Electromechanical braking system with parking function and vehicle control method

Abstract

The present invention discloses an electronic mechanical brake system with a parking function and a vehicle control method. The electronic mechanical brake system with a parking function has a ratchet and a transmission structure in transmission connection, one end of an insulating column is plugged into a connection hole of a ratchet, the insulating column is provided with a first metal spring brush, two first resistor bars are arranged at intervals, the first metal spring brushes respectively slide and contact the two first resistor bars to form a first adjustable resistor, the first end of the first adjustable resistor is electrically connected to a power supply through a first resistor, the second end of the first adjustable resistor is grounded through a second resistor, the adjustment end of the first adjustable resistor is electrically connected to an output end Vout of a first test circuit through a third resistor, the output end Vout of the first test circuit can output a first voltage value, and the telescopic rod of an electromagnetic telescopic mechanism is fixedly connected to the insulating column. The position of the telescopic rod of the electromagnetic telescopic mechanism can be monitored in real time, and whether the electromagnetic telescopic mechanism fails can be judged when parking to ensure the safety of the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to an electronic mechanical braking system with a parking function and a vehicle control method. Background Art

[0002] With the increasing electrification of automobile chassis, the demand for intelligent control of automobile chassis braking is getting higher and higher. Traditional brake calipers generate braking force through hydraulic transmission. Traditional brake calipers themselves cannot generate braking force, and cannot independently control the clamping and release of braking force, which cannot meet the needs of intelligent control. In recent years, electromechanical brake systems (EMB) have gradually begun to be developed. Due to their characteristics, they can achieve true wire control braking. Traditional electronic parking brakes (EPB) are realized through the self-locking function of the transmission mechanism and combined with traditional hydraulic brake calipers, such as the self-locking of the screw sleeve or the self-locking of the worm gear, etc. However, for EMB, the transmission mechanism needs to perform the function of driving brakes and cannot have its own self-locking function, otherwise it will not be able to return normally when it fails or the efficiency is too low when returning. Therefore, it is necessary to achieve parking through the parking mechanism alone. From the perspective of functional safety, the electromechanical brake system with parking function also needs to be able to know the parking state, but the current solution lacks relevant detection. Summary of the invention

[0003] The purpose of the present invention is to provide an electronic mechanical braking system and a vehicle control method with a parking function, which can detect the state of the electromagnetic telescopic mechanism and know whether it is in a fault, so as to prevent the parking function or the parking release function from being unable to be realized, which may pose a certain risk of endangering safety and cause the problem of low vehicle safety.

[0004] To achieve this object, the present invention adopts the following technical solutions:

[0005] Electromechanical brake system with holding function, including:

[0006] A motor, a transmission structure and a caliper, wherein the motor is transmission-connected to the caliper via the transmission structure;

[0007] A ratchet wheel, the ratchet wheel being transmission-connected to the transmission structure;

[0008] A pawl, one end of which is rotatably mounted on the vehicle body, and the other end of which is provided with a connecting hole;

[0009] An insulating column, one end of which is plugged into the connecting hole, and the other end of which is fixed with a first metal spring brush;

[0010] A circuit board, wherein the circuit board is provided with a first test circuit, wherein the first test circuit comprises two first resistor bars, a first resistor, a second resistor and a third resistor, wherein the two first resistor bars are arranged at intervals, wherein the first metal spring brush respectively slides in contact with the two first resistor bars, wherein the first metal spring brush and the two first resistor bars constitute a first adjustable resistor, wherein a first end of the first adjustable resistor is electrically connected to a power supply through the first resistor, a second end of the first adjustable resistor is grounded through the second resistor, an adjustment end of the first adjustable resistor is electrically connected to an output end Vout of the first test circuit through the third resistor, and the output end Vout of the first test circuit can output a first voltage value;

[0011] An electromagnetic telescopic mechanism, wherein the telescopic rod of the electromagnetic telescopic mechanism is fixedly connected to the insulating column and is vertically arranged.

[0012] As a preferred solution of the above-mentioned electronic mechanical braking system with parking function, the insulating column is also provided with a second metal spring brush, and the circuit board is also provided with a second test circuit, the second test circuit includes two second resistor bars, a fourth resistor, a fifth resistor and a sixth resistor, the two second resistor bars are arranged at intervals, the second metal spring brush slides and contacts the two second resistor bars respectively, the second metal spring brush and the two second resistor bars constitute a second adjustable resistor, the first end of the second adjustable resistor is grounded through the fourth resistor, the second end of the second adjustable resistor is electrically connected to the power supply through the fifth resistor, the adjustment end of the second adjustable resistor is electrically connected to the output end Vout of the second test circuit through the sixth resistor, and the output end Vout of the second test circuit can output a second voltage value.

[0013] As a preferred solution of the above-mentioned electronic mechanical braking system with parking function, the transmission structure includes a driving wheel, an idler wheel, an output gear and a planetary gear assembly, the output shaft of the motor is fixedly connected to the driving wheel, the driving wheel is meshed with the idler wheel, the idler wheel is meshed with the output gear, the output gear is transmission-connected to the planetary gear assembly, the planetary gear assembly is transmission-connected to the caliper, and the ratchet is coaxially arranged with the driving wheel.

