controller fails in different situations, the other effective EPB controller can realize the full function of the parking system or 100% parking force through different control strategies.

[0006] The present invention provides an electronic parking redundancy system, comprising:

[0007] Parking switch, first EPB controller, second EPB controller, left EPB motor and right EPB motor, wherein,

[0008] The first EPB controller and the second EPB controller perform status interaction via a CAN network;

[0009] The first EPB controller includes a first control unit and a first H-bridge, and the second EPB controller includes a second control unit and a second H-bridge;

[0010] The first control unit is respectively connected to the parking switch, the first H-bridge, the second control unit, the second H-bridge, the left EPB motor and the right EPB motor;

[0011] The second control unit is also connected to the parking switch, the first H-bridge, the second control unit, the second H-bridge, the left EPB motor and the right EPB motor respectively.

[0012] As described above, in the electronic parking redundancy system, preferably, pin 1 of the first control unit interacts with the CAN network for status, pins 2-5 are connected to the parking switch, pins 6-9 are connected to the second H-bridge, pins 10-13 are connected to the first H-bridge, pin 14 is connected to pin 16 of the second control unit through diode 1-3, pin 15 is respectively connected to the first H-bridge and the right EPB motor through MOS tube 1-2, a diode 1-2 is provided between the MOS tube 1-2 and the right EPB motor, pin 15 is also connected to pin 14 of the second control unit through diode 2-3, pin 16 is respectively connected to the first H-bridge and the left EPB motor through MOS tube 1-1, a diode 1-1 is provided between the MOS tube 1-1 and the left EPB motor.

[0013] As described above, in the electronic parking redundancy system, preferably, pin 1 of the second control unit interacts with the CAN network for status, pins 2-5 are connected to the parking switch, pins 6-9 are connected to the first H-bridge, pins 10-13 are connected to the second H-bridge, pin 14 is connected to pin 15 of the first control unit through diode 2-3, pin 15 is respectively connected to the second H-bridge and the left EPB motor through MOS tube 2-2, a diode 2-2 is provided between the MOS tube 2-2 and the left EPB motor, pin 16 is connected to pin 14 of the first control unit through diode 1-3, pin 16 is also respectively connected to the second H-bridge and the right EPB motor through MOS tube 2-1, a diode 2-1 is provided between the MOS tube 2-1 and the right EPB motor.

[0014] The present invention also provides an electronic parking control method using the above system, comprising:

[0015] Under normal working conditions, the first control unit of the first EPB controller controls the first H-bridge and the left EPB motor, the second control unit of the second EPB controller controls the second H-bridge and the right EPB motor, and the first EPB controller and the second EPB controller are controlled synchronously;

[0016] In the event of a single-node non-H-bridge failure, the first EPB controller or the second EPB controller synchronously controls the first H-bridge, the left EPB motor, the second H-bridge, and the right EPB motor through the corresponding control unit;

[0017] In the event of a single-node H-bridge or node loss failure, the first EPB controller or the second EPB controller asynchronously controls the left EPB motor and the right EPB motor through the corresponding control unit.

[0018] The electronic parking control method as described above, wherein preferably, under normal working conditions, the first control unit of the first EPB controller controls the first H-bridge and the left EPB motor, the second control unit of the second EPB controller controls the second H-bridge and the right EPB motor, and the first EPB controller and the second EPB controller are controlled synchronously, specifically comprising:

[0019] Status confirmation: The first EPB controller and the second EPB controller read each other's status through the CAN network and it is normal;

[0020] Parking switch signal analysis, forwarding and reception: The parking switch signal is connected to pins 2-5 of the first EPB controller and analyzed. Pins 2-5 of the second EPB controller are left floating. The first EPB controller analyzes the parking switch signal into the required motor action and forwards the signal analysis result to the CAN network.

[0021] Motor control: The first EPB controller controls the first H-bridge through pins 10-13, and turns on MOS tube 1-1 through pin 16, so that the left EPB motor starts to move; the second EPB controller controls the second H-bridge through pins 10-13, and turns on MOS tube 2-1 through pin 16, so that the right EPB motor starts to move.

[0022] In the electronic parking control method described above, preferably, in the case of a single node non-H-bridge failure, the first EPB controller or the second EPB controller synchronously controls the first H-bridge, the left EPB motor, the second H-bridge, and the right EPB motor through the corresponding control unit, specifically including:

[0023] Status confirmation: The second EPB controller sends a non-H-bridge fault message to the CAN network. The first EPB controller learns of the non-H-bridge fault in the second EPB controller through network interaction. The second EPB controller loses all control of its H-bridge, and pins 10-15 are all left floating.

