Electric vehicle parking multi-redundancy control system and vehicle

Abstract

The application discloses a kind of electric vehicle parking multi-redundancy control system, including two caliper parking mechanism assemblies respectively arranged on the two rear wheels of electric vehicle, the front wheel and rear wheel of electric vehicle are connected with a wheel hub motor assembly, caliper parking mechanism assembly and wheel hub motor assembly are connected with chassis module coordination controller assembly, chassis module coordination controller assembly based on current parking slope and fault type, selectively execute first control strategy and second control strategy;When executing first control strategy, at least by one caliper parking mechanism assembly to provide clamping force;When executing second control strategy, at least by one wheel hub motor assembly to provide reverse torque to rear wheel.The electric vehicle parking multi-redundancy control system of the application coordinates the linkage between wheel hub motor and parking function, one function failure another function timely supplement, realize adaptive redundancy control, ensure the stability of parking function;Can utilize electric vehicle wheel hub motor can independently drive each wheel characteristics, for the different complex working conditions of vehicle, design adaptive safe parking strategy, and have control system independently complete, need not human intervention, improve the safety reliability and driving comfort of vehicle.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of new energy vehicles, and in particular, relates to a parking multi-redundancy control system for an electric vehicle. BACKGROUND

[0002] The popularity of automobiles has led to people's attention to safe driving, which has also become a hot topic among the public. Automobiles are not just a means of transportation, and people have begun to pursue higher levels of comfort and safety. The requirements for automobiles have also begun to lean towards economy, safety, and maneuverability. One of the most important technologies to achieve this requirement is electronic parking brake technology.

[0003] In an electronic parking brake system, the driver can achieve the braking function through a button. The braking process combines a series of signal processing on the vehicle, and the relevant decision function module will issue an instruction signal to the subsequent related mechanism to achieve the parking function.

[0004] The electronic parking brake system commonly used on existing electric vehicles has the following shortcomings:

[0005] (1) It cannot provide redundant electric braking, and the stability of the parking function needs to be further improved;

[0006] (2) The safety and reliability of parking under special complex conditions is poor. Parking under special complex conditions generally includes parking on a large slope of a cement or asphalt road, parking on a muddy and sloping dirt road, and parking on a special road where there is a difference between the tires. SUMMARY

[0007] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a parking multi-redundancy control system for an electric vehicle, which aims to improve vehicle safety.

[0008] To solve the above technical problems, the technical solution adopted by the present application is: a parking multi-redundancy control system for an electric vehicle, comprising two caliper parking mechanism assemblies arranged on two rear wheels of the electric vehicle respectively, the front wheels and the rear wheels of the electric vehicle are connected with a hub motor assembly respectively, the caliper parking mechanism assembly and the hub motor assembly are connected with a chassis module coordination controller assembly, the chassis module coordination controller assembly can selectively execute a first control strategy and a second control strategy based on the current parking slope and the fault type; when the first control strategy is executed, at least one of the caliper parking mechanism assemblies provides a clamping force; when the second control strategy is executed, at least one of the hub motor assemblies provides a reverse torque to the rear wheels.

[0009] The chassis module coordination controller assembly is connected with a slope sensor assembly, and the slope sensor assembly is used to detect the current parking slope.

[0010] The chassis module coordination controller assembly is connected with a power battery pack and a storage battery. The power battery pack inputs high-voltage electricity to the first, second, third and fourth hub motor assemblies through the chassis module coordination controller assembly. The storage battery inputs low-voltage electricity to the first and second caliper parking mechanism assemblies through the chassis module coordination controller assembly. The electric energy of the storage battery is provided by the power battery pack. The first and second caliper parking mechanism assemblies are arranged on the two rear wheels respectively. The first and second hub motor assemblies are connected with the two front wheels respectively. The third and fourth hub motor assemblies are connected with the two rear wheels respectively.

[0011] When the electric vehicle is parked for a long time or parked after being turned off, the parking is completed by the first and second caliper parking mechanism assemblies. The current I1i input by the chassis module coordination controller assembly to the first and second caliper parking mechanism assemblies is calculated according to formula (2). 1i According to formula (1):

[0012]

[0013] Wherein, λ hi is the effective slope coefficient obtained by conversion after the slope sensor assembly inputs the chassis module coordination controller assembly; δ T is the parking ability coefficient of the single-sided caliper; and m is the effective full load of the electric vehicle.

