Parking performance detection method and electronic equipment of electronic parking brake system

Abstract

The present invention discloses a parking performance detection method and electronic device for an electronic parking brake system. The method comprises: controlling a motor to perform a preloading process, obtaining a first test parameter set during the preloading process, wherein the first test parameter set is used to determine whether to re-control the motor to perform the preloading process; after the preloading process is completed, controlling the motor to perform a test loading process, obtaining a second test parameter set for the test loading process, wherein the test loading process comprises a second braking stage and a third release stage performed in sequence; and determining the performance of the electronic parking brake system according to the second test parameter set. According to various faults that occur during the actual use of the EPB product, the present invention adds a variety of test parameters during the test process to improve the comprehensiveness of the test parameters, and can obtain sufficient data support after the EPB product fails, so that the fault of the EPB product can be quickly resolved.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicles, and in particular relates to a parking performance detection method and electronic equipment of an electronic parking brake system. Background Art

[0002] The Electronic Park Brake (EPB) system is an important component of the automobile braking system, providing an important guarantee for safe driving. When it works normally, it can realize multiple energy supplies such as static parking and release, automatic parking and release, dynamic parking, etc., and can participate in the coordinated work of the braking system in many other emergency situations.

[0003] Usually, manufacturers will test EPB products before they leave the factory, and test the performance of EPB products by executing the corresponding actions of EPB products in actual use. However, in the current testing methods, only a small number of parameters are tested. When new problems occur in EPB products, there is no corresponding data support, and new problems of EPB products cannot be quickly solved. Summary of the invention

[0004] An object of the present invention is to provide a parking performance detection method and electronic equipment for an electronic parking brake system, which can solve the technical problem in the prior art that when new problems occur in EPB products, corresponding data support cannot be obtained.

[0005] According to a first aspect of the present invention, a parking performance detection method of an electronic parking brake system is provided, comprising:

[0006] Controlling the motor to perform a preloading process, and obtaining a first test parameter set in the preloading process, wherein the preloading process includes a first release phase, a first braking phase, and a second release phase performed in sequence, and the first test parameter set is used to determine whether to re-control the motor to perform the preloading process;

[0007] After the preloading process is finished, controlling the motor to perform a test loading process, and obtaining a second test parameter set of the test loading process, wherein the test loading process includes a second braking stage and a third release stage performed in sequence;

[0008] A performance of the electronic parking brake system is determined based on the second test parameter set.

[0009] Optionally, the first test parameter set includes a first target parameter in the first release phase and a second target parameter in the first braking phase;

[0010] The controlling the motor to perform a preloading process and obtaining a first test parameter set in the preloading process includes:

[0011] Controlling the motor to perform a release action and enter the first release stage;

[0012] Detecting first target parameters in the first release phase, wherein the first target parameters include motor current, clamping force, motor voltage, and a timeout period for the motor to be released in the first release phase;

[0013] When the first target parameter satisfies a first preset condition, controlling the motor to stop releasing and exiting the first release phase;

[0014] Controlling the motor to perform a braking action and enter the first braking stage;

[0015] detecting a second target parameter in the first braking stage;

[0016] After the first braking stage ends, controlling the motor to perform a release action and entering the second releasing stage;

[0017] After the second release phase ends, the preloading process ends.

[0018] Optionally, the first preset condition includes: the motor current is greater than 1A, the clamping force is less than 500N, the voltage is within a preset voltage range, and the timeout period is less than 5s.

[0019] Optionally, detecting the second target parameter in the first braking stage includes:

[0020] Starting pre-action to control the motor to perform braking action;

[0021] After a delay of 10ms, determine whether the number of pre-actions is greater than zero;

[0022] If the number of pre-actions is greater than zero, the pre-action will be closed and the minimum clamping force will be calculated after a delay of 500ms.