[0024] Parking switch signal analysis: The parking switch signal is connected to pins 2-5 of the first EPB controller and analyzed. Pins 2-5 of the second EPB controller are in a floating state. The first EPB controller analyzes the parking switch signal into the required motor action;

[0025] Motor control: The first EPB controller controls the first H-bridge through pins 10-13, and turns on MOS tube 1-1 through pin 16, so that the left EPB motor starts to move; at the same time, the first EPB controller controls the second H-bridge through pins 6-9, and turns on MOS tube 2-1 of the second EPB controller through pin 14, so that the right EPB motor starts to move.

[0026] In the electronic parking control method described above, preferably, in the event of a single-node H-bridge or node loss failure, the first EPB controller or the second EPB controller asynchronously controls the left EPB motor and the right EPB motor through the corresponding control unit, specifically including:

[0027] Status confirmation: The second EPB controller sends a signal to the CAN network indicating that its H-bridge is faulty. The first EPB controller learns of the H-bridge fault in the second EPB controller through network interaction. The second EPB controller loses all control of its H-bridge, and pins 10-15 are all left floating. Alternatively, the first EPB controller cannot read the node of the second EPB controller through the network and learns that the node of the second EPB controller is lost.

[0028] Parking switch signal analysis: The parking switch signal is connected to pins 2-5 of the first EPB controller and analyzed as the required motor action;

[0029] Motor control: The first EPB controller controls the first H-bridge through pins 10-13, and turns on MOS tube 1-1 through pin 16, so that the left EPB motor starts to move; after the left EPB motor completes the action, the first EPB controller turns on MOS tube 1-2 through pin 15, so that the right EPB motor starts to move.

[0030] The electronic parking redundancy system and control method of the present invention provide a dual-path control system, i.e., redundancy is achieved with only two synchronously operating EPB controllers, eliminating the need for selecting the currently operating controller through other hardware such as a selector or other means, as is required in architectures with three or more controllers. The parking system can maintain full functionality in the event of a single-node non-H-bridge failure. It can maintain 100% parking force in the event of a single-node H-bridge failure or node loss. Only a minimum number of EPB controllers are required. In the event of a single-node failure in an EPB controller under different circumstances, the other valid EPB controller can achieve the full functionality of the parking system, or even 100% parking force, through different control strategies. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described below with reference to the accompanying drawings, in which:

[0032] Figure 1 This is an architectural diagram of an embodiment of the electronic parking redundancy system provided by the present invention;

[0033] Figure 2 A flow chart of the electronic parking control method provided by the present invention;

[0034] Figure 3 This is a schematic diagram of the normal working mode of the electronic parking control method provided by the present invention;

[0035] Figure 4 A schematic diagram of the working mode of the electronic parking control method provided by the present invention when there is no H-bridge fault;

[0036] Figure 5 This is a schematic diagram of the working mode of the electronic parking control method provided by the present invention when the H bridge fails or the node is lost. DETAILED DESCRIPTION

[0037] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the present disclosure, its application, or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present disclosure thorough and complete and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of parts and steps, the composition of materials, numerical expressions, and numerical values ​​set forth in these embodiments should be interpreted as being merely exemplary and not as limiting.

[0038] The terms "first," "second," and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are simply used to distinguish different parts. Terms such as "include" or "comprising" mean that the elements preceding the term include the elements listed after the term, and do not exclude the possibility of also including other elements. Terms such as "upper," "lower," and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0039] In the present disclosure, when a specific component is described as being located between a first component and a second component, there may or may not be an intervening component between the specific component and the first component or the second component. When a specific component is described as being connected to another component, the specific component may be directly connected to the other component without an intervening component, or may not be directly connected to the other component but have an intervening component.

[0040] All terms (including technical or scientific terms) used in this disclosure have the same meaning as those understood by one of ordinary skill in the art to which this disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in, for example, general dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or highly formal sense, unless explicitly defined herein.

[0041] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0042] Traditional fuel-powered vehicles use a redundant parking system that combines a transmission P-lock and an electronic parking brake (EPB). This system presents several issues: Firstly, it requires a transmission and a locking mechanism, which is unsuitable for pure electric vehicles, which generally lack a transmission. Furthermore, the additional locking mechanism also increases costs for fuel-powered vehicles. Secondly, if the EPB controller fails, both the left and right rear EPB calipers will be inoperative, leaving only the transmission P-lock for parking. This system is ineffective, and the vehicle may roll away if parked on a steep slope.