[0014] When the electric vehicle is parked for a long time or parked after being turned off, if one of the caliper parking mechanism assemblies fails and the current parking slope is less than the set slope, the chassis module coordination controller assembly executes the first control strategy to provide clamping force by the caliper parking mechanism assembly that does not fail to realize parking brake.

[0015] When the electric vehicle is parked for a long time or parked after being turned off, if one of the caliper parking mechanism assemblies fails and the current parking slope is not less than the set slope, the chassis module coordination controller assembly executes the first control strategy to provide clamping force by the caliper parking mechanism assembly that does not fail to realize parking brake. The chassis module coordination controller assembly inputs the maximum current to the caliper parking mechanism assembly that does not fail.

[0016] When the chassis module coordination controller assembly executes the second control strategy, the third and fourth hub motor assemblies provide reverse torques to the two rear wheels respectively. The current I2i input by the chassis module coordination controller assembly to the third and fourth hub motor assemblies is calculated according to formula (3).

[0017]

[0018] wherein, λ hi is the effective slope coefficient converted from the slope sensor assembly input to the chassis module coordination controller assembly, K T is the electromagnetic torque coefficient of the third and fourth in-wheel motor assemblies.

[0019] When the chassis module coordination controller assembly executes the second control strategy, if the current parking slope is not less than the set slope, the time for the third and fourth in-wheel motor assemblies to provide reverse torque to the two rear wheels is limited within the first time, and then the chassis module coordination controller assembly executes the first control strategy, the chassis module coordination controller assembly inputs current to the first and second caliper parking mechanism assemblies, the first and second caliper parking mechanism assemblies provide clamping force to the two rear wheels to realize parking brake, and then the high-voltage power supply to the third and fourth in-wheel motor assemblies is stopped.

[0020] When the chassis module coordination controller assembly executes the second control strategy, if the current parking slope is less than the set slope, the time for the third and fourth in-wheel motor assemblies to provide reverse torque to the two rear wheels is limited within the second time, and then the chassis module coordination controller assembly executes the first control strategy, the chassis module coordination controller assembly inputs current to the first and second caliper parking mechanism assemblies, the first and second caliper parking mechanism assemblies provide clamping force to the two rear wheels to realize parking brake, and then the high-voltage power supply to the third and fourth in-wheel motor assemblies is stopped.

[0021] If one of the caliper parking mechanism assemblies fails, the chassis module coordination controller assembly executes the second control strategy, the third and fourth in-wheel motor assemblies provide reverse torque to the two rear wheels, and if the current parking slope is not less than the set slope, the chassis module coordination controller assembly executes the first control strategy, the clamping force is provided by the caliper parking mechanism assembly that does not fail, and the chassis module coordination controller assembly cross-supplies power to the front and rear in-wheel motor assemblies on the same side of the vehicle body as the failed caliper parking mechanism assembly, the front and rear in-wheel motor assemblies provide reverse torque to the front and rear wheels respectively to realize parking brake.

[0022] If one of the caliper band parking mechanism assemblies fails, the chassis module coordination controller assembly executes a second control strategy, the third wheel hub motor assembly and the fourth wheel hub motor assembly provide reverse torques to the two rear wheels respectively; if the current parking slope is less than a set slope, the chassis module coordination controller assembly executes the first control strategy again, the caliper band parking mechanism assembly that does not fail provides clamping force to realize parking brake.

[0023] The application further provides a vehicle comprising the electric vehicle parking multi-redundancy control system.

[0024] The electric vehicle parking multi-redundancy control system coordinates linkage between the wheel hub motor and the parking function, one function compensates for the failure of another function in time, realizes adaptive redundancy control, and ensures stability of the parking function; the characteristics that the electric vehicle wheel hub motor can independently drive each wheel are utilized, adaptive safe parking strategies are designed for different complex working conditions of the vehicle, and the control system is independently completed without human intervention, thereby improving safety reliability and driving comfort of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is a structural schematic diagram of the electric vehicle parking multi-redundancy control system of the application;

[0026] The marks in the above figures are as follows: 1, first wheel hub motor assembly; 2, first wheel hub motor control bus; 3, second wheel hub motor control bus; 4, second wheel hub motor assembly; 5, fourth wheel hub motor assembly; 6, fourth wheel hub motor control bus; 7, first caliper band parking mechanism assembly; 8, first caliper control bus; 9, second caliper control bus; 10, second caliper band parking mechanism assembly; 11, third wheel hub motor control bus; 12, third wheel hub motor assembly; 13, storage battery; 14, power battery pack; 15, chassis module coordination controller assembly; 16, slope sensor assembly. DETAILED DESCRIPTION

[0027] The specific embodiments of the application are further described in detail below with reference to the drawings and the description of the embodiments, the purpose of which is to help those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solution of the application, and to facilitate its implementation.