[0023] In the pre-action closing stage, the motor no-load time, pre-action timeout time, and the fluctuation value of the motor current in the pre-action stage are calculated. The motor no-load time is the time required for the motor to brake from the start to the force greater than 300N and the piston to contact the caliper;

[0024] If the motor no-load time, the pre-action timeout time, and the fluctuation value of the motor current in the pre-action stage meet the second preset condition, the pre-action shutdown ends, wherein the second preset condition is that the motor no-load time is greater than the first preset time, the pre-action timeout time is greater than the second preset time, and the fluctuation value of the motor current in the pre-action stage is greater than the preset minimum current value;

[0025] If not satisfied, perform the pre-action again;

[0026] After the pre-action closing is completed, it delays 10ms to enter the second release stage.

[0027] Optionally, the second test parameter set includes a third target parameter in the second braking stage and a fourth target parameter in the third release stage, and after the preloading process is completed, controlling the motor to perform a test loading process to obtain a second test parameter set for the test loading process includes:

[0028] After the preloading process is completed, the motor is controlled to perform a braking action and enter the second braking stage;

[0029] detecting a third target parameter in the second braking stage;

[0030] detecting unqualified items in the third target parameter;

[0031] If there is an unqualified item in the third target parameter, repeatedly controlling the motor to perform a braking action and detecting the third target parameter again;

[0032] After there is no unqualified item in the third target parameter, exit the second braking stage, control the motor to perform a release action, and enter the third release stage;

[0033] A fourth target parameter is detected during the third release phase.

[0034] Optionally, the third target parameter includes: forward starting current peak value, forward no-load current, minimum current value in no-load stage, current fluctuation value in idle stage, forward no-load pressure, maximum clamping current, motor no-load time, maximum clamping force value during motor power-off time, minimum clamping force value during motor power-off time, and difference between maximum and minimum clamping force value during motor power-off time;

[0035] The forward no-load current is the current average of 1000 consecutive samples after the motor brakes for 250ms;

[0036] The forward no-load pressure is the average value of the force applied to the motor after 250ms of braking;

[0037] The maximum clamping current is the maximum current within the pressure range of 300N-15000N;

[0038] The detection process of the current fluctuation value in the idle stage includes: obtaining 1000 current values ​​after a delay of 200ms after the clamping force is less than 300N, wherein every 10 consecutive current values ​​are averaged, and then the difference between the maximum average and the minimum average is calculated as the current fluctuation value in the idle stage.

[0039] Optionally, the fourth target parameter includes: the reverse starting current peak, the instantaneous current value 200ms after the start of motor release, the time required from the start of motor release to the clamping force being less than 300N, the current average of 1000 current samples after a delay of 250ms from the moment the clamping force is less than 300N, and the minimum current value in the release stage.

[0040] Optionally, determining the performance of the electronic parking brake system according to the second test parameter set includes:

[0041] Obtain the maximum value and the minimum value corresponding to each test parameter in the second test parameter set;

[0042] Determine whether each test parameter in the second test parameter set is within the range of the maximum value and the minimum value corresponding to the test parameter, and obtain a detection result of each test parameter in the second test parameter set;

[0043] The parking performance of the electronic parking brake system is determined according to the detection result of each test parameter in the second test parameter set.

[0044] According to a second aspect of the present invention, there is provided an electronic device comprising a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of a parking performance detection method for an electronic parking brake system as described in the first aspect of the present invention are implemented.

[0045] According to a third aspect of the present invention, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of a parking performance detection method for an electronic parking brake system as described in the first aspect of the present invention are implemented.

[0046] The beneficial effect of the present invention is that: according to various faults that occur in the actual use of EPB products, the present invention adds multiple test parameters during the test process, including multiple parameters in the motor release phase and multiple parameters in the motor braking phase, so as to improve the comprehensiveness of the test parameters. On the one hand, the qualified rate of EPB products is improved and the probability of product failure is reduced. On the other hand, after the EPB product fails, sufficient data support can be obtained, so that the failure of the EPB product can be quickly resolved. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 The figure is a flow chart of a parking performance detection method of an electronic parking brake system in an embodiment of the present invention.