[0043] To address this issue, a redundant solution has been proposed: creating two copies of the EPB software and placing them in two controllers, each controlling one caliper (for example, the first EPB controller is the ESC body stability system controller, and the second EPB controller is the eBooster electronic power steering controller). The hardwired signal from the parking switch is sent to the first EPB controller, which then exchanges switching signals with the second EPB controller. The first and second EPB controllers then control the left and right rear EPB calipers, respectively. The disadvantage of this solution is that, on the one hand, if the first EPB controller fails, the second EPB controller will not receive the parking switch signal sent by the first EPB controller and will fail simultaneously, meaning that the entire vehicle cannot be parked or released using the switch. On the other hand, the first and second EPB controllers each control one caliper, and each has only 50% parking capacity. This means that even if the second EPB controller fails, the first EPB controller is still effective. In this case, although the first EPB controller can still park the vehicle, the parking force is reduced by 50%, posing a safety hazard.

[0044] To address the issue of reduced parking force, a solution has been proposed that uses more than two MCUs and actuators for redundant backup. Furthermore, a selector is required to select the parking path. The disadvantages of this solution are, firstly, high cost, requiring three or more controllers; secondly, the selector incurs additional costs and requires additional software and hardware support.

[0045] In view of this, the present invention provides an electronic parking redundancy system. When a single node of the EPB controller fails in different situations, the other effective EPB controller can realize the full function of the parking system or 100% parking force through different control strategies. Figure 1 As shown, the electronic parking redundancy system provided in this embodiment includes: a parking switch, a first EPB controller, a second EPB controller, a left EPB motor and a right EPB motor, wherein:

[0046] The first EPB controller and the second EPB controller perform status interaction via a CAN network;

[0047] The first EPB controller includes a first control unit (MCU1) and a first H-bridge (H1), and the second EPB controller includes a second control unit (MCU2) and a second H-bridge (H2);

[0048] The first control unit is respectively connected to the parking switch, the first H-bridge, the second control unit, the second H-bridge, the left EPB motor and the right EPB motor;

[0049] The second control unit is also connected to the parking switch, the first H-bridge, the second control unit, the second H-bridge, the left EPB motor and the right EPB motor respectively.

[0050] The first EPB controller and the second EPB controller have the same structure and are completely identical. There is no main controller or sub-controller, and the controllers are completely universal. Only two EPB controllers are needed, not more than two.

[0051] Furthermore, pin 1 of the first control unit interacts with the CAN network in status, pins 2-5 are connected to the parking switch, pins 6-9 are connected to the second H-bridge, pins 10-13 are connected to the first H-bridge, pin 14 is connected to pin 16 of the second control unit through diode 1-3, pin 15 is connected to the first H-bridge and the right EPB motor respectively through MOS tube 1-2, and diode 1-2 is provided between the MOS tube 1-2 and the right EPB motor, pin 15 is also connected to pin 14 of the second control unit through diode 2-3, and pin 16 is connected to the first H-bridge and the left EPB motor respectively through MOS tube 1-1, and diode 1-1 is provided between the MOS tube 1-1 and the left EPB motor.

[0052] Furthermore, pin 1 of the second control unit interacts with the CAN network in status, pins 2-5 are connected to the parking switch, pins 6-9 are connected to the first H-bridge, pins 10-13 are connected to the second H-bridge, pin 14 is connected to pin 15 of the first control unit through diode 2-3, pin 15 is respectively connected to the second H-bridge and the left EPB motor through MOS tube 2-2, and a diode 2-2 is provided between the MOS tube 2-2 and the left EPB motor, pin 16 is connected to pin 14 of the first control unit through diode 1-3, and pin 16 is also respectively connected to the second H-bridge and the right EPB motor through MOS tube 2-1, and a diode 2-1 is provided between the MOS tube 2-1 and the right EPB motor.

[0053] The parking switch hardwire signal is connected to pins 2-5 of the first and second EPB controllers, respectively. Under normal operation, the first EPB controller reads the parking switch signal via pins 2-5, while pins 2-5 of the second EPB controller are left floating. If the first EPB controller fails or a node is lost, pins 2-5 of the second EPB controller will receive and interpret the parking signal.