[0014] As a preferred solution of the above-mentioned electronic mechanical brake system with parking function, an induction magnet is provided at one end of the output shaft of the motor, and the circuit board is provided with a rotation angle sensor, and the induction magnet is arranged corresponding to the rotation angle sensor.

[0015] The present invention further provides a vehicle control method, which adopts the above-mentioned electronic mechanical braking system with parking function, comprising:

[0016] Performing a parking process according to a first voltage value outputted by an output terminal Vout of the first test circuit;

[0017] Performing a parking release process according to a first voltage value outputted by an output terminal Vout of the first test circuit;

[0018] The electromagnetic telescopic mechanism self-test process is performed according to the first voltage value outputted by the output terminal Vout of the first test circuit.

[0019] As a preferred solution of the above vehicle control method, the specific steps of performing the parking process according to the first voltage value outputted by the output terminal Vout of the first test circuit include:

[0020] S101, the motor moves forward and outputs torque until the caliper reaches the required clamping force, and starts timing, the timing time being the first control time;

[0021] S102, the motor moves forward by a first set angle;

[0022] S103, the electromagnetic telescopic mechanism is energized in the forward direction to extend the telescopic rod of the electromagnetic telescopic mechanism;

[0023] S104, determining whether a first voltage value outputted from an output terminal Vout of the first test circuit is greater than or equal to a first set voltage value;

[0024] If yes, proceed to S105;

[0025] If not, proceed to S108;

[0026] S105, the motor moves back by a second set angle and reduces the torque output by the motor;

[0027] S106, determining whether the motor backward torque is greater than or equal to a first set torque;

[0028] If so, parking is completed;

[0029] If not, proceed to S107;

[0030] S107, determining whether the total motor retreat angle is greater than or equal to a third set angle;

[0031] If yes, proceed to S109;

[0032] If not, return to S105;

[0033] S108, determining whether the first control time is greater than or equal to the first set time;

[0034] If yes, proceed to S109;

[0035] If not, return to S102;

[0036] S109: Parking abnormality alarm is triggered, and the motor is controlled to maintain braking.

[0037] As a preferred solution of the above vehicle control method, the specific steps of performing the parking release process according to the first voltage value outputted by the output terminal Vout of the first test circuit include:

[0038] S201, start timing, the timing time is the second control time;

[0039] S202, the motor moves forward by a fourth set angle and outputs a torque;

[0040] S203, the electromagnetic telescopic mechanism is energized in the reverse direction to retract the telescopic rod of the electromagnetic telescopic mechanism;

[0041] S204, determining whether a first voltage value outputted from an output terminal Vout of the first test circuit is less than or equal to a second set voltage value;

[0042] If yes, proceed to S205;

[0043] If not, proceed to S208;

[0044] S205, the motor moves backward by a fifth set angle and reduces the torque output by the motor;

[0045] S206, determining whether the clamping force of the caliper is less than or equal to a preset clamping force;

[0046] If so, the parking release is completed;

[0047] If not, proceed to S207;

[0048] S207, determining whether the motor backward torque is greater than or equal to a second set torque;

[0049] If yes, proceed to S209;

[0050] If not, return to S205;

[0051] S208, determining whether the second control time is greater than or equal to the second set time;

[0052] If yes, proceed to S209;

[0053] If not, return to S202;

[0054] S209, canceling the abnormal parking alarm and controlling the torque output by the motor to be reduced to zero.

[0055] As a preferred solution of the above vehicle control method, the self-test process of the electromagnetic telescopic mechanism according to the first voltage value outputted by the output terminal Vout of the first test circuit includes:

[0056] Power on the vehicle and confirm that the parking requirement is APPLY;

[0057] Determine whether a first voltage value outputted by an output terminal Vout of the first test circuit is greater than or equal to a first set voltage value;

[0058] If yes, then the electromagnetic telescopic mechanism releases the parking detection;

[0059] If not, perform the electromagnetic telescopic mechanism parking test.

[0060] As a preferred solution of the above vehicle control method, the specific steps of releasing the parking detection by the electromagnetic telescopic mechanism include:

[0061] S301, the motor moves forward by a sixth set angle and outputs a torque;

[0062] S302, the electromagnetic telescopic mechanism is energized in the reverse direction to retract the telescopic rod of the electromagnetic telescopic mechanism;

[0063] S303, determining whether a first voltage value outputted from an output terminal Vout of the first test circuit is less than or equal to a second set voltage value;

[0064] If yes, proceed to S304;

[0065] If not, return to S301;

[0066] S304, the motor retreats to a seventh set angle and reduces the torque output by the motor;

[0067] S305, determining whether the total motor retreat angle is greater than or equal to an eighth set angle;

[0068] If so, the electromagnetic telescopic mechanism releases the parking normally;

[0069] If not, proceed to S306;

[0070] S306, determining whether the motor backward torque is greater than or equal to a third set torque;

[0071] If so, the electromagnetic telescopic mechanism releases the parking anomaly;

[0072] If not, return to S304.