[0048] Figure 2 1 is a schematic diagram of detection curves of current, voltage and braking force during the parking performance detection process of the electronic parking brake system in an embodiment of the present invention. DETAILED DESCRIPTION

[0049] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0050] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0051] The techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and devices should be considered as part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0052] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0053] In the specification and claims of the present invention, if the term "first" or "second" is involved, it may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally means that the related objects are in an "or" relationship.

[0054] like Figure 1 As shown, this embodiment introduces a parking performance detection method for an electronic parking brake system, including steps 1100-1300.

[0055] Step 1100: Control the motor to perform a preloading process and obtain a first test parameter set in the preloading process, wherein the preloading process includes a first release phase, a first braking phase, and a second release phase performed in sequence, and the first test parameter set is used to determine whether to re-control the motor to perform the preloading process.

[0056] Step 1200: After the preloading process is completed, the motor is controlled to perform a test loading process to obtain a second test parameter set for the test loading process, wherein the test loading process includes a second braking stage and a third release stage performed in sequence.

[0057] Step 1300: Determine the performance of the electronic parking brake system according to the second test parameter set.

[0058] During the braking process, the motor rotates to drive the piston, which drives the caliper, and the caliper applies clamping force to achieve braking.

[0059] In the present invention, when the parking performance of the EPB product is tested, the product is first preloaded. The preloading process is used to determine whether the performance of each component of the product is intact. Specifically, it is determined whether the first test parameter set meets the corresponding conditions. If so, it indicates that the performance of each component of the product is intact, and the next test process can be entered.

[0060] If it is not satisfied, it may be that some components in the product are faulty, or the components of the product are not well-matched. In this case, the preloading process is repeated several times to allow the components of the product to be fully well-matched, so as to avoid the problem of insufficient running-in between the components of the product during the test. If it is still not satisfied after repeating the preloading process several times, it means that the product component itself is faulty.

[0061] Specifically, the preloading process includes a first release stage, a first braking stage, and a second release stage. A complete action of the motor includes release and braking. After the motor performs a complete action, that is, after the first release stage and the first braking stage, the motor is released again, that is, the second release stage. After the motor is released, the power needs to be cut off to the motor, and the test loading process is entered after the second release stage. Since the motor is in a released state before power failure, and is powered on immediately after power failure, the direction of motor rotation remains the same as before. In this way, the starting current of the motor during the test loading process can be reduced.

[0062] like Figure 2 As shown, the clamping force curve before and after the first peak at 5000ms corresponds to the preloading process, while the clamping force curve before and after the second peak at 14000ms corresponds to the test loading process.

[0063] The second test parameter set is detected during the test loading process, and the performance of the EPB product is finally determined according to the second test parameter set.

[0064] In this embodiment, the first test parameter set includes a first target parameter in the first release phase and a second target parameter in the first braking phase.

[0065] The step 1100 includes steps 1110 - 1170 .

[0066] Step 1110: Control the motor to perform a release action and enter the first release phase.

[0067] Step 1120: Detect first target parameters in the first release phase, wherein the first target parameters include motor current, clamping force, motor voltage, and a timeout period for the motor release in the first release phase.

[0068] Step 1130: When the first target parameter satisfies a first preset condition, control the motor to stop releasing and exit the first release phase.

[0069] Step 1140: Control the motor to perform braking action and enter the first braking stage.

[0070] Step 1150: Detect a second target parameter in the first braking phase.

[0071] Step 1160: After the first braking stage ends, control the motor to perform a release action and enter the second release stage.

[0072] Step 1170: After the second release phase ends, end the preloading process.

[0073] During the preloading process, the brake is first opened and the motor is released, entering the first release stage. Then the motor is braked, entering the first braking stage. Then the motor is released again, entering the second release stage, and finally the preloading process ends.

[0074] The first target parameter is detected in the first release phase. If the first target parameter meets the first preset condition, the motor ends the release. If the first target parameter does not meet the first preset condition, the test is repeated. The first target parameter is used to determine whether to end the first release phase. The second target parameter is detected in the first braking phase, and the second target parameter is used to determine whether to end the first braking phase.