[0028] It should be noted that when an element is referred to as being "fixedly attached" to another element, it can be directly on the other element or there can be intervening elements, and when an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be intervening elements, the terms "vertical", "horizontal", "up", "down", and similar expressions used herein are for purposes of description and illustration only.

[0029] It should be noted that in the following embodiments, the "first", "second", "third" and "fourth" do not represent the absolute distinction of structure and / or function, nor represent the execution order, but only for the convenience of description.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing specific embodiments only and is not intended to be limiting of the application. The use herein of the terms "and / or" includes a set of one or more associated listed items.

[0031] As shown in Figure 1 The application provides a kind of electric vehicle parking multi-redundancy control system, including two caliper parking mechanism assemblies respectively arranged on the two rear wheels of electric vehicle, the front wheel and rear wheel of electric vehicle are connected with a wheel hub motor assembly, caliper parking mechanism assembly and wheel hub motor assembly are connected with chassis module coordination controller assembly 15, chassis module coordination controller assembly 15 based on current parking slope and fault type, selectively execute first control strategy and second control strategy;When executing first control strategy, at least by one caliper parking mechanism assembly to provide clamping force;When executing second control strategy, at least by one wheel hub motor assembly to provide reverse torque to rear wheel.

[0032] Specifically, as shown in Figure 1 Chassis module coordination controller assembly 15 is connected with slope sensor assembly 16, and slope sensor assembly 16 is used to detect current parking slope.Chassis module coordination controller assembly 15 is connected with power battery pack 14 and storage battery 13, and power battery pack 14 inputs high-voltage electricity to first wheel hub motor assembly 1, second wheel hub motor assembly 4, third wheel hub motor assembly 12 and fourth wheel hub motor assembly 5 through chassis module coordination controller assembly 15, respectively.Storage battery 13 inputs low-voltage electricity to first caliper parking mechanism assembly 7 and second caliper parking mechanism assembly 10 through chassis module coordination controller assembly 15, respectively, and the electric energy of storage battery 13 is provided by power battery pack 14, first caliper parking mechanism assembly 7 and second caliper parking mechanism assembly 10 are arranged on two rear wheels, first wheel hub motor assembly 1 and second wheel hub motor assembly 4 are connected with two front wheels, respectively, third wheel hub motor assembly 12 and fourth wheel hub motor assembly 5 are connected with two rear wheels, respectively, first wheel hub motor assembly 1 and second wheel hub motor assembly 4 are used to drive a front wheel, respectively, third wheel hub motor assembly 12 and fourth wheel hub motor assembly 5 are used to drive a rear wheel, respectively, and the front wheel is located at the head part of electric vehicle, and the rear wheel is located at the tail part of electric vehicle.

[0033] As shown in Figure 1 The first hub motor control bus 2 is installed on the first hub motor assembly 1, the second hub motor control bus 3 is installed on the second hub motor assembly 4, the third hub motor control bus 11 is installed on the third hub motor assembly 12, and the fourth hub motor control bus 6 is installed on the fourth hub motor assembly 5. The input ends of the first hub motor control bus 2, the second hub motor control bus 3, the third hub motor control bus 11 and the fourth hub motor control bus 6 are connected to the output ends of the chassis module coordination controller assembly 15, which is arranged on the vehicle body. The first caliper control bus 8 is installed on the first caliper with parking mechanism assembly 7, and the second caliper control bus 9 is installed on the second caliper with parking mechanism assembly 10. The input ends of the first caliper control bus 8 and the second caliper control bus 9 are connected to the output ends of the chassis module coordination controller assembly 15. The input ends of the chassis module coordination controller assembly 15 and the storage battery 13 are connected to the output ends of the power battery pack 14 in sequence, and the output end of the storage battery 13 is connected to the input end of the chassis module coordination controller assembly 15. The output end of the slope sensor assembly 16 is connected to the input end of the chassis module coordination controller assembly 15.