[0054] The working states of the first EPB controller and the second EPB controller are divided into four types: normal, non-H-bridge fault, H-bridge fault, and node loss.

[0055] In operation, under normal working conditions, the first control unit of the first EPB controller controls the first H-bridge and the left EPB motor, and the second control unit of the second EPB controller controls the second H-bridge and the right EPB motor, and the two are synchronized to achieve 100% parking force.

[0056] In the event of a single non-H-bridge failure, such as a failure in the second control unit of the second EPB controller, the first EPB controller, upon notifying the network of the failure, will synchronize control of the first H-bridge, the left EPB motor, the second H-bridge, and the right EPB motor through the first control unit, achieving 100% parking force. Similarly, if the first control unit of the first EPB controller fails, the second EPB controller will be able to synchronize control of the left and right EPB motors through the second control unit, achieving 100% parking force.

[0057] In the event of a single-node H-bridge failure, such as a failure of the second H-bridge of the second EPB controller, the first EPB controller, upon notifying the network of the failure, will asynchronously control the left and right EPB motors via the first control unit, achieving 100% parking force. Similarly, if the first H-bridge of the first EPB controller fails, the second EPB controller will also be able to asynchronously control the left and right EPB motors via the second control unit, achieving 100% parking force.

[0058] The electronic parking redundancy system provided by the embodiment of the present invention provides a dual-path control system, that is, only two synchronously working EPB controllers are required to achieve redundancy, and there is no need to use other hardware such as a selector or other methods to select the currently working controller as required by an architectural solution with three or more controllers; in the event of a single-node non-H-bridge failure, the parking system can still maintain full functionality; in the event of a single-node H-bridge failure or node loss, the parking system can maintain 100% parking force; only a minimum number of EPB controllers are required; when a single node of the EPB controller fails under different circumstances, the other valid EPB controller can achieve the full functionality of the parking system, or 100% parking force, through different control strategies.

[0059] like Figure 2 As shown, the electronic parking control method provided by this embodiment specifically includes:

[0060] Step S1: Under normal working conditions, the first control unit of the first EPB controller controls the first H-bridge and the left EPB motor, the second control unit of the second EPB controller controls the second H-bridge and the right EPB motor, and the first EPB controller and the second EPB controller are controlled synchronously.

[0061] like Figure 3 As shown, under normal working conditions, in one embodiment of the electronic parking control method of the present invention, step S1 may specifically include:

[0062] Step S11, status confirmation: the first EPB controller and the second EPB controller read each other's status through the CAN network and confirm that it is normal.

[0063] Step S12, parking switch signal analysis, forwarding and reception: The parking switch signal is connected to and analyzed by pins 2-5 of the first EPB controller, and pins 2-5 of the second EPB controller are in a floating state. The first EPB controller analyzes the parking switch signal into the required motor action (motor forward or reverse, corresponding to whether the parking brake is parked or released), and forwards the signal analysis result to the CAN network.

[0064] Step S13, motor control: the first EPB controller controls the first H-bridge through pins 10-13, turns on MOS tube 1-1 through pin 16, and thus the left EPB motor starts to move; the second EPB controller controls the second H-bridge through pins 10-13, turns on MOS tube 2-1 through pin 16, and thus the right EPB motor starts to move.

[0065] Step S2: In the event of a single-node non-H-bridge failure, the first EPB controller or the second EPB controller synchronously controls the first H-bridge, the left EPB motor, the second H-bridge and the right EPB motor through the corresponding control unit.

[0066] like Figure 4 As shown, in the case of a single node non-H bridge fault, in one embodiment of the electronic parking control method of the present invention, step S2 may specifically include:

[0067] Step S21, status confirmation: the second EPB controller sends a non-H-bridge fault to the CAN network. The first EPB controller learns that the second EPB controller has a non-H-bridge fault through network interaction. The second EPB controller loses all control of its H-bridge, and pins 10-15 are all left floating.

[0068] Step S22, parking switch signal analysis: The parking switch signal is connected to pins 2-5 of the first EPB controller and analyzed, and pins 2-5 of the second EPB controller are in a suspended state. The first EPB controller analyzes the parking switch signal into the required motor action (the motor rotates forward or reverse, corresponding to whether the parking brake is parked or released).

[0069] Step S23, motor control: the first EPB controller controls the first H-bridge through pins 10-13, and turns on the MOS tube 1-1 through pin 16, so that the left EPB motor starts to move; at the same time, the first EPB controller controls the second H-bridge through pins 6-9, and turns on the MOS tube 2-1 of the second EPB controller through pin 14, so that the right EPB motor starts to move.