[0075] In the second release stage, the motor is first controlled to perform a release action, and then the motor is powered off after a delay period, and then the second release stage ends.

[0076] In this embodiment, the first preset condition includes: the motor current is greater than 1A, the clamping force is less than 500N, the voltage is within a preset voltage range, and the timeout period is less than 5s.

[0077] In this embodiment, step 1150 includes steps 1151-1157.

[0078] Step 1151: Start pre-action and control the motor to perform braking action.

[0079] Step 1152: After a delay of 10 ms, determine whether the number of pre-actions is greater than zero.

[0080] Step 1153: If the number of pre-actions is greater than zero, start closing the pre-action, and calculate the minimum clamping force after a delay of 500ms.

[0081] Step 1154: Calculate the motor no-load time, pre-action timeout time, and motor current fluctuation value in the pre-action closing stage. The motor no-load time is the time required from the start of motor braking to the force being greater than 300N and the piston contacting the caliper.

[0082] Step 1155: If the motor no-load time, the pre-action timeout time, and the fluctuation value of the motor current in the pre-action stage meet the second preset condition, the pre-action shutdown ends, wherein the second preset condition is that the motor no-load time is greater than the first preset time, the pre-action timeout time is greater than the second preset time, and the fluctuation value of the motor current in the pre-action stage is greater than the preset minimum current value.

[0083] Step 1156: If not satisfied, perform pre-action again.

[0084] Step 1157: After the pre-action closing is completed, a delay of 10ms is made to enter the second release stage.

[0085] In the first braking stage, the motor is first allowed to perform the braking action. After a delay of 10ms, the pre-action times are determined. If the motor successfully performs the braking work, the pre-action times are increased by one. At this time, the pre-action times are greater than zero, and the pre-action closing stage is entered. Pre-action closing means that the motor stops braking.

[0086] In the pre-action closing stage, the motor no-load time, the pre-action timeout time, and the fluctuation value of the motor current in the pre-action stage are calculated to determine whether the pre-action is ended.

[0087] After the pre-action is completed, it delays 10ms to enter the second release stage.

[0088] In this embodiment, the second test parameter set includes a third target parameter in the second braking phase and a fourth target parameter in the third releasing phase.

[0089] The step 1200 includes steps 1210 - 1260 .

[0090] Step 1210: After the preloading process is completed, the motor is controlled to perform a braking action and enter the second braking stage.

[0091] Step 1220: Detect a third target parameter in the second braking phase.

[0092] Step 1230: Detect unqualified items in the third target parameter.

[0093] Step 1240: If there are unqualified items in the third target parameter, repeatedly control the motor to perform the braking action and detect the third target parameter again.

[0094] Step 1250: After there are no unqualified items in the third target parameter, exit the second braking stage, control the motor to perform a release action, and enter the third release stage.

[0095] Step 1260: Detect a fourth target parameter in the third release phase.

[0096] In this embodiment, the third target parameter includes: forward starting current peak, forward no-load current, minimum current in the no-load stage, current fluctuation value in the idle stage, forward no-load pressure, maximum clamping current, motor no-load time, maximum clamping force during the motor power-off time, minimum clamping force during the motor power-off time, and the difference between the maximum and minimum clamping force during the motor power-off time.

[0097] The forward no-load current is the current average of 1000 consecutive samples after the motor brakes for 250ms.

[0098] The forward no-load pressure is the average value of the force applied to the motor after the motor brakes for 250ms.

[0099] The maximum clamping current is the maximum current within the pressure range of 300N-15000N.

[0100] The detection process of the current fluctuation value in the idle stage includes: obtaining 1000 current values ​​after a delay of 200ms after the clamping force is less than 300N, wherein every 10 consecutive current values ​​are averaged, and then the difference between the maximum average and the minimum average is calculated as the current fluctuation value in the idle stage. The motor is unloaded in the idle stage.

[0101] In this embodiment, the fourth target parameter includes: the reverse starting current peak, the instantaneous current value 200ms after the motor is released, the time required for the motor to be released to the clamping force being less than 300N, the current average of 1000 current samples after a delay of 250ms from the moment the clamping force is less than 300N, and the minimum current value in the release stage.