[0073] As a preferred solution of the above vehicle control method, the specific steps of the electromagnetic telescopic mechanism parking detection include:

[0074] S401, the motor moves forward by a ninth set angle and outputs a torque;

[0075] S402, the electromagnetic telescopic mechanism is energized in the forward direction to extend the telescopic rod of the electromagnetic telescopic mechanism;

[0076] S403, determining whether a first voltage value outputted from an output terminal Vout of the first test circuit is greater than or equal to a first set voltage value;

[0077] If yes, proceed to S404;

[0078] If not, return to S401;

[0079] S404, the motor moves back by a tenth set angle and reduces the torque output by the motor;

[0080] S405, determining whether the motor backward torque is greater than or equal to a fourth set torque;

[0081] If so, the electromagnetic telescopic mechanism is parked normally;

[0082] If not, proceed to S406;

[0083] S406, determining whether the total motor retreat angle is greater than or equal to an eleventh set angle;

[0084] If so, the electromagnetic telescopic mechanism parking is abnormal;

[0085] If not, return to S404.

[0086] Beneficial effects of the present invention:

[0087] The present invention provides an electronic mechanical brake system with a parking function and a vehicle control method. In the electronic mechanical brake system with a parking function, a motor can control the clamping and loosening of a caliper through a transmission structure, a ratchet rotates with the transmission structure, an electromagnetic telescopic mechanism can drive an insulating column to move, one end of the insulating column is inserted into a connecting hole on a pawl, and the insulating column can drive the pawl to rotate relative to a vehicle body. When the telescopic rod of the electromagnetic telescopic mechanism is extended, the insulating column pushes the pawl to engage with the ratchet, and the ratchet cannot be reversed at this time, so that the motor cannot retreat, thereby realizing the parking function. When the telescopic rod of the electromagnetic telescopic mechanism is retracted, the insulating column drives the pawl to separate from the ratchet, thereby realizing the function of releasing the parking. A first metal spring brush is provided at the other end of the insulating column. The first metal spring brush slides and contacts the two first resistor bars on the circuit board respectively, so that the first metal spring brush and the two first resistor bars form a first adjustable resistor. As the insulating column moves, the resistance value of the first adjustable resistor changes, so that the first voltage value output by the output terminal Vout of the first test circuit changes. The position of the insulating column can be judged according to the change of the first voltage value, so as to judge whether the telescopic rod of the electromagnetic telescopic mechanism is fully extended and retracted. The position of the telescopic rod of the electromagnetic telescopic mechanism can be monitored in real time, and whether the electromagnetic telescopic mechanism is faulty during parking and unparking can be judged to ensure the safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] Figure 1The schematic diagram of the partial structure of the electronic mechanical brake system with parking function provided by the specific embodiment of the present invention is Figure 1 ;

[0089] Figure 2 The schematic diagram of the partial structure of the electronic mechanical brake system with parking function provided by the specific embodiment of the present invention is Figure 2 ;

[0090] Figure 3 is a schematic diagram of a first test circuit of an electromechanical brake system with a parking function provided by a specific embodiment of the present invention;

[0091] Figure 4 It is a schematic diagram of the relationship between the first voltage value, the second voltage value and the extension amount of the telescopic rod in the electronic mechanical braking system with parking function provided by a specific embodiment of the present invention;

[0092] Figure 5 is an exploded schematic diagram of an electromechanical brake system with a parking function provided by a specific embodiment of the present invention;

[0093] Figure 6 The schematic diagram of the partial structure of the electronic mechanical brake system with parking function provided by the specific embodiment of the present invention is Figure 3 ;

[0094] Figure 7 is a flow chart of a parking process in a vehicle control method provided by a specific embodiment of the present invention;

[0095] Figure 8 is a flow chart of a parking release process in a vehicle control method provided by a specific embodiment of the present invention;

[0096] Fig. 9 It is a flow chart of releasing parking detection of an electromagnetic telescopic mechanism in a vehicle control method provided by a specific embodiment of the present invention;

[0097] Fig.10 It is a flow chart of parking detection of an electromagnetic telescopic mechanism in a vehicle control method provided by a specific embodiment of the present invention.

[0098] In the figure:

[0099] 1. Ratchet; 2. Ratchet pawl; 3. Insulating column; 4. Electromagnetic telescopic mechanism; 5. Circuit board; 6. First metal spring brush; 7. First resistor strip; 8. Second metal spring brush; 9. Second resistor strip; 10. First adjustable resistor; 11. First resistor; 12. Second resistor; 13. Third resistor; 14. Motor; 15. Housing; 16. Driving wheel; 17. Idle wheel; 18. Output gear; 19. Planetary gear assembly; 20. Induction magnet; 41. Telescopic rod. DETAILED DESCRIPTION

[0100] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0101] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0102] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0103] In the description of this embodiment, the terms "upper", "lower", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0104] The present invention provides an electronic mechanical braking system with a parking function, such as Figure 1-6As shown, the electronic mechanical brake system with parking function includes a motor 14, a transmission structure, a caliper, a ratchet 1, a pawl 2, an insulating column 3, a circuit board 5 and an electromagnetic telescopic mechanism 4. The motor 14 is connected to the caliper through the transmission structure, the ratchet 1 is connected to the transmission structure, one end of the pawl 2 is rotatably arranged on the vehicle body, the other end of the pawl 2 is provided with a connecting hole, one end of the insulating column 3 is plugged into the connecting hole, the other end of the insulating column 3 is fixedly provided with a first metal spring brush 6, the circuit board 5 is provided with a first test circuit, the first test circuit includes two first resistor bars 7, a first resistor 11, a second resistor 12 and a third resistor 13, The two first resistor bars 7 are arranged at intervals, and the first metal spring brushes 6 slide and contact the two first resistor bars 7 respectively. The first metal spring brush 6 and the two first resistor bars 7 constitute a first adjustable resistor 10. The first end of the first adjustable resistor 10 is electrically connected to the power supply through the first resistor 11, and the second end of the first adjustable resistor 10 is grounded through the second resistor 12. The adjustment end of the first adjustable resistor 10 is electrically connected to the output end Vout of the first test circuit through the third resistor 13. The output end Vout of the first test circuit can output a first voltage value. The telescopic rod 41 of the electromagnetic telescopic mechanism 4 is fixedly connected to the insulating column 3 and is vertically arranged.