[0034] For the first working condition, when the electric vehicle is parked for a long time (the parking electronic switch is pulled up) or is parked with the engine off, and the first caliper with parking mechanism assembly 7 and the second caliper with parking mechanism assembly 10 and their control circuits are in normal working condition, the first caliper with parking mechanism assembly 7 and the second caliper with parking mechanism assembly 10 provide clamping force to clamp the brake disc of the wheel, and the parking is completed by the first caliper with parking mechanism assembly 7 and the second caliper with parking mechanism assembly 10. The chassis module coordination controller assembly 15 inputs the current I 1i According to formula (1).

[0035]

[0036] Wherein, λ hi is the effective slope coefficient obtained by conversion after the slope sensor assembly 16 inputs the chassis module coordination controller assembly 15, i.e. the current parking slope; δ T is the parking capacity coefficient of the caliper with parking mechanism assembly; and m is the effective full load of the electric vehicle.

[0037] For the first working condition, when the electric vehicle is parked for a long time or is parked with the engine off, if one of the caliper with parking mechanism assemblies fails or its corresponding single-sided control circuit is abnormal, such as the first caliper with parking mechanism assembly 7 or the second caliper with parking mechanism assembly 10 fails or its corresponding single-sided control circuit is abnormal, the caliper with parking mechanism assembly cannot provide clamping force, and the current parking slope λhi less than the set slope λ max If the current slope λ is not less than the set slope λ, the chassis module coordination controller assembly 15 executes the first control strategy, the non-faulty caliper with parking mechanism assembly provides the clamping force, the parking brake is realized by the single caliper, and the non-faulty caliper with parking mechanism assembly clamps one of the rear wheels. At this time, the chassis module coordination controller assembly 15 inputs the current I to the non-faulty caliper with parking mechanism assembly. 1i According to formula (2).

[0038]

[0039] wherein ω is the parking safety reinforcement coefficient; λ hi is the effective slope coefficient obtained by conversion after the slope sensor assembly 16 inputs the chassis module coordination controller assembly 15, i.e., the current parking slope; δ T is the parking capacity coefficient of the caliper with parking mechanism assembly; and m is the effective full load of the electric vehicle.

[0040] For the first working condition, if one of the caliper with parking mechanism assemblies is faulty or the corresponding single control loop is abnormal, such as the first caliper with parking mechanism assembly 7 or the second caliper with parking mechanism assembly 10 is faulty or the corresponding single control loop is abnormal, the caliper with parking mechanism assembly cannot provide the clamping force, and the current parking slope λ hi is not less than the set slope λ max , the chassis module coordination controller assembly 15 executes the first control strategy, the non-faulty caliper with parking mechanism assembly provides the clamping force, realizes the parking brake, and the chassis module coordination controller assembly 15 inputs the maximum current I max to the non-faulty caliper with parking mechanism assembly, the non-faulty caliper with parking mechanism assembly clamps one of the rear wheels. At this time, the parking fault light on the instrument panel can also be turned on, and the instrument displays the prompt information “the slope is too high, please drive away as soon as possible”, so that the driver can timely understand the vehicle condition and the type of fault.

[0041] For the second working condition, the first caliper with parking mechanism assembly 7 and the second caliper with parking mechanism assembly 10 and their control circuit functions are normal, when the vehicle automatic parking function is turned on, the chassis module coordination controller assembly 15 executes the second control strategy, the chassis module coordination controller assembly 15 supplies power to the third wheel hub motor assembly 12 and the fourth wheel hub motor assembly 5, the third wheel hub motor assembly 12 and the fourth wheel hub motor assembly 5 operate, the third wheel hub motor assembly 12 and the fourth wheel hub motor assembly 5 respectively provide reverse torque to the two rear wheels (when the electric vehicle is running, the third wheel hub motor assembly 12 and the fourth wheel hub motor assembly 5 respectively provide positive torque to the two rear wheels, the operating direction of the wheel hub motor assembly when providing positive torque is opposite to the operating direction of the wheel hub motor assembly when providing reverse torque), so that the electric vehicle completes parking on the slope; during this process, the chassis module coordination controller assembly 15 inputs the current I 2i According to formula (3);

[0042]

[0043] Wherein, λ hi is the effective slope coefficient obtained by the chassis module coordination controller assembly 15 after converting the input of the slope sensor assembly 16, K T is the electromagnetic torque coefficient of the third wheel hub motor assembly 12 and the fourth wheel hub motor assembly 5.