[0070] In this fault mode, the parking system remains fully functional.

[0071] Step S3: In the event of a single-node H-bridge or node loss failure, the first EPB controller or the second EPB controller performs asynchronous control on the left EPB motor and the right EPB motor through the corresponding control unit.

[0072] like Figure 5 As shown, in the case of a single-node H-bridge or node loss failure, in one embodiment of the electronic parking control method of the present invention, step S3 may specifically include:

[0073] Step S31, status confirmation: the second EPB controller sends a signal to the CAN network that an H-bridge fault has occurred. The first EPB controller learns through network interaction that an H-bridge fault has occurred in the second EPB controller. The second EPB controller loses all control of its H-bridge, and pins 10-15 are all left floating. Alternatively, the first EPB controller cannot read the node of the second EPB controller through the network, and learns that the node of the second EPB controller is lost.

[0074] Step S32, parking switch signal analysis: Pins 2-5 of the first EPB controller receive the parking switch signal and analyze it into the required motor action (motor forward or reverse, corresponding to whether the parking brake is parked or released).

[0075] Step S33, motor control: the first EPB controller controls the first H-bridge through pins 10-13, and turns on MOS tube 1-1 through pin 16, so that the left EPB motor starts to move; after the left EPB motor moves, the first EPB controller turns on MOS tube 1-2 through pin 15, so that the right EPB motor starts to move.

[0076] In this fault mode, the parking system still has 100% parking force, but the parking time is extended to twice the original parking time.

[0077] It should be noted that both step S2 and step S3 are described by taking the failure of a single node of the second EPB controller as an example; in the case of failure of a single node of the first EPB controller, the second EPB controller controls the left EPB motor.

[0078] The electronic parking control method provided by the embodiment of the present invention provides a dual-path control system, that is, only two synchronously working EPB controllers are required to achieve redundancy, and there is no need to use other hardware such as a selector or other methods to select the currently working controller as in an architectural solution with three or more controllers; in the event of a single-node non-H-bridge failure, the parking system can still maintain full functionality; in the case of different failure levels, different processing strategies are used to achieve optimal redundant backup performance; in the event of a single-node H-bridge failure or node loss, the parking system can maintain 100% parking force; only a minimum number of EPB controllers are required; when a single node of the EPB controller fails under different circumstances, the other valid EPB controller can achieve the full functionality of the parking system, or 100% parking force, through different control strategies.

[0079] Thus far, various embodiments of the present disclosure have been described in detail. To avoid obscuring the concept of the present disclosure, some details known in the art have not been described. Based on the above description, those skilled in the art can fully understand how to implement the technical solutions disclosed herein.

[0080] Although some specific embodiments of the present disclosure have been described in detail through examples, those skilled in the art will understand that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. Those skilled in the art will understand that the above embodiments may be modified or some technical features may be replaced with equivalents without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. An electronic parking redundancy system, characterized in that: include: Parking switch, first EPB controller, second EPB controller, left EPB motor and right EPB motor, wherein, The first EPB controller and the second EPB controller perform status interaction via a CAN network; The first EPB controller includes a first control unit and a first H-bridge, and the second EPB controller includes a second control unit and a second H-bridge; The first control unit is respectively connected to the parking switch, the first H-bridge, the second control unit, the second H-bridge, the left EPB motor and the right EPB motor; The second control unit is also respectively connected to the parking switch, the first H-bridge, the first control unit, the second H-bridge, the left EPB motor and the right EPB motor. The first pin of the first control unit interacts with the CAN network, pins 2-5 are connected to the parking switch, pins 6-9 are connected to the second H-bridge, pins 10-13 are connected to the first H-bridge, and pin 14 is connected to pin 16 of the second control unit through diode 1-3. Pin 15 is respectively connected to the first H-bridge and the right EPB motor through MOS tube 1-2, and diode 1-2 is provided between the MOS tube 1-2 and the right EPB motor. Pin 15 is also connected to pin 14 of the second control unit through diode 2-3, and pin 16 is respectively connected to the first H-bridge and the left EPB motor through MOS tube 1-1, and diode 1-1 is provided between the MOS tube 1-1 and the left EPB motor. Pin 1 of the second control unit interacts with the CAN network for status, pins 2-5 are connected to the parking switch, pins 6-9 are connected to the first H-bridge, pins 10-13 are connected to the second H-bridge, pin 14 is connected to pin 15 of the first control unit through diode 2-3, pin 15 is respectively connected to the second H-bridge and the left EPB motor through MOS tube 2-2, a diode 2-2 is provided between the MOS tube 2-2 and the left EPB motor, pin 16 is connected to pin 14 of the first control unit through diode 1-3, pin 16 is also respectively connected to the second H-bridge and the right EPB motor through MOS tube 2-1, a diode 2-1 is provided between the MOS tube 2-1 and the right EPB motor.