[0105] In the electronic mechanical brake system with parking function, the motor 14 can control the clamping and loosening of the caliper through the transmission structure, the ratchet 1 rotates with the transmission structure, the electromagnetic telescopic mechanism 4 can drive the insulating column 3 to move, one end of the insulating column 3 is inserted into the connecting hole on the pawl 2, and the insulating column 3 can drive the pawl 2 to rotate relative to the vehicle body. When the telescopic rod 41 of the electromagnetic telescopic mechanism 4 is extended, the insulating column 3 pushes the pawl 2 to engage with the ratchet 1, and the ratchet 1 cannot be reversed at this time, so that the motor 14 cannot retreat, realizing the parking function. When the telescopic rod 41 of the electromagnetic telescopic mechanism 4 is retracted, the insulating column 3 drives the pawl 2 to separate from the ratchet 1, realizing the function of releasing the parking. A first metal spring brush 6 is provided at the other end of the insulating column 3. The first metal spring brush 6 slides in contact with two first resistor bars 7 on the circuit board 5, respectively, so that the first metal spring brush 6 and the two first resistor bars 7 form a first adjustable resistor 10. As the insulating column 3 moves, the resistance value of the first adjustable resistor 10 changes, so that the first voltage value output by the output terminal Vout of the first test circuit changes. The position of the insulating column 3 can be determined according to the change in the first voltage value, so that it can be determined whether the telescopic rod 41 of the electromagnetic telescopic mechanism 4 is fully telescoped. The position of the telescopic rod 41 of the electromagnetic telescopic mechanism 4 can be monitored in real time, and it can be determined whether the electromagnetic telescopic mechanism 4 is faulty when parking and unparking, so as to ensure the safety of the vehicle.

[0106] Alternatively, if Figure 1 and Figure 2As shown, the insulating column 3 is also provided with a second metal spring brush 8, and the circuit board 5 is also provided with a second test circuit. The second test circuit includes two second resistor bars 9, a fourth resistor, a fifth resistor and a sixth resistor. The two second resistor bars 9 are arranged at intervals, and the second metal spring brush 8 slides and contacts the two second resistor bars 9 respectively. The second metal spring brush 8 and the two second resistor bars 9 form a second adjustable resistor. The first end of the second adjustable resistor is grounded through the fourth resistor, and the second end of the second adjustable resistor is electrically connected to the power supply through the fifth resistor. The adjustment end of the second adjustable resistor is electrically connected to the output end Vout of the second test circuit through the sixth resistor. The output end Vout of the second test circuit can output a second voltage value. Figure 4 As shown, the first voltage value outputted by the output terminal Vout of the first test circuit increases as the extension amount of the telescopic rod 41 of the electromagnetic telescopic mechanism 4 increases, and the second voltage value outputted by the output terminal Vout of the second test circuit decreases as the extension amount of the telescopic rod 41 of the electromagnetic telescopic mechanism 4 increases. The first test circuit and the second test circuit can verify each other.

[0107] It is understandable that the extension amount of the telescopic rod 41 of the electromagnetic telescopic mechanism 4 when the pawl 2 is engaged with the ratchet 1, the first voltage value and the second voltage value corresponding to the extension amount, and the first voltage value and the second voltage value corresponding to the extension amount of zero are pre-calibrated. When the electromagnetic telescopic mechanism 4 is energized in the forward direction to extend the telescopic rod 41, if the first voltage value is not greater than or equal to the pre-calibrated first voltage value, it means that the telescopic rod 41 of the electromagnetic telescopic mechanism 4 is stuck or malfunctioned, and the pawl 2 cannot be engaged with the ratchet 1; if the second voltage value is not less than or equal to the pre-calibrated second voltage value, it also means that the telescopic rod 41 of the electromagnetic telescopic mechanism 4 is stuck or malfunctioned, and the pawl 2 cannot be engaged with the ratchet 1.

[0108] Alternatively, if Figure 5 and Figure 6 As shown, the transmission structure includes a driving wheel 16, an idler wheel 17, an output gear 18 and a planetary gear assembly 19, the output shaft of the motor 14 is fixedly connected to the driving wheel 16, the driving wheel 16 is meshed with the idler wheel 17, the idler wheel 17 is meshed with the output gear 18, the output gear 18 is transmission-connected to the planetary gear assembly 19, the planetary gear assembly 19 is transmission-connected to the caliper, and the ratchet 1 is coaxially arranged with the driving wheel 16. It can be understood that the output shaft of the motor 14 is fixedly penetrated by the ratchet 1 and the driving wheel 16. The ratchet 1 is subjected to a small force, and it is easy to reach the corresponding force in a limited space, and it is not easy to heat up and fail.