[0044] For the second working condition, the first caliper with parking mechanism assembly 7 and the second caliper with parking mechanism assembly 10 and their control circuit functions are normal, when the vehicle automatic parking function is turned on, the chassis module coordination controller assembly 15 executes the second control strategy, the current parking slope λ hi is not less than the set slope λ maxWhen the current slope λ is less than the set slope λ, the chassis module coordination controller assembly 15 supplies power to the third in-wheel motor assembly 12 and the fourth in-wheel motor assembly 5, the third in-wheel motor assembly 12 and the fourth in-wheel motor assembly 5 operate, the third in-wheel motor assembly 12 and the fourth in-wheel motor assembly 5 provide reverse torques to the two rear wheels respectively, and the duration of providing the reverse torques is limited within the first time, which is 10s. Then the chassis module coordination controller assembly 15 executes the first control strategy, the chassis module coordination controller assembly 15 inputs current to the first caliper band parking mechanism assembly 7 and the second caliper band parking mechanism assembly 10, the first caliper band parking mechanism assembly 7 and the second caliper band parking mechanism provide clamping force to the two rear wheels, and parking brake is realized by using the caliper. Then the chassis module coordination controller assembly 15 stops supplying high-voltage power to the third in-wheel motor assembly 12 and the fourth in-wheel motor assembly 5, and the third in-wheel motor assembly 12 and the fourth in-wheel motor assembly 5 stop operating. In this process, the current I input by the chassis module coordination controller assembly 15 to the caliper band parking mechanism assembly and the second caliper band parking mechanism assembly 10 is calculated according to formula (1). 1i According to formula (1).

[0045] For the second working condition, the first caliper band parking mechanism assembly 7 and the second caliper band parking mechanism assembly 10 and their control loop functions are normal, and when the vehicle automatic parking function is turned on, the chassis module coordination controller assembly 15 executes the second control strategy, and the current parking slope λ hi is less than the set slope λ max , the chassis module coordination controller assembly 15 supplies power to the third in-wheel motor assembly 12 and the fourth in-wheel motor assembly 5, the third in-wheel motor assembly 12 and the fourth in-wheel motor assembly 5 operate, the third in-wheel motor assembly 12 and the fourth in-wheel motor assembly 5 provide reverse torques to the two rear wheels respectively, and the duration of providing the reverse torques is limited within the second time, which is 10min. Then the chassis module coordination controller assembly 15 executes the first control strategy, the chassis module coordination controller assembly 15 inputs current to the first caliper band parking mechanism assembly 7 and the second caliper band parking mechanism assembly 10, the first caliper band parking mechanism assembly 7 and the second caliper band parking mechanism provide clamping force to the two rear wheels, and parking brake is realized by using the caliper. Then the chassis module coordination controller assembly 15 stops supplying high-voltage power to the third in-wheel motor assembly 12 and the fourth in-wheel motor assembly 5, and the third in-wheel motor assembly 12 and the fourth in-wheel motor assembly 5 stop operating. In this process, the current I input by the chassis module coordination controller assembly 15 to the caliper band parking mechanism assembly and the second caliper band parking mechanism assembly 10 is calculated according to formula (1). 1i According to formula (1).

[0046] For the third operating condition, if one of the caliper-parking mechanism assemblies malfunctions or its corresponding single-sided control circuit malfunctions, such as the first caliper-parking mechanism assembly 7 or the second caliper-parking mechanism assembly 10 malfunctioning or its corresponding single-sided control circuit malfunctioning, the malfunctioning caliper-parking mechanism assembly cannot provide clamping force. When the vehicle's automatic parking function is engaged, the chassis module coordination controller assembly 15 executes the second control strategy. The chassis module coordination controller assembly 15 supplies power to the third hub motor assembly 12 and the fourth hub motor assembly 5, causing them to operate. The third hub motor assembly 12 and the fourth hub motor assembly 5 respectively provide reverse torque to the two rear wheels. During this process, the current I input from the chassis module coordination controller assembly 15 to the third hub motor assembly 12 and the fourth hub motor assembly 5... 2i Calculated according to formula (3). If the current parking slope λ hi Not less than the set slope λ max When the faulty caliper and parking mechanism assembly 15 is activated, it executes the first control strategy again. The caliper and parking mechanism assembly that is not malfunctioning (such as the first caliper and parking mechanism assembly 7 or the second caliper and parking mechanism assembly 10) provides clamping force. Simultaneously, the chassis module coordination controller assembly 15 provides cross-power to the front and rear hub motor assemblies located on the same side of the vehicle as the malfunctioning caliper and parking mechanism assembly. The front and rear hub motor assemblies provide reverse torque to the front and rear wheels respectively, achieving parking braking. During this process, the current I input by the chassis module coordination controller assembly 15 to the front and rear hub motor assemblies... 3i Calculate according to formula (4).