2. An electronic parking control method using the system according to claim 1, characterized in that: The steps include: Under normal working conditions, the first control unit of the first EPB controller controls the first H-bridge and the left EPB motor, the second control unit of the second EPB controller controls the second H-bridge and the right EPB motor, and the first EPB controller and the second EPB controller are controlled synchronously; In the event of a single-node non-H-bridge failure, the first EPB controller or the second EPB controller synchronously controls the first H-bridge, the left EPB motor, the second H-bridge, and the right EPB motor through the corresponding control unit; In the event of a single-node H-bridge or node loss failure, the first EPB controller or the second EPB controller asynchronously controls the left EPB motor and the right EPB motor through the corresponding control unit.

3. The electronic parking control method according to claim 2, characterized in that: Under normal working conditions, the first control unit of the first EPB controller controls the first H-bridge and the left EPB motor, the second control unit of the second EPB controller controls the second H-bridge and the right EPB motor, and the first EPB controller and the second EPB controller are controlled synchronously, specifically including: Status confirmation: The first EPB controller and the second EPB controller read each other's status through the CAN network and it is normal; Parking switch signal analysis, forwarding and reception: The parking switch signal is connected to pins 2-5 of the first EPB controller and analyzed. Pins 2-5 of the second EPB controller are left floating. The first EPB controller analyzes the parking switch signal into the required motor action and forwards the signal analysis result to the CAN network. Motor control: The first EPB controller controls the first H-bridge through pins 10-13, and turns on MOS tube 1-1 through pin 16, so that the left EPB motor starts to move; the second EPB controller controls the second H-bridge through pins 10-13, and turns on MOS tube 2-1 through pin 16, so that the right EPB motor starts to move.

4. The electronic parking control method according to claim 2, characterized in that: In the event of a single-node non-H-bridge failure, the first EPB controller or the second EPB controller synchronously controls the first H-bridge, the left EPB motor, the second H-bridge, and the right EPB motor through the corresponding control unit, specifically including: Status confirmation: The second EPB controller sends a non-H-bridge fault message to the CAN network. The first EPB controller learns of the non-H-bridge fault in the second EPB controller through network interaction. The second EPB controller loses all control of its H-bridge, and pins 10-15 are all left floating. Parking switch signal analysis: The parking switch signal is connected to pins 2-5 of the first EPB controller and analyzed. Pins 2-5 of the second EPB controller are in a floating state. The first EPB controller analyzes the parking switch signal into the required motor action; Motor control: The first EPB controller controls the first H-bridge through pins 10-13, and turns on MOS tube 1-1 through pin 16, so that the left EPB motor starts to move; at the same time, the first EPB controller controls the second H-bridge through pins 6-9, and turns on MOS tube 2-1 of the second EPB controller through pin 14, so that the right EPB motor starts to move.

5. The electronic parking control method according to claim 2, characterized in that: In the event of a single-node H-bridge or node loss failure, the first EPB controller or the second EPB controller performs asynchronous control of the left EPB motor and the right EPB motor through the corresponding control unit, specifically including: Status confirmation: The second EPB controller sends a signal to the CAN network indicating that its H-bridge is faulty. The first EPB controller learns of the H-bridge fault in the second EPB controller through network interaction. The second EPB controller loses all control of its H-bridge, and pins 10-15 are all left floating. Alternatively, the first EPB controller cannot read the node of the second EPB controller through the network and learns that the node of the second EPB controller is lost. Parking switch signal analysis: The parking switch signal is connected to pins 2-5 of the first EPB controller and analyzed as the required motor action; Motor control: The first EPB controller controls the first H-bridge through pins 10-13, and turns on MOS tube 1-1 through pin 16, so that the left EPB motor starts to move; after the left EPB motor completes the action, the first EPB controller turns on MOS tube 1-2 through pin 15, so that the right EPB motor starts to move.

Images