[0109] Optionally, an induction magnet 20 is provided at one end of the output shaft of the motor 14, and a rotation angle sensor is provided on the circuit board 5, and the induction magnet 20 is provided corresponding to the rotation angle sensor. The induction magnet 20 rotates with the output shaft of the motor 14. When the output shaft of the motor 14 rotates, the induction magnet 20 can provide a changing magnetic field for the rotation angle sensor on the circuit board 5 to sense a specific position. Optionally, the three-phase line at the output end of the motor 14 is also connected to the circuit board 5.

[0110] Optionally, the electronic mechanical brake system with parking function further includes a housing 15, wherein the ratchet 1, the transmission structure, the pawl 2, the electromagnetic telescopic mechanism 4 and the circuit board 5 are all located in the housing 15, and the housing 15 is fixedly arranged on the vehicle body. It can be understood that the idler wheel 17 and the output gear 18 are both rotatably arranged on the housing 15. The housing 15 includes an upper housing and a lower housing, and the upper housing and the lower housing are positioned by positioning pins to ensure accurate positioning of the transmission structure.

[0111] Optionally, the planetary gear assembly 19 includes a sun gear, planetary gears, a ring gear and a planet carrier, the output gear 18 is coaxially arranged with the sun gear, the planetary gears are respectively meshed with the sun gear and the ring gear, the ring gear is fixedly arranged on the housing 15, the planet carrier is fixedly connected to the planetary gears, and the planet carrier is transmission connected to the caliper.

[0112] Optionally, a slot is provided on the outer peripheral surface of the gear ring, and a latching protrusion is provided on the housing 15, and the latching protrusion is latched in the slot.

[0113] The present invention further provides a vehicle control method, which adopts the above-mentioned electronic mechanical braking system with parking function, comprising:

[0114] Performing a parking process according to a first voltage value outputted by an output terminal Vout of the first test circuit;

[0115] Performing a parking release process according to a first voltage value outputted by an output terminal Vout of the first test circuit;

[0116] The self-test process of the electromagnetic telescopic mechanism 4 is performed according to the first voltage value outputted by the output terminal Vout of the first test circuit.

[0117] It is understandable that during the parking process, the parking release process and the electromagnetic telescopic mechanism 4 self-test process, the first voltage value outputted by the output terminal Vout of the first test circuit and the second voltage value outputted by the output terminal Vout of the second test circuit are mutually verified.

[0118] Alternatively, if Figure 7 As shown, according to the first voltage value outputted by the output terminal Vout of the first test circuit, the specific steps of performing the parking process include:

[0119] S101, the motor 14 moves forward and outputs torque until the caliper reaches the required clamping force, and starts timing, the timing time is the first control time. The caliper is provided with a force sensor, which can detect the clamping force of the caliper.

[0120] S102 , the motor 14 moves forward by a first set angle.

[0121] S103 , the electromagnetic telescopic mechanism 4 is energized in the forward direction to extend the telescopic rod 41 of the electromagnetic telescopic mechanism 4 .

[0122] S104, determine whether the first voltage value outputted by the output terminal Vout of the first test circuit is greater than or equal to the first set voltage value; if so, proceed to S105; if not, proceed to S108. If the first voltage value is greater than or equal to the first set voltage value, it means that the telescopic rod 41 of the electromagnetic telescopic mechanism 4 has been extended, enabling the pawl 2 to mesh with the ratchet wheel 1.

[0123] S105 , the motor 14 retreats to a second set angle and reduces the torque output by the motor 14 .

[0124] S106, determine whether the retraction torque of the motor 14 is greater than or equal to the first set torque; if so, complete parking; if not, proceed to S107. When the retraction torque of the motor 14 is greater than or equal to the first set torque, it means that the pawl 2 has abutted against the ratchet 1 so that the ratchet 1 cannot rotate backward, and the motor 14 cannot retract, and parking is completed.

[0125] S107, determine whether the total retraction angle of the motor 14 is greater than or equal to the third setting angle; if so, proceed to S109; if not, return to S105. If the total retraction angle of the motor 14 is less than the third setting angle, the motor 14 continues to retract with the ratchet 1 in small amounts for multiple times until the retraction torque of the motor 14 reaches the first setting torque. If the total retraction angle of the motor 14 is greater than or equal to the third setting angle, the retraction torque of the motor 14 is still less than the first setting torque, indicating that the pawl 2 has not yet pressed against the ratchet 1 to prevent the ratchet 1 from rotating backwards, and the parking is abnormal at this time.

[0126] S108, determine whether the first control time is greater than or equal to the first set time; if so, proceed to S109; if not, return to S102. If the first control time has not reached the first set time, the motor 14 advances the first set angle again, drives the ratchet 1 to rotate the first set angle, and the electromagnetic telescopic mechanism 4 remains energized in the forward direction to determine whether the first voltage value reaches the first set voltage value. The motor 14 rotates the ratchet 1 in small amounts multiple times to eliminate the situation where the ratchet 1 and the pawl 2 are not engaged due to the inappropriate position of the ratchet 1. If the first control time is greater than or equal to the first set time, and the first voltage value is still less than the first set voltage value, it means that the parking is abnormal, and the electromagnetic telescopic mechanism 4 may be stuck or malfunctioning.