[0102] According to various faults that occur in the actual use of EPB products, the present invention adds multiple test parameters during the test process, including multiple parameters in the motor release phase and multiple parameters in the motor braking phase, so as to improve the comprehensiveness of the test parameters. On the one hand, the qualified rate of EPB products is improved and the probability of product failure is reduced. On the other hand, after the EPB product fails, sufficient data support can be obtained, so that the failure of the EPB product can be quickly resolved.

[0103] In this embodiment, step 1300 includes steps 1310 - 1330 .

[0104] Step 1310: Obtain the maximum value and the minimum value corresponding to each test parameter in the second test parameter set.

[0105] Step 1320: Determine whether each test parameter in the second test parameter set is within the range of the maximum value and the minimum value corresponding to the test parameter, and obtain the detection result of each test parameter in the second test parameter set.

[0106] Step 1330: Determine the parking performance of the electronic parking brake system according to the detection result of each test parameter in the second test parameter set.

[0107] After obtaining the second test parameter set, determine whether the test parameter is qualified based on the maximum and minimum values ​​of each test parameter. The maximum and minimum values ​​of each test parameter are determined based on industry standards and the actual experience of technicians. If the test parameter is within the range of the maximum and minimum values, it means that the test parameter is qualified. If all the test parameters in the second test parameter set are qualified, it means that the EPB product is qualified. If some parameters in the second test parameter set are unqualified, multiple repeated tests can be performed. If the repeated test results are still unqualified, it means that the EPB product is unqualified. If the results of multiple repeated tests are all qualified, it is considered that the EPB product is qualified.

[0108] This embodiment introduces an electronic device, including a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of a parking performance detection method for an electronic parking brake system as described in any embodiment of the present invention are implemented.

[0109] This embodiment introduces a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of a parking performance detection method of an electronic parking brake system as described in any embodiment of the present invention are implemented.

[0110] Although some specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

[0111] Those of ordinary skill in the art will appreciate that the modules and algorithm steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0112] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and equipment can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0113] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0114] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0115] In addition, each functional module in the embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0116] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical disks.

[0117] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

[0118] It should be understood that the size of the sequence number of each step in the content of the invention and the embodiments of the present invention does not absolutely mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention. For the purpose of example and description, the foregoing description of the implementation of the present disclosure has been given. The foregoing description is not exhaustive and is not intended to limit the present disclosure to the exact form disclosed. Various deformations and modifications may exist according to the above teachings, or various deformations and modifications may be obtained from the practice of the present disclosure. These embodiments are selected and described to illustrate the principles of the present disclosure and its practical application, so that those skilled in the art can use the present disclosure in various embodiments and various modifications suitable for the specific purpose conceived.

Claims

1. A parking performance detection method for an electronic parking brake system, characterized in that: include: Controlling the motor to perform a preloading process, and obtaining a first test parameter set in the preloading process, wherein the preloading process includes a first release phase, a first braking phase, and a second release phase performed in sequence, and the first test parameter set is used to determine whether to re-control the motor to perform the preloading process; After the preloading process is finished, controlling the motor to perform a test loading process, and obtaining a second test parameter set of the test loading process, wherein the test loading process includes a second braking stage and a third release stage performed in sequence; determining a performance of the electronic parking brake system according to the second test parameter set; The first test parameter set includes a first target parameter in the first release phase and a second target parameter in the first braking phase; The first target parameters include the motor current, the clamping force, the motor voltage, and the timeout period of the motor release in the first release phase; The second test parameter set includes a third target parameter in the second braking phase and a fourth target parameter in the third release phase; The third target parameter includes: forward start current peak value, forward no-load current, minimum current value in no-load stage, current fluctuation value in idle stage, forward no-load pressure, maximum clamping current, motor no-load time, maximum clamping force value during motor power-off time, minimum clamping force value during motor power-off time, and difference between maximum and minimum clamping force value during motor power-off time; The fourth target parameter includes: the reverse starting current peak, the instantaneous current value 200ms after the motor is released, the time required from the start of motor release to the clamping force being less than 300N, the current average of 1000 current samples after a delay of 250ms from the moment the clamping force is less than 300N, and the minimum current value in the release stage.