[0047]

[0048] Where δ is the correlation coefficient of pre-parking; K H The electromagnetic torque coefficients of the first hub motor assembly 1 and the second hub motor assembly 4 are given.

[0049] like Figure 1 As shown, the first wheel hub motor assembly 1, the second caliper with parking mechanism assembly 10, and the third wheel hub motor assembly 12 are located on the same side of the vehicle body (left side of the vehicle body), and the second wheel hub motor assembly 4, the first caliper with parking mechanism assembly 7, and the fourth wheel hub motor assembly 5 are located on the same side of the vehicle body (right side of the vehicle body).

[0050] For the third working condition, if the first caliper with parking mechanism assembly 7 fails, the chassis module coordination controller assembly 15 supplies power to the second wheel hub motor assembly 4 and the fourth wheel hub motor assembly 5 in cross, the second wheel hub motor assembly 4 and the fourth wheel hub motor assembly 5 operate, the second wheel hub motor assembly 4 and the fourth wheel hub motor assembly 5 alternately provide reverse torque to the front and rear wheels, and the interval time is set as the third time during cross power supply each time, and the third time is 10 min; if the second caliper with parking mechanism assembly 10 fails, the chassis module coordination controller assembly 15 supplies power to the first wheel hub motor assembly 1 and the third wheel hub motor assembly 12 in cross, the first wheel hub motor assembly 1 and the third wheel hub motor assembly 12 operate, the first wheel hub motor assembly 1 and the third wheel hub motor assembly 12 alternately provide reverse torque to the front and rear wheels, and the interval time is set as the third time during cross power supply each time.

[0051] For the third working condition, if one of the caliper with parking mechanism assemblies fails or the corresponding single-sided control loop function is abnormal, for example, the first caliper with parking mechanism assembly 7 or the second caliper with parking mechanism assembly 10 fails or the corresponding single-sided control loop function is abnormal, the failed caliper with parking mechanism assembly cannot provide clamping force, and the vehicle automatic parking function is turned on, the chassis module coordination controller assembly 15 executes the second control strategy, the chassis module coordination controller assembly 15 supplies power to the third wheel hub motor assembly 12 and the fourth wheel hub motor assembly 5, the third wheel hub motor assembly 12 and the fourth wheel hub motor assembly 5 operate, and the third wheel hub motor assembly 12 and the fourth wheel hub motor assembly 5 provide reverse torque to the two rear wheels, respectively; during this process, the current I 2i is calculated according to formula (3). If the current parking slope λ hi is less than the set slope λ max , the chassis module coordination controller assembly 15 executes the first control strategy again, the clamping force is provided by the caliper with parking mechanism assembly that does not fail (for example, the first caliper with parking mechanism assembly 7 or the second caliper with parking mechanism assembly 10), the parking brake is realized, and during this process, the current I 1i input by the chassis module coordination controller assembly 15 to the first caliper with parking mechanism assembly 7 and the second caliper with parking mechanism assembly 10 is calculated according to formula (2).

[0052] For the fourth working condition, if both the first caliper band parking mechanism assembly 7 and the second caliper band parking mechanism assembly 10 fail or their corresponding single-side control loop functions are abnormal, the parking actuator cannot complete the parking action, the caliper band parking mechanism assembly cannot provide clamping force, and the vehicle automatic parking function is turned on, the chassis module coordination controller assembly 15 executes the second control strategy, the chassis module coordination controller assembly 15 supplies power to the third wheel hub motor assembly 12 and the fourth wheel hub motor assembly 5, the third wheel hub motor assembly 12 and the fourth wheel hub motor assembly 5 operate, and the third wheel hub motor assembly 12 and the fourth wheel hub motor assembly 5 respectively provide reverse torques to the two rear wheels; in this process, the chassis module coordination controller assembly 15 inputs the current I 2i According to formula (3).

[0053] For the fourth working condition described above, the chassis module coordination controller assembly 15 executes the second control strategy, and if the current parking slope λ hi is not less than the set slope λ max , the chassis module coordination controller assembly 15 supplies power to the front and rear wheel hub motor assemblies (the front wheel hub motor assembly includes the first wheel hub motor assembly 1 and the second wheel hub motor assembly 4, and the rear wheel hub motor assembly includes the third wheel hub motor assembly 12 and the fourth wheel hub motor assembly 5), and the front and rear wheel hub motor assemblies alternately provide reverse torques to the front and rear wheels, respectively. The interval time is set to the fourth time when cross-powering, the fourth time is 3 min, and parking braking is realized; in this process, the chassis module coordination controller assembly 15 inputs the current I 3i According to formula (4).