[0127] S109 , abnormal parking alarm is triggered, and the motor 14 is controlled to maintain braking.

[0128] Alternatively, if Figure 8 As shown, according to the first voltage value outputted by the output terminal Vout of the first test circuit, the specific steps of performing the parking release process include:

[0129] S201, start timing, the timing time is the second control time. The timing starts when the driver receives a parking release command.

[0130] S202 , the motor 14 moves forward by a fourth set angle and outputs torque.

[0131] S203 , the electromagnetic telescopic mechanism 4 is energized in the reverse direction to retract the telescopic rod 41 of the electromagnetic telescopic mechanism 4 .

[0132] S204, determine whether the first voltage value outputted by the output terminal Vout of the first test circuit is less than or equal to the second set voltage value; if so, proceed to S205; if not, proceed to S208. If the first voltage value outputted by the output terminal Vout of the first test circuit is less than or equal to the second set voltage value, it indicates that the telescopic rod 41 has been retracted.

[0133] S205 , the motor 14 retreats to a fifth set angle and reduces the torque output by the motor 14 .

[0134] S206, determine whether the clamping force of the caliper is less than or equal to the preset clamping force; if so, complete the parking release; if not, proceed to S207. The motor 14 retreats to drive the caliper to loosen, and when the motor 14 retreats until the clamping force of the caliper is less than or equal to the preset clamping force, it means that the parking release is completed.

[0135] S207, determine whether the retracting torque of the motor 14 is greater than or equal to the second set torque; if so, proceed to S209; if not, return to S205. If the retracting torque of the motor 14 is less than the second set torque, the motor 14 continues to retract until the clamping force of the caliper is less than the preset clamping force; if the retracting torque of the motor 14 is already greater than or equal to the second set torque, and the clamping force of the caliper is still greater than the preset clamping force, it indicates that the parking abnormality is released.

[0136] S208, determine whether the second control time is greater than or equal to the second set time; if so, proceed to S209; if not, return to S202. If the second control time has not reached the second set time, the motor 14 can continue to drive the ratchet 1 forward in small amounts for multiple times, and the electromagnetic telescopic mechanism 4 remains reversely energized until the first voltage value is less than or equal to the second set voltage value. If the second control time is greater than or equal to the second set time, and the first voltage value is still greater than the second set voltage value, it indicates that the parking is abnormal.

[0137] S209, cancel the abnormal parking alarm, and control the torque output by the motor 14 to be reduced to zero.

[0138] Optionally, according to the first voltage value outputted by the output terminal Vout of the first test circuit, the self-test process of the electromagnetic telescopic mechanism 4 includes:

[0139] Power on the vehicle and confirm that the parking requirement is APPLY.

[0140] It is determined whether the first voltage value outputted by the output terminal Vout of the first test circuit is greater than or equal to the first set voltage value; if so, the electromagnetic telescopic mechanism 4 is released from parking detection; if not, the electromagnetic telescopic mechanism 4 is parked.

[0141] Alternatively, if Fig. 9 As shown, the specific steps of the electromagnetic telescopic mechanism 4 releasing the parking detection include:

[0142] S301 , the motor 14 moves forward by a sixth set angle and outputs a torque.

[0143] S302 , the electromagnetic telescopic mechanism 4 is energized in the reverse direction to retract the telescopic rod 41 of the electromagnetic telescopic mechanism 4 .

[0144] S303, determine whether the first voltage value outputted by the output terminal Vout of the first test circuit is less than or equal to the second set voltage value; if so, proceed to S304; if not, return to S301. If the first voltage value is less than or equal to the second set voltage value, it means that the telescopic rod 41 of the electromagnetic telescopic mechanism 4 has been retracted. If the first voltage value is greater than the second set voltage value, the motor 14 continues to drive the ratchet 1 forward until the first voltage value is less than or equal to the second set voltage value. By driving the ratchet 1 forward in small amounts multiple times by the motor 14, it can be prevented that the position of the ratchet 1 is not appropriate so that the pawl 2 cannot be away from the ratchet 1.

[0145] S304 , the motor 14 retreats to a seventh set angle and reduces the torque output by the motor 14 .

[0146] S305, determine whether the total retreat angle of the motor 14 is greater than or equal to the eighth set angle; if so, the electromagnetic telescopic mechanism 4 is normally released from parking; if not, proceed to S306. If the retreat angle of the motor 14 reaches the eighth set angle, it means that the parking can be released normally, that is, the electromagnetic telescopic mechanism 4 can realize the function of releasing parking.

[0147] S306, determine whether the retraction torque of the motor 14 is greater than or equal to the third setting torque; if so, the electromagnetic telescopic mechanism 4 releases the parking abnormality; if not, return to S304. If the retraction torque of the motor 14 is less than the third setting torque, the motor 14 will move the ratchet 1 backward in small amounts for multiple times until the total retraction angle of the motor 14 reaches the eighth setting angle. If the retraction torque of the motor 14 is greater than or equal to the third setting torque, but the retraction angle of the motor 14 has not reached the eighth setting angle, it means that the electromagnetic telescopic mechanism 4 cannot release the parking abnormality normally.

[0148] Alternatively, if Fig.10 As shown, the specific steps of the parking detection of the electromagnetic telescopic mechanism 4 include:

[0149] S401 , the motor 14 moves forward by a ninth set angle and outputs a torque.