2. The method according to claim 1, characterized in that The controlling the motor to perform a preloading process and obtaining a first test parameter set in the preloading process includes: Controlling the motor to perform a release action and enter the first release stage; detecting a first target parameter during the first release phase; When the first target parameter satisfies a first preset condition, controlling the motor to stop releasing and exiting the first release phase; Controlling the motor to perform a braking action and enter the first braking stage; detecting a second target parameter in the first braking stage; After the first braking stage ends, controlling the motor to perform a release action and entering the second releasing stage; After the second release phase ends, the preloading process ends.

3. The method according to claim 2, characterized in that The first preset condition includes: the motor current is greater than 1A, the clamping force is less than 500N, the voltage is within a preset voltage range, and the timeout period is less than 5s.

4. The method according to claim 2, characterized in that: Detecting the second target parameter in the first braking stage includes: Starting pre-action to control the motor to perform braking action; After a delay of 10ms, determine whether the number of pre-actions is greater than zero; If the number of pre-actions is greater than zero, the pre-action will be closed and the minimum clamping force will be calculated after a delay of 500ms. In the pre-action closing stage, the motor no-load time, pre-action timeout time, and the fluctuation value of the motor current in the pre-action stage are calculated. The motor no-load time is the time required for the motor to brake from the start to the force greater than 300N and the piston to contact the caliper; If the motor no-load time, the pre-action timeout time, and the fluctuation value of the motor current in the pre-action stage meet the second preset condition, the pre-action shutdown ends, wherein the second preset condition is that the motor no-load time is greater than the first preset time, the pre-action timeout time is greater than the second preset time, and the fluctuation value of the motor current in the pre-action stage is greater than the preset minimum current value; If not satisfied, perform pre-action again; After the pre-action closing is completed, it delays 10ms to enter the second release stage.

5. The method according to claim 1, characterized in that The second test parameter set includes the third target parameter in the second braking stage and the fourth target parameter in the third release stage. After the preloading process is completed, the motor is controlled to perform a test loading process to obtain the second test parameter set of the test loading process, including: After the preloading process is completed, the motor is controlled to perform a braking action and enter the second braking stage; detecting a third target parameter in the second braking stage; detecting unqualified items in the third target parameter; If there is an unqualified item in the third target parameter, repeatedly controlling the motor to perform a braking action and detecting the third target parameter again; After there is no unqualified item in the third target parameter, exit the second braking stage, control the motor to perform a release action, and enter the third release stage; A fourth target parameter is detected during the third release phase.

6. The method according to claim 5, characterized in that The forward no-load current is the current average of 1000 consecutive samples after the motor brakes for 250ms; The forward no-load pressure is the average value of the force applied to the motor after 250ms of braking; The maximum clamping current is the maximum current within the pressure range of 300N-15000N; The detection process of the current fluctuation value in the idle stage includes: obtaining 1000 current values ​​after a delay of 200ms after the clamping force is less than 300N, wherein every 10 consecutive current values ​​are averaged, and then the difference between the maximum average and the minimum average is calculated as the current fluctuation value in the idle stage.

7. The method according to claim 1, characterized in that Determining the performance of the electronic parking brake system according to the second test parameter set includes: Obtain the maximum value and the minimum value corresponding to each test parameter in the second test parameter set; Determine whether each test parameter in the second test parameter set is within the range of the maximum value and the minimum value corresponding to the test parameter, and obtain a detection result of each test parameter in the second test parameter set; The parking performance of the electronic parking brake system is determined according to the detection result of each test parameter in the second test parameter set.

8. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of a parking performance detection method for an electronic parking brake system as described in any one of claims 1 to 7 are implemented.

9. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the parking performance detection method of the electronic parking brake system as described in any one of claims 1 to 7 are implemented.

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