[0054] For the fourth working condition described above, the chassis module coordination controller assembly 15 executes the second control strategy, and if the current parking slope λ hi is less than the set slope λ max , the chassis module coordination controller assembly 15 supplies power to the front and rear wheel hub motor assemblies (the front wheel hub motor assembly includes the first wheel hub motor assembly 1 and the second wheel hub motor assembly 4, and the rear wheel hub motor assembly includes the third wheel hub motor assembly 12 and the fourth wheel hub motor assembly 5), and the front and rear wheel hub motor assemblies alternately provide reverse torques to the front and rear wheels, respectively. The interval time is set to the fifth time when cross-powering, the fifth time is 10 min, and parking braking is realized; in this process, the chassis module coordination controller assembly 15 inputs the current I 3i According to formula (4), the chassis module coordination controller assembly 15 inputs the current I 3i According to formula (3).

[0055] In the embodiment, the first time is 10s, the second time is 10min, the third time is 10min, the fourth time is 3min, and the fifth time is 10min.

[0056] When a vehicle is parked on a flat road or a sloping road, two basic conditions are usually required to ensure the reliability of the vehicle parking after the electronic parking switch is pulled up:

[0057] One of the conditions is that there is no relative rotation between the brake disc and the brake pad of the front wheel where the vehicle parking mechanism is located, i.e., no rotation of the tire.

[0058] The other condition is that there is sufficient adhesion between the tire where the parking mechanism is located and the road surface, i.e., no relative sliding between the road surface and the tire.

[0059] Therefore, in the case where the adhesion coefficient between the parking tire and the road surface is insufficient on a special road, after the 4-wheel parking is adopted, the adhesion between the whole vehicle and the road surface is increased from 2 to 4, and the adhesion is basically doubled, thereby enhancing the reliability.

[0060] In another embodiment of the application, the application further provides a vehicle adopting the above-mentioned electric vehicle parking multi-redundancy control system.

[0061] The above has described the application by way of example in conjunction with the drawings, and it is obvious that the specific implementation of the application is not limited by the above-mentioned manner, as long as various non-essential improvements are made by adopting the method concept and technical solution of the application, or the concept and technical solution of the application is directly applied to other occasions without improvement, which are all within the protection scope of the application.

Claims

1. A multi-redundant parking control system for electric vehicles, comprising two caliper-with-parking-mechanism assemblies respectively mounted on the two rear wheels of the electric vehicle, wherein the front wheels and rear wheels of the electric vehicle are each connected to a hub motor assembly, characterized in that, The caliper with parking mechanism assembly and the wheel hub motor assembly are connected to the chassis module coordination controller assembly. The chassis module coordination controller assembly can selectively execute a first control strategy and a second control strategy based on the current parking slope and fault type. When executing the first control strategy, at least one of the caliper with parking mechanism assemblies provides clamping force. When the second control strategy is executed, at least one of the hub motor assemblies provides a reverse torque to the rear wheel; The chassis module coordination controller assembly is connected to the slope sensor assembly, which is used to detect the current parking slope. The chassis module coordination controller assembly is connected to the power battery pack and the storage battery. The power battery pack inputs high-voltage electricity to the first wheel hub motor assembly, the second wheel hub motor assembly, the third wheel hub motor assembly, and the fourth wheel hub motor assembly through the chassis module coordination controller assembly. The storage battery inputs low-voltage electricity to the first caliper with parking mechanism assembly and the second caliper with parking mechanism assembly through the chassis module coordination controller assembly. The power of the storage battery is provided by the power battery pack. The first caliper with parking mechanism assembly and the second caliper with parking mechanism assembly are respectively installed on the two rear wheels. The first wheel hub motor assembly and the second wheel hub motor assembly are respectively connected to the two front wheels. The third wheel hub motor assembly and the fourth wheel hub motor assembly are respectively connected to the two rear wheels.