[0150] S402 , the electromagnetic telescopic mechanism 4 is energized in the forward direction to extend the telescopic rod 41 of the electromagnetic telescopic mechanism 4 .

[0151] S403, determine whether the first voltage value outputted by the output terminal Vout of the first test circuit is greater than or equal to the first set voltage value; if so, proceed to S404; if not, return to S401. If the first voltage value is greater than or equal to the first set voltage value, it means that the telescopic rod 41 of the electromagnetic telescopic mechanism 4 has been extended to a position where the pawl 2 can mesh with the ratchet 1. If the first voltage value is less than the first set voltage value, the motor 14 continues to drive the ratchet 1 forward until the first voltage value is greater than or equal to the second set voltage value. By driving the ratchet 1 forward in small amounts multiple times by the motor 14, it can be prevented that the position of the ratchet 1 is not appropriate so that the pawl 2 cannot mesh with the ratchet 1.

[0152] S404 , the motor 14 moves backward by a tenth set angle and reduces the torque output by the motor 14 .

[0153] S405, determine whether the reverse torque of the motor 14 is greater than or equal to the fourth set torque; if so, the electromagnetic telescopic mechanism 4 is parked normally; if not, proceed to S406. If the reverse torque of the motor 14 reaches the fourth set torque, it means that the parking can be done normally.

[0154] S406, determine whether the total retraction angle of the motor 14 is greater than or equal to the eleventh setting angle; if so, the electromagnetic telescopic mechanism 4 is abnormal in parking; if not, return to S404. If the total retraction angle of the motor 14 does not reach the eleventh setting angle, the motor 14 drives the ratchet 1 to retract in small amounts for multiple times until the retraction torque of the motor 14 reaches the fourth setting torque. If the total retraction angle of the motor 14 has reached the eleventh setting angle, but the retraction torque of the motor 14 still does not reach the fourth setting torque, it means that the parking is abnormal.

[0155] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An electromechanical braking system with parking function, characterized in that: include: A motor (14), a transmission structure and a caliper, wherein the motor (14) is transmission-connected to the caliper via the transmission structure; A ratchet (1), the ratchet (1) being in transmission connection with the transmission structure; A pawl (2), one end of the pawl (2) being rotatably disposed on the vehicle body, and the other end of the pawl (2) being provided with a connecting hole; An insulating column (3), one end of the insulating column (3) being plugged into the connecting hole, and the other end of the insulating column (3) being fixedly provided with a first metal spring brush (6); A circuit board (5), wherein the circuit board (5) is provided with a first test circuit, wherein the first test circuit comprises two first resistor bars (7), a first resistor (11), a second resistor (12) and a third resistor (13), wherein the two first resistor bars (7) are arranged at intervals, the first metal spring brush (6) respectively contacts the two first resistor bars (7) by sliding, the first metal spring brush (6) and the two first resistor bars (7) form a first adjustable resistor (10), the first end of the first adjustable resistor (10) is electrically connected to a power supply through the first resistor (11), the second end of the first adjustable resistor (10) is grounded through the second resistor (12), the adjustment end of the first adjustable resistor (10) is electrically connected to an output end Vout of the first test circuit through the third resistor (13), and the output end Vout of the first test circuit can output a first voltage value; An electromagnetic telescopic mechanism (4), wherein a telescopic rod (41) of the electromagnetic telescopic mechanism (4) is fixedly connected to the insulating column (3) and is vertically arranged.

2. The electromechanical brake system with parking function according to claim 1, characterized in that: The insulating column (3) is also provided with a second metal spring brush (8), and the circuit board (5) is also provided with a second test circuit, the second test circuit comprising two second resistor bars (9), a fourth resistor, a fifth resistor and a sixth resistor, the two second resistor bars (9) being arranged at intervals, the second metal spring brush (8) respectively slidingly contacts the two second resistor bars (9), the second metal spring brush (8) and the two second resistor bars (9) forming a second adjustable resistor, the first end of the second adjustable resistor being grounded via the fourth resistor, the second end of the second adjustable resistor being electrically connected to a power supply via the fifth resistor, the adjustment end of the second adjustable resistor being electrically connected to an output end Vout of the second test circuit via the sixth resistor, and the output end Vout of the second test circuit being able to output a second voltage value.

3. The electromechanical brake system with parking function according to claim 1, characterized in that: The transmission structure comprises a driving wheel (16), an idler wheel (17), an output gear (18) and a planetary gear assembly (19); the output shaft of the motor (14) is fixedly connected to the driving wheel (16); the driving wheel (16) is meshed with the idler wheel (17); the idler wheel (17) is meshed with the output gear (18); the output gear (18) is transmission-connected to the planetary gear assembly (19); the planetary gear assembly (19) is transmission-connected to the caliper; and the ratchet (1) is coaxially arranged with the driving wheel (16).

4. The electromechanical brake system with parking function according to claim 1, characterized in that: An induction magnet (20) is provided at one end of the output shaft of the motor (14), the circuit board (5) is provided with a rotation angle sensor, and the induction magnet (20) is arranged corresponding to the rotation angle sensor.

5. A vehicle control method, characterized in that: The electromechanical brake system with parking function according to any one of claims 1 to 3 comprises: Performing a parking process according to a first voltage value outputted by an output terminal Vout of the first test circuit; Performing a parking release process according to a first voltage value outputted by an output terminal Vout of the first test circuit; A self-check process of the electromagnetic telescopic mechanism (4) is performed according to a first voltage value outputted at an output terminal Vout of the first test circuit.

6. The vehicle control method according to claim 5, characterized in that: According to the first voltage value outputted by the output terminal Vout of the first test circuit, the specific steps of performing the parking process include: S101, the motor (14) moves forward and outputs torque until the caliper reaches the required clamping force, and starts timing, the timing time being the first control time; S102, the motor (14) moves forward by a first set angle; S103, the electromagnetic telescopic mechanism (4) is energized in the forward direction to extend the telescopic rod (41) of the electromagnetic telescopic mechanism (4); S104, determining whether a first voltage value outputted from an output terminal Vout of the first test circuit is greater than or equal to a first set voltage value; If yes, proceed to S105; If not, proceed to S108; S105, the motor (14) moves backward by a second set angle and reduces the torque output by the motor (14); S106, determining whether the reverse torque of the motor (14) is greater than or equal to a first set torque; If yes, parking is completed; If not, proceed to S107; S107, determining whether the total retreat angle of the motor (14) is greater than or equal to a third set angle; If yes, proceed to S109; If not, return to S105; S108, determining whether the first control time is greater than or equal to the first set time; If yes, proceed to S109; If not, return to S102; S109: Parking abnormality alarm is triggered, and the motor (14) is controlled to maintain braking.

7. The vehicle control method according to claim 5, characterized in that: According to the first voltage value outputted by the output terminal Vout of the first test circuit, the specific steps of performing the parking release process include: S201, start timing, the timing time is the second control time; S202, the motor (14) moves forward by a fourth set angle and outputs a torque; S203, the electromagnetic telescopic mechanism (4) is energized in the reverse direction, so that the telescopic rod (41) of the electromagnetic telescopic mechanism (4) is retracted; S204, determining whether a first voltage value outputted from an output terminal Vout of the first test circuit is less than or equal to a second set voltage value; If yes, proceed to S205; If not, proceed to S208; S205, the motor (14) moves backward by a fifth set angle and reduces the torque output by the motor (14); S206, determining whether the clamping force of the caliper is less than or equal to a preset clamping force; If yes, then the parking release is completed; If not, proceed to S207; S207, determining whether the reverse torque of the motor (14) is greater than or equal to a second set torque; If yes, proceed to S209; If not, return to S205; S208, determining whether the second control time is greater than or equal to the second set time; If yes, proceed to S209; If not, return to S202; S209, cancelling the abnormal parking alarm, and controlling the torque output by the motor (14) to be reduced to zero.

8. The vehicle control method according to claim 5, characterized in that: According to the first voltage value outputted by the output terminal Vout of the first test circuit, a self-test process of the electromagnetic telescopic mechanism (4) includes: Power on the vehicle and confirm that the parking requirement is APPLY; Determine whether a first voltage value outputted by an output terminal Vout of the first test circuit is greater than or equal to a first set voltage value; If so, the electromagnetic telescopic mechanism (4) is used to release the parking detection; If not, then the parking detection of the electromagnetic telescopic mechanism (4) is performed.

9. The vehicle control method according to claim 5, characterized in that: The specific steps of releasing the parking detection by the electromagnetic telescopic mechanism (4) include: S301, the motor (14) moves forward by a sixth set angle and outputs a torque; S302, the electromagnetic telescopic mechanism (4) is energized in the reverse direction, so that the telescopic rod (41) of the electromagnetic telescopic mechanism (4) is retracted; S303, determining whether a first voltage value outputted from an output terminal Vout of the first test circuit is less than or equal to a second set voltage value; If yes, proceed to S304; If not, return to S301; S304, the motor (14) moves backward by a seventh set angle and reduces the torque output by the motor (14); S305, determining whether the total retreat angle of the motor (14) is greater than or equal to an eighth set angle; If so, the electromagnetic telescopic mechanism (4) releases the parking normally; If not, proceed to S306; S306, determining whether the reverse torque of the motor (14) is greater than or equal to a third set torque; If so, the electromagnetic telescopic mechanism (4) releases the parking abnormality; If not, return to S304.

10. The vehicle control method according to claim 5, characterized in that: The specific steps of the parking detection of the electromagnetic telescopic mechanism (4) include: S401, the motor (14) moves forward by a ninth set angle and outputs a torque; S402, the electromagnetic telescopic mechanism (4) is energized in the forward direction to extend the telescopic rod (41) of the electromagnetic telescopic mechanism (4); S403, determining whether a first voltage value outputted from an output terminal Vout of the first test circuit is greater than or equal to a first set voltage value; If yes, proceed to S404; If not, return to S401; S404, the motor (14) moves backward by a tenth set angle and reduces the torque output by the motor (14); S405, determining whether the reverse torque of the motor (14) is greater than or equal to a fourth set torque; if so, the electromagnetic telescopic mechanism (4) is parked normally; If not, proceed to S406; S406, determining whether the total retreat angle of the motor (14) is greater than or equal to an eleventh set angle; If so, the electromagnetic telescopic mechanism (4) is parked abnormally; If not, return to S404.

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