2. The electric vehicle parking multi-redundancy control system according to claim 1, characterized in that, When the electric vehicle is parked for an extended period or parked with the engine off, parking is accomplished by the first caliper-with-parking mechanism assembly and the second caliper-with-parking mechanism assembly. The chassis module coordination controller assembly inputs current to the first caliper-with-parking mechanism assembly and the second caliper-with-parking mechanism assembly. Calculate according to formula (1): ； in, The effective slope coefficient is obtained by inputting the slope sensor assembly into the chassis module coordination controller assembly and then converting it. The parking capability coefficient for a single-sided caliper; This refers to the effective full load of an electric vehicle.

3. The electric vehicle parking multi-redundancy control system according to claim 1, characterized in that, When the electric vehicle is parked for a long time or parked with the engine off, if one of the caliper and parking mechanism assemblies malfunctions and the current parking slope is less than the set slope, the chassis module coordination controller assembly executes the first control strategy, in which the caliper and parking mechanism assembly that has not malfunctioned provides clamping force to achieve parking braking.

4. The electric vehicle parking multi-redundancy control system according to claim 3, characterized in that, When the electric vehicle is parked for a long time or parked with the engine off, if one of the caliper and parking mechanism assemblies malfunctions and the current parking slope is not less than the set slope, the chassis module coordination controller assembly executes the first control strategy, and the caliper and parking mechanism assembly that has not malfunctioned provides clamping force to achieve parking braking. The chassis module coordination controller assembly inputs the maximum current to the caliper and parking mechanism assembly that has not malfunctioned.

5. The electric vehicle parking multi-redundancy control system according to claim 1, characterized in that, When the chassis module coordination controller assembly executes the second control strategy, the third and fourth hub motor assemblies respectively provide reverse torque to the two rear wheels, and the current input from the chassis module coordination controller assembly to the third and fourth hub motor assemblies... Calculate according to formula (3): ； in, The effective slope coefficient is obtained by converting the input from the slope sensor assembly to the chassis module coordination controller assembly. The electromagnetic torque coefficients of the third and fourth hub motor assemblies are given.

6. The electric vehicle parking multi-redundancy control system according to claim 1, characterized in that, When the chassis module coordination controller assembly executes the second control strategy, the current parking slope is not less than the set slope. The time for the third and fourth wheel hub motor assemblies to provide reverse torque to the two rear wheels is limited to a first time period. Then, the chassis module coordination controller assembly executes the first control strategy. The chassis module coordination controller assembly inputs current to the first caliper with parking mechanism assembly and the second caliper with parking mechanism assembly. The first caliper with parking mechanism assembly and the second caliper with parking mechanism assembly provide clamping force to the two rear wheels to achieve parking brake. Then, the supply of high voltage to the third and fourth wheel hub motor assemblies is stopped.

7. The electric vehicle parking multi-redundancy control system according to claim 1, characterized in that, When the chassis module coordination controller assembly executes the second control strategy, the current parking slope is less than the set slope. The time during which the third and fourth wheel hub motor assemblies provide reverse torque to the two rear wheels is limited to a second time period. Then, the chassis module coordination controller assembly executes the first control strategy, inputting current to the first caliper with parking mechanism assembly and the second caliper with parking mechanism assembly. The first caliper with parking mechanism assembly and the second caliper with parking mechanism assembly provide clamping force to the two rear wheels to achieve parking braking. Then, the supply of high voltage to the third and fourth wheel hub motor assemblies is stopped.

8. The electric vehicle parking multi-redundancy control system according to claim 1, characterized in that, If one of the caliper and parking mechanism assemblies malfunctions, the chassis module coordination controller assembly executes a second control strategy, and the third and fourth hub motor assemblies respectively provide reverse torque to the two rear wheels.

9. The electric vehicle parking multi-redundancy control system according to claim 8, characterized in that, If the current parking slope is not less than the set slope, the chassis module coordination controller assembly will execute the first control strategy again. The caliper and parking mechanism assembly that has not malfunctioned will provide clamping force. At the same time, the chassis module coordination controller assembly will cross-supply the front and rear hub motor assemblies that are on the same side of the vehicle as the malfunctioning caliper and parking mechanism assembly. The front and rear hub motor assemblies will provide reverse torque to the front and rear wheels respectively to achieve parking braking.

10. The electric vehicle parking multi-redundancy control system according to claim 8, characterized in that, If the current parking slope is less than the set slope, the chassis module coordination controller assembly will execute the first control strategy again, and the caliper and parking mechanism assembly that has not failed will provide clamping force to achieve parking braking.

11. A vehicle, characterized in that, Including the electric vehicle parking multi-redundancy control system as described in any one of claims 1-10.

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